Page 1 Machine Controller MP2200 USER’S MANUAL Overview Overview of Specifications and Functions YASKAWA Mounting and Wiring System Startup Overview of System Operation Built-in Ethernet Communication (Supported by the CPU-03 and CPU-04) Easy Programming (Supported by the CPU-03 and CPU-04) Maintenance, Inspection, and Troubleshooting Appendices MANUAL NO.
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
Page 3 Using this Manual The MP2200 is a Machine Controller that can be greatly expanded by mounting up to nine Optional Modules per rack and connecting up to four racks. The CPU Module for the MP2200 achieves a high-speed motion control cycle of 0.5 ms and can control up to 256 axes.
Page 4  Related Manuals The following table lists the manuals relating to the MP2200. Refer to these manuals as required. Manual Name Manual Number Contents Machine Controller MP2000 Series Describes the functions, specifications, and applica- SVA-01 Motion Module SIEP C880700 32 tion methods of the MP2000-series SVA-01 Motion User’s Manual...
Page 5 “torque” when describing both (excluding parameters).  Copyrights MPLINK is a registered trademark of the YASKAWA Electric Corporation. • • Ethernet is a registered trademark of the Xerox Corporation. • EtherCAT is a registered trademark of Beckhoff Automation GmbH, Germany.
Page 6 The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure the safe operation of the MP2200 and connected devices. Information marked as shown below is important for the safety of the user. Always read this information and heed the precautions that are provided.
Page 7  Do not approach the machine when there is a momentary interruption to the power supply. When power is restored, the MP2200 and the device connected to it may start operation suddenly. Provide safety mea- sures in advance to ensure human safety in the event that operation restarts suddenly.
Page 8  Do not overload the MP2200 during transportation. There is a risk of injury or an accident.  Do not under any means subject the MP2200 to an atmosphere that contains halogen gas (fluorine, chlo- ride, bromine, iodine, etc.) during storage, transportation, or installation.
Page 9 There is a risk of electrostatic discharge failure.  Selecting, Separating, and Laying External Cables CAUTION  Consider the following items when selecting the I/O signal lines (external cables) to connect the MP2200 to external devices.  Mechanical strength  Noise interference ...
Page 10  The drawings presented in this manual are typical examples and may not match the product you received.  If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
Page 11 6. Events for which Yaskawa is not responsible, such as natural or human-made disasters ( 2 ) Limitations of Liability 1. 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 12 1. 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. 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
Page 13 1.2...
Page 14 3.1...
Page 15 5 Overview of System Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1 5.1 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.2 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3...
Page 16: Table Of Contents
7.3 Programming (step 2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9 7.3.1 Initializing the M-EXECUTOR Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9 7.3.2 Programming Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12 7.4 Executing Motion (step 3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14...
Page 17 1.2 MP2200 Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3...
Page 18: Mp2200 Features
1.1 MP2200 Features 1.1 MP2200 Features The MP2200 is a high-performance, multi-axis Machine Controller for flexible system construction. In addition to I/O and Communication Modules, it has a wide range of Optional Modules, including various Motion Modules that support a variety of motor drives. It provides ideal motion control for a range of machines, from stand-alone machines to FA systems.
Page 19: Mp2200 Configuration
1.2 MP2200 Configuration 1.2.1 Basic Unit Appearance 1.2 MP2200 Configuration 1.2.1 Basic Unit Appearance The appearance of the Basic Units is shown below. YASKAWA...
Page 20: Mp2200 Modules
4 slots JAPMC-CP2200-E CPU-01 CPU Module for MP2200 system Basic JAPMC-CP2200 Unit JAPMC-CP2210-E CPU Module for MP2200 system with 1 CPU-02 JAPMC-CP2210 Compact Flash slot and 1 USB port CPU Modules CPU Module for MP2200 system with 1 CPU-03 JAPMC-CP2220-E...
Page 21 1.2 MP2200 Configuration 1.2.2 MP2200 Modules (cont’d) Group Name Description Model Specifications JAPMC-MC2310-E MECHATROLINK-I and -II Interface, 16 SVB-01 JAPMC-MC2310 axes maximum MECHATROLINK Motion Module MECHATROLINK-III Interface, 16 axes SVC-01 JAPMC-MC2320-E Motion maximum Modules Analog Output Motion JAPMC-MC2300-E SVA-01 Analog output, 2 axes maximum...
Page 22: System Configuration
Motion Modules SERVOPACK 24 VDC Other Modules (including those from other manufacturers) AnyWire CC-Link A-net/A-link Expansion Interface Module MECHATROLINK-II Terminating resistor 130 Ω MP2200 expansion rack YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V SGDS-01A12A SGDS-01A12A CHARGE CHARGE VS mini V7 Servo...
Page 23 Note: 1. For the details on the system configuration example, refer to 4.2.1 ( 1 ) System Layout Model. 2. Use the connecting cables and connectors recommended by Yaskawa. Always check the device to be used and select the correct cable for the device.
Page 24 CC-Lin k A-net/A-lin k EXIOIF module Y ASKA MP2200 Expansion Rack * 1. A distributed I/O function is provided by the SVB-01 Modules through MECHATROLINK communication. * 2. Use an EXIOIF cable that has a maximum length of 6.0 m.
Page 25: System Configuration Precautions
The following precautions must be followed when designing a system using the MP2200. • Use the connecting cables and connectors recommended by Yaskawa. Yaskawa has a range of cables. Always check the device to be used and select the correct cable for the device.
Page 26: Devices Connectable To Mechatrolink
1.4.1 Devices Connectable to MECHATROLINK-I/II 1.4 Devices Connectable to MECHATROLINK 1.4.1 Devices Connectable to MECHATROLINK-I/II The devices that are compatible with MECHATROLINK-I/II and can be connected to the MP2200 and the SVB-01 Module are listed below. ( 1 ) Compatible SERVOPACKs...
Page 27 1.4 Devices Connectable to MECHATROLINK 1.4.1 Devices Connectable to MECHATROLINK-I/II ( 3 ) Compatible Modules Model Details MECHATROLINK-I MECHATROLINK-II 64-point I/O Module JEPMC-IO350 24 VDC, 64 inputs, 64 outputs (sink mode outputs) DC Input Module JAMSC-120DDI34330 12/24 VDC, 16 inputs DC Output Module JAMSC-120DDO34340 12/24 VDC, 16 outputs...
Page 28 1.4 Devices Connectable to MECHATROLINK 1.4.2 Devices Connectable to MECHATROLINK-III 1.4.2 Devices Connectable to MECHATROLINK-III The devices that are compatible with MECHATROLINK-III and can be connected to the SVC-01 Module are listed below. ( 1 ) Compatible SERVOPACKs Model Number Details SGDV-2...
Page 29: Cables, Accessories And Options, And Software
1.5 Cables, Accessories and Options, and Software 1.5.1 Cables 1.5 Cables, Accessories and Options, and Software 1.5.1 Cables The following table shows the cables that can be connected to the MP2200 Basic Module and Optional Modules. Connector Module Cable Name...
Page 30 1.5 Cables, Accessories and Options, and Software 1.5.1 Cables (cont’d) Connector Module Cable Name Model Specifications Name 218IF-01 10Base-T Cross cable (category 3 min.) Ethernet communication cable 218IF-02 Ethernet Cross cable or straight cable (category 5) Module-side connector: 1010214-52A2JL (manufactured by 3M Japan Limited) RS422/485 communication Cable-end connector: 217IF-01...
Page 31: Accessories And Options
DIN Rail Mounting Parts Optional JEPMC-OP300 1 pair Cover for Option Slot Optional JEPMC-OP2300 Front cover for the unused slot. 1.5.3 Software (Programming Tool) The MPE720, programming tool for MP2200, is available. Supported versions Name Model Remarks CPU-01 CPU-02 CPU-03 CPU-04 CPMC- Version 5.10 or...
Page 32 This chapter explains the specifications and functions for the Basic Unit and Optional Modules of the MP2200. 2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-3 2.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3...
Page 33 2.6 CPU-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-68 2.6.1 Overview of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-68 2.6.2 External Appearance, Indicators, and Switch Settings - - - - - - - - - - - - - - - - - - - - - - -2-69 2.6.3 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-71...
Page 34: Specifications
2.1 Specifications 2.1.1 General Specifications 2.1 Specifications 2.1.1 General Specifications Item Specifications Ambient Oper- ating Tempera- 0°C to 55°C, but 0 to 50°C for the CPU-03 ture Ambient Stor- −25°C to 85°C age Tempera- ture Ambient Oper- Environmental 30% to 95% (with no condensation) ating Humidity Conditions Ambient Stor-...
Page 35: Product Specifications
2.1 Specifications 2.1.2 Product Specifications 2.1.2 Product Specifications The following table shows the product specifications of the MP2200. Specifications Items CPU-01 CPU-02 CPU-03 CPU-04 × × Long rack 240 mm 130 mm 108 mm External Dimen- sions × × Short rack...
Page 36: Function Lists
2.1 Specifications 2.1.3 Function Lists 2.1.3 Function Lists ( 1 ) PLC Function Specifications The following table shows the PLC functions of the MP2200. Item Specifications Control Method Sequence: High-speed and low-speed scan methods Programming Ladder diagram: Relay circuit Language Text-type language: Numeric operations, logic operations, etc.
Page 37: Base Unit
2.2 Base Unit 2.2.1 Overview of Functions 2.2 Base Unit 2.2.1 Overview of Functions The Base Unit combines the power supply, mounting base board, and frame in one unit. Both AC-input and DC-input power supply Base Units are available. The Base Unit provides either four option slots (short rack) or nine option slots. Any Optional Modules can be mounted in the option slots to create the perfect system for the machinery.
Page 38 2.2 Base Unit 2.2.2 LED Indicators [ c ] Base Unit with DC-input Power Supply Short Rack ( 2 ) Indicator The LED indicator that displays the status of the power supply is detailed in the following table. The short-rack Base Unit does not have a POWER indicator. Indicator Indicator Color...
Page 39: Hardware Specifications
2.2 Base Unit 2.2.3 Hardware Specifications 2.2.3 Hardware Specifications The following table shows the hardware specifications of the Base Units. Item Specifications Base Unit with AC-input power Base Unit with DC-input power Base Unit with DC-input power Name supply supply supply for short racks Model Number JEPMC-BU2200...
Page 40: Module
2.3.1 Overview of Functions 2.3 CPU-01 Module 2.3.1 Overview of Functions The CPU-01 Module is the MP2200 Control Module that controls the Motion, Communication, I/O, and other Optional Modules. 2.3.2 LED Indicators and Switch Settings ( 1 ) External Appearance The following figure shows the external appearance of the CPU-01 Module.
Page 41 2.3 CPU-01 Module 2.3.2 LED Indicators and Switch Settings ( 3 ) Switch Settings The SW1 of the DIP switch sets the operating conditions for the CPU-01 Module when the power is turned ON. STOP INIT CNFG TEST Switch Default Status Operating Mode Details...
Page 42: Hardware Specifications
2.3 CPU-01 Module 2.3.3 Hardware Specifications 2.3.3 Hardware Specifications The following table shows the hardware specifications of the CPU-01 Module. Item Specifications Name CPU-01 Module Model JAPMC-CP2200 Abbreviation CPU-01 Flash Memory 12 MB SDRAM 32 MB 512 KB, M registers, S registers, trace memory, alarm history SRAM (battery backup) Calendar...
Page 43: Svr Module (Virtual Motion Module)
In an MP2200 CPU Module, slot 2 in the default Module Configuration Window is for the SVR Module. Note: If the SVR is not used, MP2200 processing time can be reduced by setting the Module Type for SVR to UNDEFINED in the Module Configuration Window.
Page 44 Note: The software limit function and machine lock function cannot be used with the SVR. The position error will always be 0. ( 3 ) System Configuration Example The following figure shows an example system configuration using SVR. MP2200 Virtual motion CP U-01 module (SVR)
Page 45 Note: The default for the Selection of Operation Modes parameter is 1 (Axis Unused). The following table gives guidelines for the processing time required for each SVR axis. Command MP2200 35 +14 × Number of axes (μs) 35 +36 × Number of axes (μs)
Page 46: Module
2.4 CPU-02 Module 2.4.1 Overview of Functions The CPU-02 Module is used exclusively for the MP2200, and has been developed as a higher level of CPU-01 Module. In addition to the expansion of the user memory, the CPU-02 Module is highly generalized, and has one Compact Flash port and one USB port.
Page 47 2.4 CPU-02 Module 2.4.2 External Appearance, Indicators, and Switch Settings ( 2 ) Indicators The following table shows the indicators that show the operating status of the CPU-02 Module and error information. Indicator Indicators Color Significance when Lit Name Green Unit operating normally.
Page 48 2.4 CPU-02 Module 2.4.2 External Appearance, Indicators, and Switch Settings [ b ] SW2 The SW2 of the DIP switch is used to set the operating conditions for the Compact Flash slot and the USB connector. CARD LOAD SAVE USB1 Switch Default Status...
Page 49: Hardware Specifications
2.4 CPU-02 Module 2.4.3 Hardware Specifications 2.4.3 Hardware Specifications The following table shows the hardware specification of the CPU-02 Module. Item Specifications Name CPU-02 Module Model JAPMC-CP2210 Abbreviation CPU-02 Flash Memory 16 MB (User’s area: 11.5 MB) SDRAM 32 MB 2 MB, M registers, S registers, trace memory, alarm SRAM history (battery backup)
Page 50: Card Module
− Current Directory Function Not available Max. No. of Simultaneous − Open Files * Micro drive, I/O device, or HDD is not supported. • Recommended Compact Flash / Adapter (Available from YASKAWA) Model Specifications Manufacturer CFI-128MDG 128 MB CFI-256MDG 256 MB Hagiwara Sys-Com Co., Ltd.
Page 51 2.4 CPU-02 Module 2.4.5 CARD Module [ b ] Functions The following table shows the functional specifications for the Compact Flash interface. Item Specifications Descriptions CARD: Enables or disables use of media. Operation LOAD: Executes batch load if set to ON when power supply 3 pins of SW2 Switch is turned ON.
Page 52 Format the Compact Flash in a computer running on Windows 2000 or Windows XP operating system. The CPU-02 Module cannot be used to format the Compact Flash. Note: The Compact Flash purchased from YASKAWA has already been formatted. • FAT Check and Restoration of Compact Flash If the Compact Flash is removed or if the power supply is turned OFF while accessing the Compact Flash with the CARD LED indicator lamp lit, the FAT in the Compact Flash may be damaged.
Page 53 SW00658. Refer to 3.2.2 [ a ] Compact Flash (CF) Slot Specifications. The ALM LED indicator lamp will turn OFF by re-executing batch save or by restarting the MP2200. • How to Input Data from the Compact Flash to the MPE720 The MPE720 can read application data that was batch-saved to Compact Flash.
Page 54 MP2200, the ALM LED indicator lamp will turn OFF. Turn OFF the MP2200 power supply. Set the CARD, LOAD, and INIT switches to OFF. Then, turn ON the MP2200 power supply to start from the flash memory. 2-23...
Page 55: Usb Module
( 1 ) Overview By connecting a computer with MPE720 installed, either directly or via a USB hub with a CPU-02 Module, MP2200 controller engineering can be done through the MPE720-equipped computer. • Example of Configuration Using Several CPU-02 Modules...
Page 56 ( 4 ) Installing the Hardware Driver Before connecting the MP2200 (CPU-02 Module) to the personal computer via a USB for the first time, the USB communications driver for the MP series must be installed. Prepare the setup disc (Ver 5.31B or later) of the MPE720, and install the USB driver as described in this section.
Page 57 2.4 CPU-02 Module 2.4.6 USB Module Select Display a list of the known drivers for this device so that I can choose a specific driver and click the Next button. A message will appear, asking where to find the driver. Insert the MPE720 setup disc into the CD-ROM drive.
Page 58 When removing the cable from the USB connector on the personal computer, the USB hub, or the CPU-02 Mod- ule, or when turning OFF the MP2200 power supply connected to a USB, perform the following operations to safely undo the connections.
Page 59 Displays the extensions that can be selected for the project file. Example: Project File (*.YMW)  Controller Selects the type of Controller to be used. In this case, select MP2200-02.  Create Button  . Creates a file with the name that was input in ...
Page 60 2.4 CPU-02 Module 2.4.6 USB Module Click the Create Button. A project file create/open message will be displayed and the project file will be created in the specified folder and displayed in the Ladder Subwindow. Select Online - Communication Settings from the main menu. Or, click Controller - Communica- tion Settings in the start window (or Project - Communication Settings in the start window).
Page 61 2.4 CPU-02 Module 2.4.6 USB Module ( 7 ) Setting the Local Station when Connecting Several CPU-02 Modules via USB To connect several CPU-02 Modules to the personal computer via the USB hub, perform the following connections and settings. Incorrect settings may overlap local addresses, resulting in an error. Execute self-configuration in advance before the USB connection of a CPU-02 Module that is being used for the first time.
Page 62 2.4 CPU-02 Module 2.4.6 USB Module Click the Connection Button. The communication settings will be completed, and the system will be connected online. Double-click the Module configuration Icon in the System Subwindow to display the window for mod- ule configuration definitions. Double-click USB in the Module Details Area.
Page 63 Turn OFF the USB1 switch (SW2) of the CPU-02 Module and then turn the power supply of the MP2200 OFF and back ON again. The local address of the USB in the CPU-02 Module will be changed to the new address after restart of the power.
Page 64: Module
2.5 CPU-03 Module 2.5.1 Overview of Functions The CPU-03 Module is a special CPU Module for the MP2200. It was designed as a upper-end model to provide greater speed and easier operation than the CPU-01 Module and CPU-02 Module. The CPU-03 Module has one Compact Flash interface and one Ethernet interface with the following characteristics.
Page 65: External Appearance, Indicators, And Switch Settings
2.5 CPU-03 Module 2.5.2 External Appearance, Indicators, and Switch Settings 2.5.2 External Appearance, Indicators, and Switch Settings ( 1 ) External Appearance The following figure shows the external appearance of the CPU-03 Module. SW1 switch LED1 indicators SW2 switch LED2 indicators Compact Flash (CF) slot LED3 indicator Ethernet Connector...
Page 66 2.5 CPU-03 Module 2.5.2 External Appearance, Indicators, and Switch Settings ( 3 ) Switch Settings [ a ] SW1 The SW1 of the DIP switch is used to set the operating conditions for the CPU-03 Module when the power sup- ply is turned ON.
Page 67 2.5 CPU-03 Module 2.5.2 External Appearance, Indicators, and Switch Settings [ b ] SW2 SW2 is used to set the CF slot and Ethernet operating conditions. CARD LOAD SAVE E-INIT Switch Default Status Operating Mode Details Number Name Setting Compact Flash enabled. Turns the power supply to the Compact Flash CARD ON or OFF.
Page 68: Hardware Specifications
2.5 CPU-03 Module 2.5.3 Hardware Specifications 2.5.3 Hardware Specifications The following table shows the hardware specification of the CPU-03 Module. Item Specifications Name CPU-03 Module Model JAPMC-CP2220-E Abbreviation CPU-03 Flash Memory 16 MB (User’s area: 11.5 MB) 64 MB 4 MB (3 MB max. with battery backup can be used for table SRAM data.) External Memory Interface Compact Flash interface ×...
Page 69: 218Ifa Module (Ethernet)
2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) 2.5.6 218IFA Module (Ethernet) ( 1 ) Overview of 218IFA Module Functions The 218IFA Module is a 10Base-T/100Base-TX Ethernet interface. It is a standard-feature communication interface for the CPU-03 Module. • 100Mbps transmission speed is supported (100Base-TX). •...
Page 70 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) ( 2 ) Specification of 218IFA Module The following table shows the specification of the 218IFA Module. Items Description 10Base-T/100Base-TX Communication Interface TCP/UDP/IP/ARP/ICMP Communication Protocol Maximum Number of Communication Connections 4+2 (I/O Message communication) Maximum Number of Communication Channels 4+2 (I/O Message communication) Write: 100W...
Page 71 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) * 3. Non-procedure Receive Buffer Mode Selection When the non-procedure application protocol of the 218IFA is used, either a single buffer or multiple buffers can be selected for the receive buffers in the 218IFA. If multiple buffers are selected, 20 data items per connection can be processed at the same time with data continuously received at an interval shorter than the startup interval of the MSG-RCV function.
Page 72 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) ( 3 ) Module Configuration Definition [ a ] Module Configuration Window Details Click CPU-03 in the Controller area to display the details of the Basic Modules’ functions in the Module Details area. The cell No.4 provides a detailed definition of 218IFA.
Page 73 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) ( 4 ) 218IFA Module Detailed Definition Window [ a ] Displaying the 218IFA Module Detailed Definition Window Select CPU-03 in the Controller Area of the Module Configuration Window and then double-click the Slot Number cell for the 218IFA Module in the Module Details Area to display the detailed definition for the 218IFA Module.
Page 74 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) [ b ] 218IFA Module Detailed Definition Window The 218IFA Module detailed definition window is composed of Transmission Parameter and Status Tabs, and each tab is changed with a click. Transmission Parameters Tab The Transmission Parameters Tab sets 218IFA transmission parameters.
Page 75 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet)  Transmission Parameters Setting Items Sets local transmission parameters for 218IFA. The following table shows each setting item. Item Setting Range Details Default Sets 218IFA IP address. However, the following addresses are excluded: 0.0.0.1 to IP Address 127.xxx.xxx.xxx...
Page 76 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet)  Detail Setting Dialog Box of Transmission Parameters Setting Sets the engineering communication with MPE720 and the message communication. The following table shows each setting item. Item Setting Range Details Default Specify the 218IFA port number used in the engineering communica- tion with MPE720.
Page 77 TCP, Connect Type TCP: Transmission control protocol UDP: User datagram protocol Select an application layer protocol. Protocol Type Overview Extended Yaskawa’s Extended MEMOBUS protocol. MEMOBUS Extended MEMOBUS Yaskawa’s MEMOBUS protocol. MEMOBUS, Ethernet I/F protocol for the sequencer (A MEMOBUS, Extended...
Page 78 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) (cont’d) Item Setting Range Details Default Select a code type for the message communication data. Depending on protocol type, available codes are restricted as fol- lows: Code Protocol Type ASCII ASCII Extended √ √...
Page 79 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet)  Message Communication Easy Setting Dialog Box Graphically sets connection parameters for each connection. Basically, the same settings as those used for Message Communication in the Connection Parameter are used. If this dialog box is opened before the items in Communication Parameter have been set, the default value for each connection will be automatically stored.
Page 80 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet)  Automatically Reception Dialog Box for Message Communication The automatic receive function can be enabled only for connections where the connection number = 1. The automatic receive function enables the system to automatically run a function equivalent to the MSG-RCV func- tion.
Page 81 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) The following table provides the valid setting items for each communication protocol type. Communication Protocol Type Setting Item Extended Non-proce- MODBUS/ MEMOBUS MELSEC MEMOBUS dure √ √ √ Readout of Input Relay – –...
Page 82 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet)  I/O Message Communication Item Connection Parameter Setting Sets connection parameters for I/O message communication. I/O message communication exchanges the data using I/O images with the remote device. The following table explains each setting item. Item Setting Range Details...
Page 83 Select whether to update the output data in the I/O message commu- Output Disable Enable/disable enable nication. Set a start address of the input register of the MP2200 side for stor- ing the data read from the remote device. IW0000 to IW IW7FFF Note1: “”...
Page 84 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet)  I/O Message Communication Easy Setting Dialog Box Graphically adjusts the setting for the read/write connection parameters. Basically, the same settings as those used for I/O Message Communication in the Connection Parameter are used. If this dialog box is opened before the items in Communication Parameter have been set, the default values for read/ write connection will be automatically stored.
Page 85 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) In addition, click the Default Button to set the default values for data code type, local I/O register setting, read/write size, and node read/write register setting according to the selected communication protocol type. The following table provides these default values.
Page 86 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) Status Tab In the Status Tab, each setting for 218IFA transmission definition and transmission status is shown. The displayed contents are as follows:  Transmission Parameter Item Item Displayed Content Default Station IP Address 000.000.000.000 Displays local IP address specified in the Transmission Parameters Tab.
Page 87 2.5 CPU-03 Module 2.5.6 218IFA Module (Ethernet) Note: 1. Trans (Transmission) Status In online mode, displays the transmission status for each connection. Transmission Status State IDLE IDLE WAIT WAIT (waiting for connection) CONNECT CONNECT (capable of transmitting and receiving data) –...
Page 88: M-Executor Module (Motion Program Executor)
So, without a ladder program, this allows you to directly control a motion program from a host PLC or other device. • Describing sequence control in motion language As a new programming method called sequence programming has been added to the CPU-03 Module in the MP2200 Series.
Page 89 2.5 CPU-03 Module 2.5.7 M-EXECUTOR Module (Motion Program Executor) ( 2 ) M-EXECUTOR Module Specification [ a ] Programs Capable of Registration in M-EXECUTOR The following table shows programs capable of registration in M-EXECUTOR. Program Type Number of Registrations Remarks Motion Program Startup Interrupt...
Page 90 2.5 CPU-03 Module 2.5.7 M-EXECUTOR Module (Motion Program Executor) ( 3 ) Module Configuration Definition [ a ] Details of Module Configuration Window Click CPU-03 in the Controller area to display the details of the basic module functions in the Module Details area. The cell No.5 provides a detailed definition of M-EXECUTOR.
Page 91 2.5 CPU-03 Module 2.5.7 M-EXECUTOR Module (Motion Program Executor)  I/O Register Details An I/O register assigned to M-EXECUTOR is used to run a motion program and sequence program, and to monitor a sequence program. M-EXECUTOR I/O register details are as follows: M-EXECUTOR Input Register M-EXECUTOR Output Register M-EXECUTOR...
Page 92 2.5 CPU-03 Module 2.5.7 M-EXECUTOR Module (Motion Program Executor) ( 4 ) Detailed Definition Window This section describes the M-EXECUTOR detailed definition window.  Program Definition Tab (M-EXECUTOR (list) Window) The Program definition Tab allows you to register a motion or sequence program to run. Programs are executed according to the scan, in ascending numeric order.
Page 93 2.5 CPU-03 Module 2.5.7 M-EXECUTOR Module (Motion Program Executor)  Execution type Sets the program execution type. Execution Type Program to Execute Execution Conditions ---------- None None (select this to delete the definition) Sequence Program Power ON (startup) (Executed once only, when power turned ON) Sequence Program Sequence program Periodical startup (Executed each low-speed scan)
Page 94 2.5 CPU-03 Module 2.5.7 M-EXECUTOR Module (Motion Program Executor)  Allocation Control Register Tab The Allocation Control register Tab Page sets a allocation register. A white cell can be set by the user, and a shaded cell cannot be set by the user. ...
Page 95 2.5 CPU-03 Module 2.5.7 M-EXECUTOR Module (Motion Program Executor)  Allocation register Data is exchanged between mapping and M-EXECUTOR control registers in real-time. Any register can be mapped to the allocation register. Registers that can be set as a Allocation Register Word type I, O, M (except the motion register) ...
Page 96 2.5 CPU-03 Module 2.5.7 M-EXECUTOR Module (Motion Program Executor)  Program execution registry screen Dialog Box (M-EXECUTOR (individual) Dialog Box) Click the Individual Display Button in the M-EXECUTOR (list) window to display this dialog box. The items that can be set are similar to those in the Program Definition Tab Page and the Allocation Control Regis- ter Tab Page.
Page 97 2.5 CPU-03 Module 2.5.7 M-EXECUTOR Module (Motion Program Executor) ( 5 ) Execution Scheduling Programs registered in M-EXECUTOR are executed on the basis of their priorities (execution type). Programs registered in M-EXECUTOR are executed just before the ladder process. Power ON Sequence program (startup) Drawing A (startup process drawing)
Page 98 2.5 CPU-03 Module 2.5.7 M-EXECUTOR Module (Motion Program Executor) An execution example is as follows: • M-EXECUTOR program definition • Execution scheduling The following diagram shows the execution scheduling when set in the tab page above. SPM001 DWG.A Startup High-speed scan cycle High-speed scan cycle SPM003 MPM004...
Page 99: Module
2.6 CPU-04 Module 2.6.1 Overview of Functions The CPU-04 Module is a special CPU Module for the MP2200. It was designed as a upper-end model to provide greater speed and easier operation than the CPU-03 Module. The CPU-04 Module has one Ethernet interface with the following characteristics.
Page 100: External Appearance, Indicators, And Switch Settings
2.6 CPU-04 Module 2.6.2 External Appearance, Indicators, and Switch Settings 2.6.2 External Appearance, Indicators, and Switch Settings ( 1 ) External Appearance The following figure shows the external appearance of the CPU-04 Module. SW1 switch LED1 indicators SW2 switch LED2 indicators Ethernet connector ( 2 ) Indicators The following table shows the indicators that show the operating status of the CPU-04 Module and error information.
Page 101 2.6 CPU-04 Module 2.6.2 External Appearance, Indicators, and Switch Settings ( 3 ) Switch Settings [ a ] SW1 The SW1 of the DIP switch is used to set the operating conditions for the CPU-04 Module when the power sup- ply is turned ON.
Page 102: Hardware Specifications
2.6 CPU-04 Module 2.6.3 Hardware Specifications 2.6.3 Hardware Specifications The following table shows the hardware specification of the CPU-04 Module. Item Specifications Name CPU-04 Module Model JAPMC-CP2230-E Abbreviation CPU-04 Flash Memory 16 MB (User’s area: 11.5 MB) 64 MB 4 MB (3 MB max. with battery backup can be used for table SRAM data.) Communication Interface...
Page 103: 218Ifc Module (Ethernet)
2.6 CPU-04 Module 2.6.5 218IFC Module (Ethernet) 2.6.5 218IFC Module (Ethernet) ( 1 ) Overview of 218IFC Module Functions The 218IFC Module is a 10Base-T/100Base-TX Ethernet interface. It is a standard-feature communication interface for the CPU-04 Module. • 100Mbps transmission speed is supported (100Base-TX). •...
Page 104 2.6 CPU-04 Module 2.6.5 218IFC Module (Ethernet) ( 2 ) Specification of 218IFC Module The following table shows the specification of the 218IFC Module. Items Description 10Base-T/100Base-TX Communication Interface TCP/UDP/IP/ARP/ICMP Communication Protocol Maximum Number of Communication Connections 20+2 (I/O Message communication) Maximum Number of Communication Channels 10+2 (I/O Message communication) Write: 100W...
Page 105 2.6 CPU-04 Module 2.6.5 218IFC Module (Ethernet) * 3. When the non-procedure application protocol of the 218IFC is used, either a single buffer or multiple buffers can be selected for the receive buffers in the 218IFC. If multiple buffers are selected, 20 data items per connection can be processed at the same time with data continuously received at an interval shorter than the startup interval of the MSG-RCV function.
Page 106: M-Executor Module (Motion Program Executor)
2.6 CPU-04 Module 2.6.6 M-EXECUTOR Module (Motion Program Executor) ( 3 ) Module Configuration Definition Refer to 2.5.6 ( 3 ) Module Configuration Definition. The following window shows the module configuration for the CPU-04. ( 4 ) 218IFC Module Detailed Definition Window Refer to 2.5.6 ( 2 ) Specification of 218IFA Module.
Page 107: Exioif Module
2.7.1 Overview of Functions 2.7 EXIOIF Module 2.7.1 Overview of Functions The EXIOIF Module is a special expansion rack interface for the MP2200. This Module can be used to configure an MP2200 system with up to four racks. 2.7.2 External Appearance The following figure shows the external appearance of the EXIOIF Module.
Page 108: Optional Module
2.8 Optional Module 2.8.1 Optional Module Overview List 2.8 Optional Module This section provides an option module overview. For more information on its specifications, functions, connections, settings, etc., refer to the following documents separately. 2.8.1 Optional Module Overview List Optional Classification Module Overview Reference Manual...
Page 109 (DO) (LIO-01: sink output, LIO-02: source output). As a pulse LIO-02 counter function, one pulse input (PI). As for when to input/output for Module digital I/O and pulse counter functions, input/output for each MP2200 high-speed (High)/ low-speed (Low) scan is carried out at a constant cycle. Machine Controller MP2000...
Page 110: External Dimensions
The following figure shows the external appearance of the Basic Unit. ( 1 ) Nine-slot Base Unit Unit: mm M4 mounting screws (4) (18) (4.5) CPU-01 218F-01 SVB-01 LIO-01 LIO-01 LIO-02 260F-01 217F-01 MP2200 MBU-01 POWER PORT PORT PORT M- / BATTEY 100/200V DeviceNet RS422/465 10Base-T POWER Cable-end connector...
Page 111 2.9 External Dimensions 2.9.1 Basic Unit ( 2 ) Four-slot Base Unit 111±0.2 4 M4 taps Four M4 mounting screws Dimensions for mounting holes (18) (4.5) Cable-end connector (three poles) 721-203/026-000 Units: mm Note: 1. Cable-end connector is attached to the power connector. Model: 721-203/026-000 (White) 2.
Page 112: Mounting Procedure For Exioif Connector
2.9 External Dimensions 2.9.2 Mounting Procedure for EXIOIF Connector 2.9.2 Mounting Procedure for EXIOIF Connector The EXIOIF Module has the following dimensions. Height: 125 mm, Depth: 95 mm The following figure shows the mounting dimensions for the connector of the EXIOIF Module. (36) EXIOIF 2-81...
Page 113 3.1...
Page 114: Mounting Mp2200
Several types of DIN rails are available: with 7-mm to 15-mm gap from the mounting base as shown in the following diagram. If mounting a MP2200 using DIN rail with 10-mm gap, install a spacer on the rear of the MP2200 near the bottom to protect the MP2200 from vibration and shock.
Page 115 3.1.1 Method [ b ] Procedure for Mounting to DIN Rail Use the following procedure to attach the DIN rail mounting parts to the MP2200 and then mount the MP2200 to the DIN rail. Insert the DIN rail mounting brackets to the dotted line in the two slots on the rear of the MP2200 as shown in the following figure.
Page 116 300 mm or less 300 mm or less Hook the MP2200 to the top of the DIN rail (a), and then push the MP2200 towards the mounting base to secure it in place (b). Push the DIN rail mounting clips to lock them in place..
Page 117: Mp2200 Mount Direction
3.1 Mounting MP2200 3.1.2 MP2200 Mount Direction 3.1.2 MP2200 Mount Direction Be sure to mount the MP2200 using screwed method or DIN rail. MP2200 CPU-01 218F-01 SVB-01 MBU-02 POWER View from front, when attached PORT M- / BATTEY 10Base-T POWER...
Page 118: Installation Clearance
3.1 Mounting MP2200 3.1.3 Installation Clearance 3.1.3 Installation Clearance To enable proper ventilation, install the MP2200 with the clearance shown in the following figure.  Mounting Conditions • Above and below: 50 mm min. • Left and right: 50 mm min.
Page 119: Replacing And Adding Optional Modules
Use the following procedures to replace and add Optional Modules. ( 1 ) Preparations Create a backup data file. Use the MPE720 to save the MP2200 program on a computer (right-click the PLC, and select Transfer - All Files - From Controller to MPE720.) Remove the MP2200.
Page 120 3.1 Mounting MP2200 3.1.4 Replacing and Adding Optional Modules Remove the Optional Module from the mounting base. Pull the top of the panel of the Optional Module towards you to remove it. A notch on the Optional Module will be visible from the gap in the cover. Hook the round knob on the battery cover, shown in the diagram, into the notch in the Optional Module.
Page 121 Place the hole on the bottom of the panel of the Optional Module onto the hook on the bottom of the MP2200. Next, hook the hole at the top of the panel of the Optional Module onto the hook at the top of the MP2200.
Page 122: Connecting Basic Units
3.2.1 Connecting Base Units ( 1 ) MBU-01 Power Supply Connector [ a ] Specifications, Pin Arrangement, and Connection Procedure Supply 100/200 VAC to the MP2200. Connect the power supply connector as shown in the following diagram. Connector Model Connector No.
Page 123 Use 1.5 to 2.5 mm (AWG16 to AWG13) twisted-pair cable to connect the 100/200-VAC power supply to the power supply connector on the MP2200. Strip the end of the cable. Strip approx. 8 to 9 mm the end of the wires.
Page 124 3.2.1 Connecting Base Units ( 2 ) MBU-02/MBU-03 Power Supply Connector [ a ] Specifications, Pin Arrangement, and Connection Procedure Supply 24 VDC to the MP2200. Connect the power supply connector as shown in the following diagram. Connector Model Connector No.
Page 125: Module Connections
• Module: Series Mini-B plug [ c ] USB Interface Connection Example The following figure shows a connection example using multiple CPU-02 Modules. CPU-02 Module #1 USB cable YASKAWA CPU-02 Module #2 USB hub USB cable Computer (MPE720) USB cable...
Page 126: Cpu-03/Cpu-04 Module Connections
3.2 Connecting Basic Units 3.2.3 CPU-03/CPU-04 Module Connections 3.2.3 CPU-03/CPU-04 Module Connections ( 1 ) CARD Module Connector Details (except CPU-04) Refer to 3.2.2 ( 1 ) CARD Module Connector Details . ( 2 ) Ethernet Connector Details Connects to a personal computer or HMI device by Ethernet (100Base-TX /10Base-T). [ a ] Ethernet Connector Specification and Pin Arrangement/ Indicator Lamp The following table provides the Ethernet connector specifications.
Page 127 3.2 Connecting Basic Units 3.2.3 CPU-03/CPU-04 Module Connections [ c ] Ethernet Connection Example The following are examples of Ethernet network connections via 10Base-T cable:  Connection Example 1 When using a repeater HUB: MP2200 MP2200 MBU-01 POWER BATTEY 100/200V Station...
Page 128 3.2 Connecting Basic Units 3.2.3 CPU-03/CPU-04 Module Connections The following are examples of Ethernet network connections via 100Base-TX cable:  Connection Example 3 When using a repeater HUB: MP2200 MP2200 MBU-01 POWER BATTEY 100/200V Station Station POWER 100Base-TX (straight cable)
Page 129  Caution High frequency wave noise from other devices in the installation environment may cause error in communications using 100Base-TX connections. When constructing a system, use MP2200 protective measures to avoid the influence of high fre- quency wave noise as follows: 1 Wiring Wire Ethernet cables so that they are well-separated from other cable systems, such as the main circuit or power lines.
Page 130: Exioif Module Connections
3.2 Connecting Basic Units 3.2.4 EXIOIF Module Connections 3.2.4 EXIOIF Module Connections ( 1 ) Connectors The following diagram shows EXIOIF Module connectors. These connectors are used to expand the number of mounting bases to a maximum of four racks. They are connected using the following cables.
Page 131 3.2 Connecting Basic Units 3.2.4 EXIOIF Module Connections ( 2 ) Cables Name Model Length JEPMC-W2091-A5 0.5 m Connection Cables (with connectors on both JEPMC-W2091-01 1.0 m ends) JEPMC-W2091-2A5 2.5 m Note: 1. The total cable length when adding expansion racks is 6.0 m max. Connect the shield to the connector shell.
Page 132: System Connection Example
3.2.5 System Connection Example 3.2.5 System Connection Example The following diagram shows a connection example of a system using the MP2200. The following diagram shows a connection example for the system using a 200-VAC power supply. Note: Select the SERVOPACK, 24-VDC power supply to use in accordance with the input power supply speci- fication.
Page 133 System Startup This chapter explains how to start up a model system using the programming tool MPE720 Ver.6. Note that the procedure for designing a mechanical system has been omitted here. 4.1 System Startup Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2 4.2 Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3 4.2.1 Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.2.2 Self Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5...
Page 134: System Startup Overview
4.1 System Startup Overview 4.1 System Startup Overview This section describes the procedure to set up a system and to confirm the execution of motion program using the pro- gram shown below. The motion program created here is simple and has only three lines to move two axes 150,000 pulses from the current position and stop them.
Page 135: Preparation
We use the following layout model to explain the startup of the model system. Prepare each device listed on the next page and connect them as shown in the figure below. ( 1 ) System Layout Model 100 VAC MECHATROLINK cable SERVOPACK SERVOPACK CPU-01 218F-01 SVB-01 MP2200 YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V MBU-01 SGDS-A5F12A SGDS-A5F12A POWER Terminator...
Page 136 4.2 Preparation 4.2.1 Wiring [ a ] Required Equipment Product Name Model Q’ty Base Unit with AC power supply JEPMC-BU2200 CPU-01 Module JAPMC-CP2200 MP2200 SVB-01 Module JAPMC-MC2310 218IF-01 Module JAPMC-CM2300 MECHATROLINK cable (0.5m) JEPMC-W6002-A5 Terminator (terminating resistor) JEPMC-W6022 Σ-III SERVOPACK SGDS-A5F12A Σ-III servomotor...
Page 137: Self Configuration
Turn OFF the 100-VAC power supply to the MP2200. Set the INIT and CNFG pins on the DIP switch (SW1) to ON on the MP2200. Turn ON the 100-VDC power supply to the MP2200, and confirm that the indicators change as follows: CPU-01...
Page 138: Test Operation
4.2 Preparation 4.2.3 Test Operation 4.2.3 Test Operation Confirm that the machine controller can command axis servo ON/OFF and jog operation. ( 1 ) Starting and Connecting MPE720 Ver.6 Launch MPE720Ver.6 and click “3:Ethernet(LP)192.168.1.1” to connect to the controller. ( 2 ) Operating Manually in the Test Run Window When the connection is complete, the display will change from offline to online.
Page 139 4.2 Preparation 4.2.3 Test Operation Axis Selection and Servo ON Set an axis number in the Axis Window and click the Enable (Servo ON) Button in the Test Run Window. Turning the servo ON allows you to manipulate the jog/ step buttons.
Page 140 4.2 Preparation 4.2.3 Test Operation Jog Operation Click the Speed reference Icon and set a speed reference value, and check that the axis rotates normally while the Forward Button or Reverse Button is pressed. The operation check of the first axis is complete. Press the Axis ...
Page 141: Programming (Step 2)
4.3 Programming 4.3.1 Creating a Project 4.3 Programming 4.3.1 Creating a Project Double-click the icon on the personal computer desktop to start MPE720 version 6. Once MPE720 version 6 has started, click New. Specify the file name, location in which to save the file, and Controller model, and then click the Create Button.
Page 142: Creating Group Definitions
4.3 Programming 4.3.2 Creating Group Definitions 4.3.2 Creating Group Definitions Before creating the motion program, organize the axes into groups according to the machine configuration. Click the Motion Tab in the subwindow to display Motion program in the subwindow. “Motion program” will be displayed.
Page 143: Creating Motion Programs
4.3 Programming 4.3.3 Creating Motion Programs 4.3.3 Creating Motion Programs Start the Motion Editor to enter the motion program. The motion program tree will expand in the subwindow. Right-click Main program, and then click New in the pop-up menu. Expand the directory.
Page 144: Registering A Motion Program For Execution
4.3 Programming 4.3.4 Registering a Motion Program for Execution 4.3.4 Registering a Motion Program for Execution Call the motion program that you created from DWG.H by using an MSEE command. For details, refer to 5.2.3 ( 2 ) How to Run a Motion Program. Click the Ladder Tab in the subwindow.
Page 145 4.3 Programming 4.3.4 Registering a Motion Program for Execution Create the following ladder program. After entering the program, compile it by pressing the F8 Key or clicking the Icon.  Caution • Confirm that Machine Controller Operation Ready (motion monitoring parameter IWxx00 bit 0) is ON, and then turn ON the Servo ON Command (MB000000).
Page 146: Transferring A Program
4.3 Programming 4.3.5 Transferring a Program 4.3.5 Transferring a Program Transfer the motion program to the MP2000-series Controller. This procedure is not required if the motion program is made online. Click Communications Setting in the following window. Select the communications port that was set in 4.2 Preparation, and then click the Connection Button. After you are online, click Transfer - Write into controller.
Page 147 4.3 Programming 4.3.5 Transferring a Program Click the Individual Button, and then select Program Check Box. Click the Start Button.  Caution • If an individual transfer is performed, the same file in the Controller will be overwritten with the selected project file data. •...
Page 148: Program Debugging
4.3 Programming 4.3.6 Program Debugging 4.3.6 Program Debugging Debug the program that you created. For details on debugging, refer to 9.4 Debugging Operation in the Machine Con- troller MP2000 Series User's Manual Motion Programming (manual no: SIEP C880700 38). Double-click the Register List 1 Tab to display the register list. Specify MB000000 for the register. Set MB000000 to ON as shown in the following figure to turn ON the servo.
Page 149: Saving A Program To Flash Memory
4.3 Programming 4.3.7 Saving a Program to Flash Memory 4.3.7 Saving a Program to Flash Memory Use the following procedure to save the data in the RAM in the MP2000-series Controller to the flash memory in the MP2000-series Controller. Click Transfer - Save to flash in the following window. Click the Start Button.
Page 150: Executing Motions
4.3 Programming 4.3.8 Executing Motions 4.3.8 Executing Motions Execute the program that you created using the actual system. To execute the motion program, turn ON a program operation start request by using the control signal. Double-click the Register List 1 Tab to display the register list. Specify MB000000 for the register. Set MB000000 to ON as shown in the following figure to turn ON the servo.
Page 151 Overview of System Operation This chapter describes the basic operation of MP2200 Machine Control Systems and provides an outline of user programs and registers. 5.1 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - -5-2 5.1.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2...
Page 152: Startup Sequence And Basic Operation
5.1 Startup Sequence and Basic Operation 5.1.1 DIP Switch Settings 5.1 Startup Sequence and Basic Operation This section describes the MP2200 startup sequence and basic operation together with the DIP switch settings, self- diagnosis at startup, and LED indicator patterns. 5.1.1 DIP Switch Settings Set the DIP switch (SW1) on the Basic Module to control operations of the startup sequence.
Page 153: Startup Sequence
5.1 Startup Sequence and Basic Operation 5.1.2 Startup Sequence 5.1.2 Startup Sequence The startup sequence for the MP2200 from the moment when the power has been turned ON is shown in the following flowchart. Power ON Startup self-diagnostics (1) Judges the...
Page 154: Startup Sequence Operation Details
First scan processing is executed once DWG.A has been completed and the high-speed or low-speed scan time has elapsed. System I/O are executed from the first scan. ( 4 ) Operation Stop MP2200 stops motion control operation when the STOP switch is ON (STOP) and in the following circumstances. Cause Restart method Power supply turned OFF Turn ON the power again.
Page 155: Led Indicator Details
5.1.4 LED Indicator Details The MP2200 performs a variety of diagnostics at startup. If an error is found, the ERR LED indicator blinks red. The number of times the indicators blink differs depending on the error details, so error details can be determined from counting the number of blinks.The following table shows details of MP2200 LED indicator.
Page 156: User Programs
• Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User's Manual (manual no.: SIEP C880700 30). 5.2.1 Types and Execution Timing of User Program The following table shows the types and execution timing of MP2200 user program. User Program Execution Timing...
Page 157: Ladder Program
5.2 User Programs 5.2.2 Ladder Program 5.2.2 Ladder Program ( 1 ) Types of Drawings (DWG) Ladder programs are managed in units of ladder drawings, which are identified by drawing numbers. These drawings form the basis of user programs. Ladder drawings include parent drawings, child drawings, grandchild drawings, and operation error processing draw- ings.
Page 158 5.2 User Programs 5.2.2 Ladder Program ( 2 ) Execution Control of Drawings [ a ] Execution Control The following table shows a flow chart of how each drawing is executed based on the order of priority. Power ON DWG.A (startup processing drawing) Operation error Each high-speed scan...
Page 159 5.2 User Programs 5.2.2 Ladder Program [ c ] Hierarchical Structure of Drawings Each processing program is made up of parent drawings, child drawings, and grandchild drawings. Parent drawings cannot call child drawings from a different type of drawing and child drawings cannot call grandchild drawings from a different type of drawing.
Page 160 5.2 User Programs 5.2.2 Ladder Program [ d ] Drawing Execution Processing Method The execution processing of hierarchical drawings are performed by calling lower-level drawings from higher-level drawings. The following figure shows the execution processing for drawings, using DWG.A as an example. System programs are started according to execution conditions.
Page 161 5.2 User Programs 5.2.2 Ladder Program ( 3 ) Functions Functions are executed by calling them from parent, child, or grandchild drawings using the FUNC command. Functions can be called from any drawing, and the same function can be called at the same time from different types of drawings and from different levels of drawings.
Page 162: Motion Programs
• Program number of Sequence program SPM , SPS  (See note 1.) Note: Sequence program is supported by the CPU-03 at CPU-04.  The MP2200 can execute up to 16 motion programs simultaneously. An alarm (no system work error) will occur if 17 or more programs are executed simultaneously.
Page 163 5.2 User Programs 5.2.3 Motion Programs This section explains the Group Definition window.        No. of Group Set a number for the group operation. Set it to 1 for the single group operation. Set it to the number of group operation for the multiple group operation. ...
Page 164 5.2 User Programs 5.2.3 Motion Programs  Axis No. Set an axis number for the used axis. The axis number can be checked in the detailed window of the used motion module. Axis number Double-click  Logical Axis Name Define a name for the specified axis number. The name defined here is used when programming a motion program.
Page 165 5.2 User Programs 5.2.3 Motion Programs ( 2 ) How to Run a Motion Program The following two methods are available for running a motion program. • Executing programs using a MSEE command from a ladder program of H drawing •...
Page 166 5.2 User Programs 5.2.3 Motion Programs [ b ] Registering Programs in the M-EXECUTOR Program Execution Definitions (Supported by CPU- 03 and CPU-04.) After creating a motion program, register it in the Program definition Tab Page of the M-EXECUTOR Window. The programs registered in the Program definition Tab Page of the M-EXECUTOR Window are executed in ascend- ing numeric order.
Page 167 5.2 User Programs 5.2.3 Motion Programs ( 3 ) How to Designate a Motion Program The following two methods are available for designating a motion program. • Using a direct designation to call a motion program • Using a indirect designation to call a motion program Now, this section explains each way to designate a motion program.
Page 168 5.2 User Programs 5.2.3 Motion Programs [ b ] Using an Indirect Designation to Call a Motion Program An indirect designation method designates a motion program to call using a register. In this method, a program (MPM ) coinciding with value stored in the register is called. ...
Page 169 5.2 User Programs 5.2.3 Motion Programs ( 4 ) Work Register Configure and monitor a motion program via a work register. The work register constitution for motion programs referenced by a MSEE command from a ladder program differs from that for motion programs registered in the M-EXECUTOR program execution definition. The work register constitution in each case is as follows: ...
Page 170 5.2 User Programs 5.2.3 Motion Programs [ a ] Status Flag of a Motion Program The motion program status flag shows the execution status of the motion program. The following table shows details of status flag. [Status Flag] Bit No. Status Program running Program paused...
Page 171 5.2 User Programs 5.2.3 Motion Programs [ b ] Control Signal Program control signals (e.g., program operation start requests and program stop requests) need to be entered to exe- cute the motion program. The following types of signals for controlling motion programs are available. Bit No.
Page 172 5.2 User Programs 5.2.3 Motion Programs  Timing Chart for Motion Program Control Signals The following figure shows an example of a timing chart for motion program control signals. Program Operation Start Request Control signal: Operation start request Status: Operating Distribution Pause Request Control signal: Operation start request...
Page 173 5.2 User Programs 5.2.3 Motion Programs [ d ] System Work Number If a motion program is executed by a ladder MSEE command, the system work number n (setting range: 1 to 16) used when executing motion programs can be set. Note: System work numbers cannot be set for motion programs registered in the M-EXECUTOR detailed defi- nition window (supported by CPU-03 and CPU-04) .
Page 174 5.2 User Programs 5.2.3 Motion Programs ( 5 ) How to Operate a Work Register The way to operate a work register of a motion program referenced by a MSEE command from a ladder program dif- fers from that of a motion program registered in the M-EXECUTOR program execution definition. The way to operate it in each case is shown as follows: [ a ] Motion Program Referenced by a MSEE Command from a Ladder Program When a motion program is referenced by a MSEE command from a ladder program, the motion program is controlled...
Page 175 5.2 User Programs 5.2.3 Motion Programs  Example using a ladder program 5-25...
Page 176 5.2 User Programs 5.2.3 Motion Programs [ b ] Motion Program Registered in M-EXECUTOR Program Execution Definitions (Supported by CPU-03 and CPU-04.) When a motion program is registered in M-EXECUTOR program execution definition, select one from the following two execution processings. •...
Page 177 5.2 User Programs 5.2.3 Motion Programs  A Way to Immediately Control a Motion Program from External Device M-EXECUTOR has a function which allocates any register to an M-EXECUTOR control register. Using this function allows you to automatically exchange data between an M-EXECUTOR control register and an I/O register connected to an external device.
Page 178 5.2 User Programs 5.2.3 Motion Programs  A Way to Control a Motion Program via a Sequence or Ladder Program Without using the allocating function of the above mentioned M-EXECUTOR control register, controls a motion program via a sequence or ladder program. To use this execution processing, save the blank Allocation register and the blank Allocation interlock contact as a blank.
Page 179 5.2 User Programs 5.2.3 Motion Programs Example using a ladder program 5-29...
Page 180 5.2 User Programs 5.2.3 Motion Programs ( 6 ) Monitor the Motion Program Execution Information using S register Using S register (SW03200 to SW04191) allows you to monitor the motion program execution information. The way to monitor the execution information for a motion program referenced by an MSEE command from a ladder program differs from that for a motion program registered in the M-EXECUTOR program execution definition (sup- ported by CPU-03 and CPU-04).
Page 181 5.2 User Programs 5.2.3 Motion Programs  Register Areas for Motion Program Execution Information Motion program execution information Executing program number SW03200 SW03200 Program number used by work 1 Executing program number (No. of main program currently SW03201 Program number used by work 2 executing) SW03202 Program number used by work 3...
Page 182 5.2 User Programs 5.2.3 Motion Programs  Details of Program Information Used by Work n Program information used by work n Program status Executing program number Program control signal Executing block number Parallel 0 information Error code Parallel 1 information Parallel 2 information Parallel 3 information Parallel 4 information...
Page 183: Sequence Program (Supported By Cpu-03 And Cpu-04.)
5.2 User Programs 5.2.4 Sequence Program (Supported by CPU-03 and CPU-04.) 5.2.4 Sequence Program (Supported by CPU-03 and CPU-04.) A sequence program is a program described with motion language of text format. The following table shows two types of sequence programs. Designation Category Features...
Page 184 5.2 User Programs 5.2.4 Sequence Program (Supported by CPU-03 and CPU-04.) ( 2 ) How to Designate a Sequence Program You can only designate a sequence program directly. Indirect designation is unavailable. Use the program number (SPM) when designating a sequence program to execute. Sequence program SPM001 M-EXECUTOR program execution definition...
Page 185 5.2 User Programs 5.2.4 Sequence Program (Supported by CPU-03 and CPU-04.) ( 3 ) Work Register Monitor a sequence program through a work register. A work register, similar to the motion program registered in M-EXECUTOR, has status flags in the M-EXECUTOR control register.
Page 186: Registers
C880700 05) or, refer to Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual (manual no.: SIEP C880700 30) for details. 4. S and M register data has a battery backup to ensure the data is held even if the MP2200 power is turned OFF and ON.
Page 187 5.3 Registers 5.3.1 Types of Registers ( 2 ) Function Registers The following table shows the registers that can be used with each function. Type Name Specification Method Range Details Characteristics Input to functions Bit input: XB000000 to XB00000F Function input regis- XW00000 to XB, XW, XL, XFnnnnn Integer input: XW00001 to XW00016...
Page 188 5.3 Registers 5.3.1 Types of Registers ( 3 ) Register Ranges in Programs The following figure shows DWG programs, function programs, and register call ranges. Registers common to all DWGs DWG H (drawing) System registers Program (SB, SW, SL, SFnnnnn) 1000 steps max.
Page 189: Data Types
5.3 Registers 5.3.2 Data Types 5.3.2 Data Types There are five kinds of data: Bit, integer, double-length integer, real number, and address data. Each is used differently depending on the application. Address data, however, is used only inside functions when specifying pointers. The following table shows the types of data.
Page 190: How To Use Subscripts I, J
5.3 Registers 5.3.3 How to Use Subscripts i, j 5.3.3 How to Use Subscripts i, j Two type of registers (i, j) are available as dedicated registers to modify the relay and register numbers. Both i and j have the same function. They are used when you want to handle a register number as a variable. An example for each register data type is given as explanation.
Page 191: Register Designation
5.3 Registers 5.3.4 Register Designation 5.3.4 Register Designation Registers can be specified directly by register number or by symbol (register name). A combination of both of these register designation methods can be used in ladder programs. When using the symbol specification method, the relationship between symbols and register numbers must be defined. The following table shows the register specification methods.
Page 192: Self-Configuration
5.4 Self-configuration 5.4 Self-configuration The self-configuration function automatically recognizes the Optional Modules mounted to the MP2200 Basic Module and all slave data for slaves connected to the MECHATROLINK network, and automatically generates a definition file. Self-configuration greatly simplifies the procedure needed to start the system.
Page 193: How To Execute Self-Configuration
Before performing the operation, turn ON the power supply of a device such as SERVOPACK.  Caution Note that this operation can clear the following data in MP2200. • All definition files, all user programs, and all registers 1. Turn OFF the power supply.
Page 194  INIT Switch and RAM Data RAM data will be cleared if the INIT switch of the DIP switch on the MP2200 Basic Module is ON and the power is turned ON. Flash memory data is read and overwritten when the INIT switch is OFF and the power is turned ON. Therefore, to protect RAM data, always save data to the MP2200 flash memory before turning OFF the power when writing or editing programs.
Page 195 This section explains each way to execute the self-configuration: [ a ] Self-configuration for All the Modules By performing the following operation, the self-configuration for MP2200 Basic Units and Optional Modules is exe- cuted. Before performing the operation, turn ON the power supply of devices such as SERVOPACK.
Page 196 5.4 Self-configuration 5.4.1 How to Execute Self-Configuration While running the self-configuration, the following message is shown. If the following warning message is shown after performing step 4, the module configuration definitions for CPU and MPE720 may differ from each other. Continue to perform step 6. When the message is not shown, go to step 9.
Page 197 5.4 Self-configuration 5.4.1 How to Execute Self-Configuration Click Individual, and only check Module configuration. Click Start to read the module configuration definition from a controller. Click the Save & FLASH Save Button to flash save the definition information. Check that the definition is successfully created in the Module Configuration Window. 5-47...
Page 198 5.4 Self-configuration 5.4.1 How to Execute Self-Configuration [ b ] Self Configuration of Each Module If modules or devices are added, self-configuration can be executed separately for the Module (port) that has been changed. By performing the following operation, self-configuration will be executed for the selected slot. Before performing the operation, turn ON the power supply of devices such as SERVOPACK.
Page 199 5.4 Self-configuration 5.4.1 How to Execute Self-Configuration While running the self-configuration, the following message is shown. If the following warning message is shown after performing step 4, the module configuration definitions for CPU and MPE720 may differ from each other. Continue to perform step 6. When the message is not shown, go to step 9.
Page 200 5.4 Self-configuration 5.4.1 How to Execute Self-Configuration Click Individual, and only check Module configuration. Click Start to read the module configuration definition from a controller. Click the Save & FLASH Save Button to flash save the definition information. In the Module Configuration Window, check that the definition has been created. 5-50...
Page 201: Definition Information Updated With Self-Configuration
5.4 Self-configuration 5.4.2 Definition Information Updated with Self-Configuration 5.4.2 Definition Information Updated with Self-Configuration Now, the definition information updated during executing the self-configuration and the module configuration defini- tion example based on the module combination are as follows:　 ( 1 ) Definition Information of CPU-01 and CPU-02 Module [ a ] I/O Allocations Item Allocation...
Page 202 5.4 Self-configuration 5.4.2 Definition Information Updated with Self-Configuration [ b ] SVR Definition Type Name Allocation Selection of Operation Modes Axis unused Function Selection Flag 1 0000h Reference Unit Selection pulse Number of Digits below Decimal Point Travel Distance per Machine Rotation 10000 reference unit Servo Motor Gear Ratio 1 rev (rotation)
Page 203 5.4 Self-configuration 5.4.2 Definition Information Updated with Self-Configuration ( 2 ) Definition Information of CPU-03 and CPU-04 Module [ a ] I/O Allocations Item Allocation The last circuit number of the Motion Module will be allocated, and the input and output registers will be allocated according to the results.
Page 204 MEMOBUS message transmission, manually use an automatic reception and I/O message commu- nication separately, or MSG-SND/MSG-RCV functions are required. [ d ] M-EXECUTOR Definition Note: M-EXECUTOR is not defined for use with the MP2200. For details on how to define the M-EXECUTOR, refer to 7.3.1 Initializing the M-EXECUTOR Module. 5-54...
Page 205: Application Precautions
When a system setting, scan time setting, or module configuration definition is configured/changed, be sure to use MPE720 to flash save it. Note that when the MP2200 power supply is turn ON again without flash saving, the config- ured/changed data may be lost.
Page 206: Setting Or Changing Module Configuration Definition Files
• Always check to make sure that the mounted Module is the one that is defined. • Be sure to save any new settings or changes to flash memory. • After the settings or changes have been completed, turn the power supply to the MP2200 OFF and ON. 5-56...
Page 207: Setting And Changing The Scan Time
Note: If the scan time is set too close to the maximum execution time for the scan, the refresh time for the win- dow on the MPE720 will be very slow and communication timeouts may occur. If the maximum execution time exceeds the scan time set value, a watchdog timer timeout error will occur and the MP2200 system will stop.
Page 208 5.5 Application Precautions 5.5.3 Setting and Changing the Scan Time ( 2 ) Scan Time Set Value Examples (Settings Are the Same for the Low-speed Scan.)  0.8-ms Maximum Scan Time and 1-ms Communication Cycle (MECHATROLINK-II Only) High-speed scan set value ≥ (1.25 × 0.8) = 1 ms High-speed scan set value = 1 ms, 2 ms, 3 ms .
Page 209 This chapter explains how to communicate with devices (PLCs, touch panels, etc.) connected to the CPU-03/CPU-04 in an MP2200-series Controller by Ethernet. 6.1 Communication Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2 6.2 Communication with Other MP Series - - - - - - - - - - - - - - - - - - - - - - - - - -6-3...
Page 210: Communication Methods
Note: For information on applications where the remote device is a PLC or Windows computer, refer to the Machine Controller MP2300S/MP2310/MP2400 Basic Module Supplement for Ethernet Communications (manual no: SIEP C880700 37). You can download this manual from the Yaskawa e-mechatronics web- site (http://www.e-mechatronics.com).
Page 211: Communication With Other Mp Series
This section explains how to communicate with the MP2300 message send function (MSG-SND) using the CPU-03/ CPU-04 automatic receive function. Slave Master CPU-03/CPU-04 MP2300 (Local station) (Remote station) 218IF-01 MP2300 YASKAWA STRX STOP INIT TEST CNFG TEST PORT OFF ON BATTERY...
Page 212 MW00099) is written into the CPU-03/CPU-04 (slave) holding register (MW00000 to MW00099). Slave Master CPU-03/CPU-04 MP2300 (Local station) (Remote station) IP address: 192.168.001.001 IP address: 192.168.001.002 218IF-01 MP2300 YASKAWA STRX STOP INIT TEST CNFG TEST PORT OFF ON Communication Protocol Extended MEMOBUS...
Page 213 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) ( 1 ) How to Set up the CPU-03/CPU-04 Side If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3. Double-click the 218IFA Tab (218IFC Tab for the CPU-04) in the Module Details Area in the CPU-03 Module Configuration Window.
Page 214 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) Set a communication setting in the Message Communication Easy Setting Dialog Box.          How to set up in the Message Communication Easy Setting Dialog Box ...
Page 215 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) Click Yes in the confirmation dialog of the parameter setting.  Caution Note that when a parameter with the same connection number is already set and you click Yes in the confirmation dialog of the parameter setting, the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Dialog Box.
Page 216 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) ( 2 ) How to Set up the Remote Device (MP2300) to Be Connected If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3. Double-click the 218IF Tab in the Module Details Area of the Module Configuration Window.
Page 217 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used)  How to set up transmission parameters  Set IP Address (“192.168.001.001,” for example).  Select Edit - Local Station: TCP/IP Setting in the Engineering Manager Window the Detail Setting Dialog Box will appear.
Page 218 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) send function (MSG-SND). Create a ladder program with a message A ladder program for transmitting messages to/from the remote device (MP2300) side is shown as follows: ...
Page 219 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used)  Input/output definitions for message send function The input/output definitions for the message send function are explained as follows: Table 6.1 Input/Output Definitions for Message Send Function Setting Name Explanation...
Page 220 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used)  Parameter list setting example for the message send function An example of a parameter list setting when writing 100 words of data from MW00000 to the destination using the connection with a connection number = 1 follows: Table 6.2 Sample Parameter List Setting (parameter list start address Param=DA00000) Register...
Page 221 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used)  Example of Using the Message Send Function in a Ladder Program Here is one example of the message send function through Ethernet (218IF). 6-13...
Page 222 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) 6-14...
Page 223 6.2 Communication with Other MP Series 6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) The communication setting and the ladder program creation are now finished, when MP2300 acts as a master. ( 3 ) How to Start Communications The CPU-03/CPU-04 side starts to receive the messages.
Page 224: When The Cpu-03/Cpu-04 Acts As A Slave (Ladder Program Which Uses A Msg-Rcv Function)
This section explains how to communicate with an CPU-03/CPU-04 message send function (MSG-SND) using the MP2300 message receive function (MSG-RCV). Master Slave CPU-03/CPU-04 MP2300 (Local station) (Remote station) 218IF-01 MP2300 YASKAWA STRX STOP INIT TEST CNFG TEST PORT OFF ON Communication Protocol...
Page 225 (MW00100 to MW00199) into the CPU-03/CPU-04 (slave) holding register (MW00100 to MW00199). Slave Master CPU-03/CPU-04 MP2300 (Local station) (Remote station) IP address: 192.168.001.001 IP address: 192.168.001.002 218IF-01 MP2300 YASKAWA STRX STOP INIT TEST CNFG TEST PORT OFF ON BATTERY Communication Protocol...
Page 226 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function) ( 1 ) How to Set up the CPU-03/CPU-04 Side If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3. Double-click the 218IFA Tab (218IFC Tab for the CPU-04) in the Module Details Area in the CPU-03 Module Configuration Window.
Page 227 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function) Click the Easy Setting Button in the Message Communication Area of the connection parameter set- ting. Set a communication setting in the Message Communication Easy Setting Dialog Box. ...
Page 228 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function)  Caution When message functions (MSG-SND, MSG-RCV) are used with the connection number 01, disable the automatic receive func- tion.
Page 229 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function) Create a ladder program with a message receive function (MSG-RCV) in it. An example of a ladder program for receiving messages in the CPU-03/CPU-04 side is as follows: ...
Page 230 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function)  Input/output definition contents for message receive function The input/output definition content for message receive function is as follows: Table 6.4 Input/Output Definitions for Message Receive Function Setting Name...
Page 231 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function)  Parameter list setting example for message receive function An example of a parameter list setting when receiving messages from a transmit source using the connection with a connection number = 2 follows: Table 6.5 Parameter List Setting Example (parameter list start address Param=DA00000) Register...
Page 232 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function)  Example of Using the Message Receive Function in a Ladder Program Here is an example of the message receive function through Ethernet (218IFA/218IFC). 6-24...
Page 233 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function) The communication setting and the ladder program creation are now finished, when the CPU-03/CPU-04 acts as a slave. ( 2 ) How to Set up the Remote Device (MP2300) to Be Connected If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.
Page 234 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function) Set transmission parameters.     How to set up transmission parameters  Set IP Address (“192.168.001.001,” for example). ...
Page 235 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function) Set connection parameters.        How to set up with a connection number 02 in the CP-218 Connection Parameter Area ...
Page 236 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function) Create a ladder program containing a message send function (MSG-SND). An example of a ladder program for transmitting messages to/from the remote device (MP2300) side follows: ...
Page 237 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function)  Input/output definitions contents for message send function The input/output definition content for the message send function is as follows: Table 6.6 Input/Output Definitions for Message Send Function Setting Name...
Page 238 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function)  Parameter list setting for the message send function An example of a parameter list setting when reading 100 words of data from MW00100 from the destination using the connection with a connection number = 2 follows: Table 6.7 Parameter List Setting Example (parameter list start address Param=DA00000) Register...
Page 239 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function)  Example of Using the Message Send Function in a Ladder Program Here is one example of the message send function through Ethernet (218IF). 6-31...
Page 240 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function) 6-32...
Page 241 6.2 Communication with Other MP Series 6.2.2 When the CPU-03/CPU-04 Acts as a Slave (ladder program which uses a MSG-RCV function) The communication setting and the ladder program creation are now finished, when MP2300 acts as a master. ( 3 ) How to Start Communications The CPU-03/CPU-04 side starts to receive the messages.
Page 242: When Cpu-03/Cpu-04 Acts As Master (I/O Message Communication Function Is Used)
This section explains how to communicate with the CPU-03/CPU-04 message receive function (MSG-RCV) using the MP2300 I/O message communication function. Master Slave CPU-03/CPU-04 MP2300 (Local station) (Remote station) 218IF-01 MP2300 YASKAWA STRX STOP INIT TEST CNFG TEST PORT OFF ON BATTERY...
Page 243 (OW0064 to OW00C7) of the CPU-03/CPU-04 (master) into a holding register (MW00300 to MW00399) of MP2300 (slave). Master Slave CPU-03/CPU-04 MP2300 (Local station) (Remote station) IP address: 192.168.001.001 IP address: 192.168.001.002 218IF-01 MP2300 YASKAWA STRX STOP INIT TEST CNFG TEST PORT OFF ON BATTERY Communication Protocol Extended MEMOBUS...
Page 244 6.2 Communication with Other MP Series 6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used) ( 1 ) How to Set up the CPU-03/CPU-04 Side If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3. Double-click the 218IFA Tab (218IFC Tab for the CPU-04) in the Module Details Area in the CPU-03 Module Configuration Window.
Page 245 6.2 Communication with Other MP Series 6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used) Set a communication setting in the I/O Message Communication Easy Setting Dialog Box.          ...
Page 246 6.2 Communication with Other MP Series 6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used)  Set a storage area (Input Reg) of data read by CPU-03/CPU-04 (IW0000, for example).  Set the Read Size of data to be read by the CPU-03/CPU-04 (“100” W, for example). ...
Page 247 6.2 Communication with Other MP Series 6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used) ( 2 ) How to Set up the Remote Device (MP2300) to Be Connected When the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3. Double-click the 218IF Tab in the Module Details of the Module Configuration Window.
Page 248 6.2 Communication with Other MP Series 6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used)  How to set up transmission parameters  Set IP Address (“192.168.001.001”, for example).  Select Edit - Local Station: TCP/IP Setting in the Engineering Manager Window the Detail Setting Dialog Box will appear.
Page 249 6.2 Communication with Other MP Series 6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used) Create a ladder program with a message receive function (MSG-RCV) in it. An example of a ladder program for receiving messages in the remote device (MP2300) side follows: ...
Page 250 6.2 Communication with Other MP Series 6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used)  Input/output definition contents for message receive function The input/output definition content for message receive function is as follows: Table 6.9 Input/Output Definitions for Message Receive Function Setting Name Content...
Page 251 6.2 Communication with Other MP Series 6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used)  Parameter list setting example for message receive function An example of a parameter list setting when receiving messages from a transmit source using the connection with connection numbers = 5 and 6 follows: Table 6.10 Parameter List Setting Example 1 (parameter list start address Param = DA00000) Register...
Page 252 Here is one example of using the message receive function through Ethernet (218IF). In addition, this ladder pro- gram is for receiving read operation. A ladder program for receiving write operations is required separately. Remote device (MP2300) MP2200 X.01 I/O Message Communication...
Page 253 6.2 Communication with Other MP Series 6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used) 書き込み受信用には、 Set DW00002 = 6 to receive write DW00002 = 6 を設定 operations. してください書き込み受信用には、 Set Ch-No = 6 to receive write Ch-No = 6 を設定...
Page 254 6.2 Communication with Other MP Series 6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used) The communication setting and the ladder program creation are now finished, when MP2300 acts as a slave. ( 3 ) How to Start Communication The MP2300 side starts to receive the messages.
Page 255: When The Cpu-03/Cpu-04 Acts As Master (Ladder Program Which Uses Msg-Snd Function)
This section explains how to communicate with the CPU-03/CPU-04 message receive function (MSG-RCV) using the MP2300 message send function (MSG-SND). Slave Master CPU-03/CPU-04 MP2300 (Remote station) (Local station) 218IF-01 MP2300 YASKAWA STRX STOP INIT TEST CNFG TEST PORT OFF ON BATTERY...
Page 256 (MW00400 to MW00499) into the CPU-03/CPU-04 (master) holding register (MW00400 to MW00499). Slave Master CPU-03/CPU-04 MP2300 (Local station) (Remote station) IP address: 192.168.001.001 IP address: 192.168.001.002 218IF-01 MP2300 YASKAWA STRX STOP INIT TEST CNFG TEST PORT OFF ON BATTERY Communication Protocol...
Page 257 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function) ( 1 ) How to Set up the CPU-03/CPU-04 Side When the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3. Double-click the 218IFA Tab (218IFC Tab for the CPU-04) in the Module Details Area in the CPU-03 Module Configuration Window.
Page 258 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function) Set a communication setting in the Message Communication Easy Setting Dialog Box.          How to set up in the Message Communication Easy Setting Dialog Box ...
Page 259 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function) Click Yes in the parameter setting confirmation dialog box.  Caution Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma- tion dialog, the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Dialog Box.
Page 260 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function) Create a ladder program containing a message send function (MSG-SND). An example of a ladder program example for transmitting messages from the CPU-03/CPU-04 side follows: ...
Page 261 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function)  Input/output definition contents for message send function The input/output definition content for the message send function is as follows: Table 6.12 Input/Output Definitions for Message Send Function Setting Name Contents...
Page 262 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function)  Parameter list setting example for the message send function An example of parameter list settings when writing 100 words of data from MW00400 to the destination using a connection with a connection number of 3 follows: Table 6.13 Parameter List Setting Example (parameter list start address Param = DA00000) Register...
Page 263 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function)  Example of Using the Message Send Function in a Ladder Program Here is one example of using the message send function through Ethernet (218IFA/218IFC). 6-55...
Page 264 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function) 6-56...
Page 265 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function) The communication setting and the ladder program creation are now finished, when the CPU-03/CPU-04 acts as a mas- ter. 6-57...
Page 266 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function) ( 2 ) How to Set up the Remote Device (MP2300) to Be Connected If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3. Double-click the 218IF Tab in the Module Details Area of the Module Configuration Window.
Page 267 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function)  How to set up transmission parameters  Set IP Address (“192.168.001.001,” for example).  Select Edit - Local Station: TCP/IP Setting in the Engineering Manager Window the Detail Setting Dialog Box will appear.
Page 268 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function) Create a ladder program with a message receive function (MSG-RCV) in it. An example of a ladder program for receiving messages in the remote device (MP2300) side follows: ...
Page 269 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function)  Input/output definitions contents for message receive function The input/output definition content for message receive function is as follow: Table 6.14 Input/Output Definitions for Message Receive Function Setting Name Contents...
Page 270 6.2 Communication with Other MP Series 6.2.4 When the CPU-03/CPU-04 Acts as Master (ladder program which uses MSG-SND function)  Parameter list setting example for message receive function A parameter list setting example is as follows when receiving messages from a transmit source using the connec- tion with a connection number = 3: Table 6.15 Parameter List Setting Example1 (parameter list start address Param = DA00000) Register...
Page 271: Communication With Touch Panel
Slave Master CPU-03/CPU-04 Touch Panel (Local station) (Remote station) Communication Protocol Extended MEMOBUS Type protocol TCP / UDP Connection Type YASKAWA BIN / ASCII Data Code Type Ethernet Ethernet CPU-03/CPU-04 Touch Panel (GP3000 series) Automatic receive function (ladderless) 218IFA 218IFA/218IFC Extended MEMOBUS protocol Fig.
Page 272 CPU-03/CPU-04 Touch Panel (Local station) (Remote station) IP address: 192.168.001.001 IP address: 192.168.001.002 Communication Protocol Extended MEMOBUS Type protocol YASKAWA Connection Type Data Code Type Ethernet Port number: 10001 Port number: 10001 Touch panel CPU-03/CPU-04 (Local station) GP3000 series (Remote station)
Page 273 6.3 Communication with Touch Panel 6.3.1 When CPU-03/CPU-04 Acts as Slave (automatic receive function is used) ( 1 ) How to Set up the CPU-03/CPU-04 Side Double-click the 218IFA Tab (218IFC Tab for the CPU-04) in the Module Details Area in the CPU-03 Module Configuration Window.
Page 274 6.3 Communication with Touch Panel 6.3.1 When CPU-03/CPU-04 Acts as Slave (automatic receive function is used) Set a communication setting in the Message Communication Easy Setting Dialog Box.          How to set up in the Message Communication Easy Setting Dialog Box ...
Page 275 6.3 Communication with Touch Panel 6.3.1 When CPU-03/CPU-04 Acts as Slave (automatic receive function is used) Click Yes in the parameter setting confirmation dialog box.  Caution Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma- tion dialog, the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Dialog Box.
Page 276 AGP-3600T Installation Horizontal model Method Set up connected equipment. Table 6.17 Connected Equipment Manufacturer YASKAWA Electric Corporation Series MEMOBUS Ethernet Set up the way to connect. Table 6.18 Connection Method Port Ethernet (TCP) Select the Connected Equipment Setting Window from the System Tab to display the connected equipment setting window.
Page 277 6.3 Communication with Touch Panel 6.3.1 When CPU-03/CPU-04 Acts as Slave (automatic receive function is used)  Port Number • If you don’t select Automatic Assignment of the port number in the communication setting window, the automatic assign- ment will be disabled, and the GP3000 series port number will be fixed at the setting value. •...
Page 278 In the setting window for each device, set up a connected device (in this case, the CPU-03/CPU-04). Set the IP address, port number, and data code in the same manner as in the 218IFA window for the CPU-03 (or the 218IFC window for the CPU-04) of the MP2200. Table 6.20 Each Device Setting IP Address 192.168.001.001...
Page 279 6.3 Communication with Touch Panel 6.3.1 When CPU-03/CPU-04 Acts as Slave (automatic receive function is used) [ b ] Window Creation Example Create a base window. Select Data Indicator from the toolbar to paste it on the window. GP-Pro EX Window Paste 12345 Double-click the Data Indicator pasted on the window.
Page 280 6.3 Communication with Touch Panel 6.3.1 When CPU-03/CPU-04 Acts as Slave (automatic receive function is used) ( 3 ) How to Start Communication The CPU-03/CPU-04 side starts to receive the messages. When the automatic receive function is used, the message receive operation starts automatically, and you are not required to do anything.
Page 281: Communication With Plc Manufactured By Mitsubishi Electric Corporation (Melsec Protocol)
MELSEC Q series using the CPU-03/CPU-04 automatic receive function. Slave Master CPU-03/CPU-04 MELSEC Q series (Local station) (Remote station) Communication Protocol MELSEC protocol Type YASKAWA Connection Type TCP / UDP BIN / ASCII Data Code Type Ethernet Ethernet CPU-03/CPU-04 MELSEC Q series Automatic receive function...
Page 282 MELSEC Q series (Local station) (Remote station) IP address: 192.168.001.001 IP address: 192.168.001.002 Communication Protocol MELSEC protocol Type Connection Type YASKAWA Data Code Type Ethernet Ethernet Port number: 10001 Port number: 10001 CPU-03/CPU-04 MELSEC Q series (Local station) (Remote station)
Page 283 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) 6.4.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) ( 1 ) How to Set up the CPU-03/CPU-04 Side If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3. Double-click the 218IFA Tab (218IFC Tab for the CPU-04) in the Module Details Area in the CPU-03 Module Configuration Window.
Page 284 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) 6.4.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) Set up the communication settings in the Message Communication Easy Setting Dialog Box.     ...
Page 285 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) 6.4.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) Check the setting value and click the Detail Button in the Automatically Column. Select the Enable Option for Automatically Reception in the Automatically Reception Setting Dia- log Box and then click the OK Button.
Page 286 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) 6.4.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) ( 2 ) How to Set up the Remote Device (MELSEC Q series) to Be Connected This section explains the MELSEC Q series side procedure to set up for connecting the CPU-03/CPU-04 with the MELSEC Q series.
Page 287 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) 6.4.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used)  Complement Set up an initial setting and a router relay parameter below, if needed: • Initial setting Set a timer relevant configuration when TCP is selected as a protocol.
Page 288: When The Cpu-03/Cpu-04 Acts As Master (I/O Message Communication Function Is Used)
Master Slave CPU-03/CPU-04 MELSEC Q series (Local station) (Remote station) Communication Protocol MELSEC protocol Type TCP / UDP Connection Type YASKAWA BIN / ASCII Data Code Type Ethernet Ethernet CPU-03/CPU-04 MELSEC Q series I/O Message Communication Function (ladderless) 218IFA/218IFC 218IFA...
Page 289 MELSEC Q series (Local station) (Remote station) IP address: 192.168.001.001 IP address: 192.168.001.002 Communication Protocol MELSEC protocol Type Connection Type YASKAWA Data Code Type Ethernet Ethernet Port number: 10005 Port number: 10005 Port number: 10006 Port number: 10006 CPU-03/CPU-04 MELSEC Q series...
Page 290 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) 6.4.2 When the CPU-03/CPU-04 Acts as Master (I/O message communication function is used) ( 1 ) How to Set up the CPU-03/CPU-04 Side If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3. Double-click the 218IFA Tab (218IFC Tab for the CPU-04) in the Module Details Area in the CPU-03 Module Configuration Window.
Page 291 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) 6.4.2 When the CPU-03/CPU-04 Acts as Master (I/O message communication function is used) Set-up a communication settings in the I/O Message Communication Easy Setting Dialog Box.    ...
Page 292 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) 6.4.2 When the CPU-03/CPU-04 Acts as Master (I/O message communication function is used)  Set a storage area (Input Reg) for data read by the CPU-03/CPU-04 (IW0000, for example). ...
Page 293 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) 6.4.2 When the CPU-03/CPU-04 Acts as Master (I/O message communication function is used) ( 2 ) How to Set up the Remote Device (MELSEC Q series) to Be Connected This section explains the MELSEC Q series side procedure to set up for connecting the CPU-03/CPU-04 with the MELSEC Q series.
Page 294 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) 6.4.2 When the CPU-03/CPU-04 Acts as Master (I/O message communication function is used) The setting is finished for now. If necessary, transfer the settings to the PLC after setting all parameters. ...
Page 295 Easy Programming (Supported by the CPU-03 and CPU-04) This chapter explains easy programming using the M-EXECUTOR Module (motion program exec- utor) functions. 7.1 System Startup Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2 7.2 Preparation (step 1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3 7.2.1 Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 7.2.2 Self Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5...
Page 296: System Startup Overview
7.1 System Startup Overview 7.1 System Startup Overview The start-up procedure for a model system is as follows. For detailed information of each step, refer to the cited refer- ences. This chapter explains a procedure where you can easily run and check a program without external signals. The motion program created here is simple and has only three lines to move two axes 150,000 pulses from the current position and stop them.
Page 297: Preparation (Step 1)
We use the following layout model to explain the startup of the model system. Prepare each device listed on the next page and connect them as shown in the figure below. ( 1 ) System Layout Model 100 VAC MECHATROLINK cable SERVOPACK SERVOPACK CPU-01 218F-01 SVB-01 MP2200 YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V MBU-01 SGDS-A5F12A SGDS-A5F12A POWER Terminator...
Page 298 7.2 Preparation (step 1) 7.2.1 Wiring [ a ] Required Equipment Product Name Model Q’ty Base Unit with AC power supply JEPMC-BU2200 MP2200 CPU-03 Module (or CPU-04 Module) JAPMC-CP2220-E (or JAPMC-CP2230-E) SVB-01 Module JAPMC-MC2310 MECHATROLINK cable (0.5m) JEPMC-W6002-A5 Terminator (terminating resistor) JEPMC-W6022 Σ-III SERVOPACK...
Page 299: Self Configuration
Turn OFF the 100-VAC power supply to the MP2200. Set the INIT and CNFG pins on the DIP switch (SW1) to ON on the MP2200. Turn ON the 100-VAC power supply to the MP2200, and confirm that the indicators change as follows: CPU 03...
Page 300: Test Operation
7.2 Preparation (step 1) 7.2.3 Test Operation 7.2.3 Test Operation Confirm that the machine controller can command axis servo ON/OFF and jog operation. ( 1 ) Starting and Connecting MPE720 Ver.6 Launch MPE720Ver.6 and click “3:Ethernet(LP)192.168.1.1” to connect to the controller. ( 2 ) Operating Manually in the Test Operation Window When the connection is complete, the display will change from offline to online.
Page 301 7.2 Preparation (step 1) 7.2.3 Test Operation Axis Selection and Servo ON Set an axis number in the Axis Window and click the Enable (Servo ON) Button in the Test Run Window. Turning the servo ON allows you to manipulate the jog/ step buttons.
Page 302 7.2 Preparation (step 1) 7.2.3 Test Operation Jog Operation Click the Speed reference Icon and set a speed reference value, and check that the axis rotates normally while the Forward Button or Reverse Button is pressed. The operation check of the first axis is complete. Press the Axis ...
Page 303: Initializing The M-Executor Module
7.3 Programming (step 2) 7.3.1 Initializing the M-EXECUTOR Module 7.3 Programming (step 2) This section describes the procedure of initializing the M-EXECUTOR Module and the procedure from creating to sav- ing a motion program. 7.3.1 Initializing the M-EXECUTOR Module The M-EXECUTOR Module is disabled (UNDEFINED) with the default settings. Initialize the M-EXECUTOR Mod- ule to enable it by performing the following procedure.
Page 304 7.3 Programming (step 2) 7.3.1 Initializing the M-EXECUTOR Module Allocate M-EXECUTOR to No.5 cell in the Module Details Area. Click Save Icon to save the module configuration definition. Check the status of No.5 cell becomes Unsetting. Double-click No.5 cell, then the M-EXECUTOR definition Dialog Box will appear. Click OK Button. 7-10...
Page 305 7.3 Programming (step 2) 7.3.1 Initializing the M-EXECUTOR Module The following window will appear. Click Save Icon to save the M-EXECUTOR (List) Window. This completes the initialization. Return to Module Configuration Window. Check the status of No.5 cell changes from Unsetting to Run- ning.
Page 306: Programming Procedure
7.3 Programming (step 2) 7.3.2 Programming Procedure 7.3.2 Programming Procedure Click the Motion Tab in the subwindow. The motion program subwindow will appears. When you double-click Motion program and there is not any group definition, the Group Definition Dialog Box will be shown. For this setting example, you do not need to change it, so accept the default setting and click the OK Button.
Page 307 7.3 Programming (step 2) 7.3.2 Programming Procedure Editing Motion Program Use the Motion Command Assist function to insert INC and MOV commands into the motion program. The Motion Command Assist function is made accessible by right-clicking the mouse on the Motion Editor Window.
Page 308: Executing Motion (Step 3)
7.4 Executing Motion (step 3) 7.4.1 Registering Program Execution 7.4 Executing Motion (step 3) 7.4.1 Registering Program Execution Click the Execution Registration Icon. Note: 1. This program assumes that the servo has been turned ON using step 2 (Axis Selection and Servo ON) of 7.2.3 ( 2 ) Operating Manually in the Test Operation Window.
Page 309 7.4 Executing Motion (step 3) 7.4.1 Registering Program Execution Select Program No. and click the Set Button to save the registered contents. 7-15...
Page 310: Starting A Motion Program Using The Drive Control Panel
• Registering a program execution enables the M-EXECUTOR definition. The MP2200 automatically controls the motion pro- gram, so be aware that changing registers registered in ladder and sequence programs may cause problems.
Page 311: Starting Motion Program From An External Signal
This section explains how to start a motion program created in 7.3 Programming (step 2) from external signals. Note that in this section, we show an example which substitutes a touch panel for the external signal. 100 VAC MECHATROLINK cable SERVOPACK SERVOPACK YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V CPU-03 SVB-01 MP2200...
Page 312 7.5 Starting Motion Program from an External Signal 7.5.2 Required Equipment Mapping of the panel manufactured by Digital Electronics Corp. MP2200 Name Mapping Category Description Operation Start  MB5000 Control signal Starts up a motion program  Stop MB5002 Control signal...
Page 313: Creation Procedure
7.5 Starting Motion Program from an External Signal 7.5.3 Creation Procedure 7.5.3 Creation Procedure Creating a Sequence Program Now create a sequence program which copies the M register content mapped to “ Servo (ON/OFF)” and “   Axis Alarm Reset” Buttons on the touch panel to the relevant registers in the motion setting parameter of the built-in SVB.
Page 314 7.5 Starting Motion Program from an External Signal 7.5.3 Creation Procedure Registering Program Execution • When the Task Allocation Dialog Box is displayed, click the Set Button to register execution of SPM002. • Refer to 2.5.7 M-EXECUTOR Module (Motion Program Executor). •...
Page 315 When all settings are completed, click the FLASH Save Icon to save the data to the flash memory. Operation Check Turn ON MP2200 power again and press “ Servo” and “ Start” on the panel window. Then check that the motion program starts and the motors of two axes begins to operate to change the current positions of two axes.
Page 316: Maintenance, Inspection, And Troubleshooting
Maintenance, Inspection, and Troubleshooting This chapter explains daily and regular inspection items to ensure that the MP2200 can always be used at its best conditions. 8.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-2 8.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2...
Page 317: Inspection Items
8.1 Inspection Items 8.1.1 Daily Inspections 8.1 Inspection Items This section summarizes daily and regular inspection items that must be performed by the customer. 8.1.1 Daily Inspections The following table lists the daily inspection items. Inspection Item Inspection Details Criteria Action Check the mounting screws for Installation conditions of...
Page 318: Regular Inspections
Inspections must also be performed when the equipment is relocated or modified or when the wiring is changed. PROHIBITED  Do not replace the built-in fuse. If the customer replaces the built-in fuse, the MP2200 may malfunction or break down. Contact your Yaskawa representative. Inspection Item...
Page 319: Replacing The Basic Unit Battery
Black lead Number Used Fig. 8.1 JZSP-BA01 (Battery with Cable) Note: This battery is not commercially available. Contact your Yaskawa representative. ( 1 ) Procedure CAUTION • Do not allow the battery to be replaced by anyone other than qualified personnel who have received safety training.
Page 320: Troubleshooting
8.2 Troubleshooting 8.2.1 Basic Flow of Troubleshooting 8.2 Troubleshooting This section describes the basic troubleshooting methods and provides a list of errors. 8.2.1 Basic Flow of Troubleshooting When problems occur, it is important to quickly find the cause of the problems and get the system running again as soon as possible.
Page 321: Error Check Flowchart
8.2.3 LED Indicators ( 1 ) LED Indicators The status of the LED indicators on the front of the MP2200 Basic Unit can be used to determine the error status and meaning. CARD The locations in the program that need to be corrected...
Page 322 8.2.3 LED Indicators ( 2 ) LED Indicator Meanings The following table shows how to use the LED indicators to determine the operating status of the MP2200, as well as relevant error information when the LED indicator status indicates an error.
Page 323: Troubleshooting System Errors
8.2.4 Troubleshooting System Errors The LED indicators on the front of the Basic Unit can be used to determine MP2200 operating status and error status. To obtain more detailed information on errors, the system (S) registers can be used. A detailed check of the contents of system registers can be used to determine the location of the error and take the corrective measures.
Page 324 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors ( 2 ) Accessing System Registers To access the contents of system registers, start the MPE720 Programming Tool and use the Register List. [ a ] Register List Display Procedure Use the following procedure to display the register list. Click Register List 1 to display the Register List 1 Window.
Page 325 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors ( 3 ) Troubleshooting Flowchart for System Errors A troubleshooting flowchart for system errors is provided below. START Use the LED indicator pattern to classify the error. Battery alarm Replace battery. indicator BAT lit? Classifications = Warning Alarm ALM indicator lit or...
Page 326 ( 4 ) Correcting User Program Errors A serious error may have occurred if the ALM and ERR indicators on the front of the MP2200 Basic Module are lit red. Set the MP2200 in stop status (STOP switch on DIP switch 1-6: ON) and investigate the error.
Page 327 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors Continued on from the previous page. When the error cause can be assumed to be a problem with the external input data or output data from the user program, disable the corresponding I/O pro- (8) Investigate the I/O state cess to investigate a cause based on the I/O data.
Page 328 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors [ a ] How to Disable a User Program • Drawing or Function In the ladder subwindow of the MPE720 online mode, right-click the corresponding drawing and function and select Enable/Disable in the pop-up menu. •...
Page 329 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors (b) How to Disable the I/O Process In the Module Configuration Window of the MPE720 online mode, open the detailed definition window of the mod- ule for which you want to disable the I/O process. Click “D” and save it, to disable the I/O process for the clicked item. You can change the disabled input register to any value.
Page 330 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors [ d ] Operation in Case of Scan Time Over When the maximum value for high-speed scan time is equal to a setting value, a watchdog timeout error will occur because the time for performing a low-speed scan cannot be ensured. Low-speed scan setting value High-speed scan setting value High-speed scan setting value...
Page 331 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors ( 5 ) System Register Configuration and Error Status [ a ] System Status System operating status and error status is stored in registers SW00040 to SW00048. Check system status details to determine whether hardware or software is the cause of an error. Name Register No.
Page 332 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors (cont’d) Name Register No. Description SB000480 TEST SB000481 SB000482 CNFG Store DIP switch. SB000483 INIT 0: ON, 1: OFF SB000484 SB000485 STOP SB000486 – SB000487 Battery Alarm Hardware USB1/E-INIT (for CPU-02 and Configuration SW00048 SB000488 CPU-03) Status...
Page 333 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors (cont’d) Name Register No. Description Ladder program parent drawing: FFFFH Ladder program function: 8000H Program Error Ladder program child drawing: xx00H (Hxx: Child drawing number) SW00056 Drawing Number Ladder program grandchild drawing: xxyyH (Hyy: Grandchild drawing number) Motion program/sequence program : F0xxH (Hxx: program number) Type of drawing that calls the ladder program function in which an error occurred.
Page 334 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors [ c ] Ladder Program User Operation Error Status Error information for user operation errors in ladder programs is stored in registers SW00080 to SW00089 (Error Sta- tus 1) and SW00110 to SW00189 (Error Status 2). Table 8.1 Ladder Program User Operation Error Status 1 Name Register No.
Page 335 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors Table 8.3 Ladder Program User Operation Error Codes 1 Error Error Contents User* System Default Value Code 0001H Integer operation - underflow −32768 [−32768] 0002H Integer operation - overflow 32767 [32767] 0003H Integer operation - division error The A register remains the same.
Page 336 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors [ d ] System Service Execution Status Table 8.5 Data Trace Execution Status Name Register No. Remarks SW00090 to Reserved by the system. SW00097 Bit 0 to 3 = Group 1 to 4 Existence Of Data Trace Definition SW00098 Definition exists = 1, No definition = 0 Bit 0 to 3 = Group 1 to 4...
Page 337 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors [ f ] Actions to be Taken when an I/O Error Occurs When an I/O error occurs during system I/O, the error status is reported in the system registers as shown in the follow- ing table.
Page 338 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors  CPU-03 and CPU-04 Error Status (Rack 1, Slot 0) Bit number SW00208 Status Subslot (function) number SW00209 Unused Write Read Transmission station Transmission station SW00210 Reserved by the system. Reserved by the system. for writing for reading SW00211...
Page 339 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors  LIO-01/02 Module Error Status (Example for Rack 1, Slot 1) (Bit No.) F---------------------------------------------8 7---------------------------------------------0 SW00224 Error Code (I/O error = 2) Subslot No. (= 1) SW00225 Error Code (I/O error = 2) Subslot No. (= 2) SW00226 Not used ---------------------------------------------------...
Page 340 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors [ g ] Interrupt Status Name Register No. Remarks Interrupt Detection Counter SW00698 Module Generating Interrupt SW00699 Number of Interrupt Modules for one time SW00700 SW00701 Interrupt Module 1 SW00702 SW00703 SW00704 Interrupt Module 2 Interrupt Module SW00705 SW00787...
Page 341 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors [ h ] Module Information Remarks Name Register No. CPU-01/CPU-02 CPU-03 CPU-04 SW00800 Basic Unit ID SW00801 CPU Hardware Version (BCD) SW00802 CPU Software Version (BCD) SW00803 Number of Subslots SW00804 CPU Function Module ID SW00805 CPU Function Module Status SW00806...
Page 342 8.2 Troubleshooting 8.2.4 Troubleshooting System Errors (cont’d) Remarks Name Register No. CPU-01/CPU-02 CPU-03 CPU-04 SW00952 Module ID SW00953 Hardware Version (BCD) SW00954 Software Version (BCD) SW00955 Number of Subslots Rack 3, Slot 1 Information SW00956 Subslot 1 Function Module ID SW00957 Subslot 1 Function Module Status SW00958...
Page 343: Motion Program Alarms
8.2 Troubleshooting 8.2.5 Motion Program Alarms 8.2.5 Motion Program Alarms If a motion program alarm occurs, find the cause of alarm indicated by the alarm code. The alarm code, alarm name, and its corrective actions in a motion program can be checked on the Motion Alarm Window.
Page 344 8.2 Troubleshooting 8.2.5 Motion Program Alarms This section explains the Motion Alarm Window.       Program number The name of the program where an error occurred is shown. Block number  The number of the block where an error occurred is shown. Double-clicking the number will bring you to the corresponding program where the error occurred.
Page 345 8.2 Troubleshooting 8.2.5 Motion Program Alarms ( 2 ) Motion Program Alarm Codes (a) Configuration of Motion Program Alarms The following diagram shows the configuration of alarms. Bit15 Bit12 Bit8 Bit7 Bit0 Alarm occurrence axis Alarm code (When Bit 7 is ON: Axis alarm) information (1 to 16 1 16 (b) Alarm Code List for Motion Program...
Page 346 8.2 Troubleshooting 8.2.5 Motion Program Alarms (cont’d) Alarm Name Description Corrective Actions Code A motion command was instructed simulta- neously at the second line in the PFORK of Review the source motion program or sub- PFORK execution error both a source motion program and a subpro- program.
Page 347: List Of Causes For Command Error Completed Status
8.2 Troubleshooting 8.2.6 List of Causes for Command Error Completed Status 8.2.6 List of Causes for Command Error Completed Status The Command Error Completed Status (IW09, bit 3) turns ON when the set motion command cannot be executed for some reasons or the execution of motion command ended with error. The cause for which this bit turns ON differ depending on motion command.
Page 348 8.2 Troubleshooting 8.2.6 List of Causes for Command Error Completed Status (cont’d) Warning (W:) and Alarm (A:) That Occur Motion Command Code Cause of Command Error Occurrence at Command Error Occurrence The commanded moving distance for one scan exceeds the segment that can be commanded to the MECHATROLINK SERVOPACK, or the A: Excessive Speed speed feed forward value exceeds the allowable...
Page 349 8.2 Troubleshooting 8.2.6 List of Causes for Command Error Completed Status (cont’d) Warning (W:) and Alarm (A:) That Occur Motion Command Code Cause of Command Error Occurrence at Command Error Occurrence − An alarm is occurring. A: Servo Driver Synchronization Com- Asynchronous communication status munication Error Change Filter Type...
Page 350: Troubleshooting Motion Errors
8.2 Troubleshooting 8.2.7 Troubleshooting Motion Errors (cont’d) Warning (W:) and Alarm (A:) That Occur Motion Command Code Cause of Command Error Occurrence at Command Error Occurrence − An alarm is occurring. A: Servo Driver Synchronization Com- Asynchronous communication status munication Error Change Position Loop Integration Time Constant SERVOPACK parameter writing was not com-...
Page 351: Appendices
Appendices A System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-2 A.1 System Service Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4 A.3 Program Software Numbers and Remaining Program Memory Capacity - - - - - - - - - - - - A-4...
Page 352: Appendix A System Registers Lists
Appendix A System Registers Lists A.1 System Service Registers Appendix A System Registers Lists System Service Registers ( 1 ) Shared by All Drawings Name Register No. Remarks Reserved by the system SB000000 (Not used) High-speed Scan SB000001 ON for only one scan after high-speed scan is started after turning ON the power supply. Reserved by the system SB000002 (Not used)
Page 353 Appendix A System Registers Lists A.1 System Service Registers  DWG.L Only The following relays are reset at the start of the low-speed scan. Name Register No. Remarks 1 scan One-scan Flicker Relay SB000030 1 scan 0.5s 0.5s 0.5-s Flicker Relay SB000031 1.0s 1.0s...
Page 354: Scan Execution Status And Calendar
Appendix A System Registers Lists A.2 Scan Execution Status and Calendar Scan Execution Status and Calendar Name Register No. Remarks High-speed Scan Set Value SW00004 High-speed Scan Set Value (0.1 ms) High-speed Scan Current Value SW00005 High-speed Scan Current Value (0.1 ms) High-speed Scan Maximum Value SW00006 High-speed Scan Maximum Value (0.1 ms)
Page 355: Appendix B Svr Motion Parameter Details
Appendix B SVR Motion Parameter Details B.1 Fixed Parameter List Appendix B SVR Motion Parameter Details Fixed Parameter List The following table lists the SVR motion fixed parameters. (Use this list as reference for the SVB.) Slot Name Contents SVB SVR Number 0: Normal Operation Mode 1: Axis Unused...
Page 356 Appendix B SVR Motion Parameter Details B.1 Fixed Parameter List (cont’d) Slot Name Contents SVB SVR Number Rated Motor Speed 1 = 1 min (Rotary Motor) Rated Speed 1 = 0.1 m/s, 0.1 mm/s (Linear Type) Number of Pulses per Motor 1 = 1 pulse/rev Rotation (Rotary Motor) Set the value after multiplication.
Page 357: Setting Parameter List
Appendix B SVR Motion Parameter Details B.2 Setting Parameter List Setting Parameter List The following table lists the SVR motion setting parameters. (Use this list as reference for the SVB.) Register No. Name Contents SVB SVR Bit 0: Servo ON (0: OFF/1: ON) Bit 1: Machine Lock (0: Normal operation/1: Machine locked) Bits 2 to 3: Reserved Bit 4: Latch Detection Demand (0: OFF/1: ON)
Page 358 Appendix B SVR Motion Parameter Details B.2 Setting Parameter List (cont’d) Register No. Name Contents SVB SVR Bits 0 to 3: Latch Detection Signal Selection 0: - 1: - 2: Phase-C Pulse Input Signal 3: /EXT1 4: /EXT2 5: /EXT3 Bits 4 to 7: External Positioning Signal Setting OW04 Function Setting 2 0: −...
Page 359 Appendix B SVR Motion Parameter Details B.2 Setting Parameter List (cont’d) Register No. Name Contents SVB SVR Bit 0: Holds a Command. (0: OFF/1: ON) Bit 1: Interrupt a Command. (0: OFF/1: ON) Bit 2: Moving Direction (JOG/ STEP) (0: Forward rotation/1: Reverse rotation) Bit 3: Zero Point Return Direction Selection (0: Reverse rotation/1: Forward rotation) Motion Command...
Page 360 Appendix B SVR Motion Parameter Details B.2 Setting Parameter List (cont’d) Register No. Name Contents SVB SVR Latch Zone Upper OL2C 1 = 1 reference unit Limit Setting OW2E Position Loop Gain 1 = 0.1/s OW2F Speed Loop Gain 1 = 1 Hz Speed Feedforward OW30 1 = 0.01% (percentage of distribution segment)
Page 361 Appendix B SVR Motion Parameter Details B.2 Setting Parameter List (cont’d) Register No. Name Contents SVB SVR Bits 0 to 3: Monitor 1 (Setting impossible) Servo User Monitor Bits 4 to 7: Monitor 2 OW4E Setting Bits 8 to B: Monitor 3 (Setting impossible) Bits C to F: Monitor 4 Servo Driver Alarm OW4F...
Page 362: Monitoring Parameter List
Appendix B SVR Motion Parameter Details B.3 Monitoring Parameter List Monitoring Parameter List The following table lists the SVR motion monitor parameters. (Use this list as reference for the SVB.) Register No. Name Contents Bit 0 Motion Controller Operation Ready Bit 1: Running (At Servo ON) Bit 2: System Busy IW00...
Page 363 Appendix B SVR Motion Parameter Details B.3 Monitoring Parameter List (cont’d) Register No. Name Contents Bit 0: Command Execution Flag Bit 1: Command Hold Completed − − Bit 2: Reserved Bit 3: Command Error Completed Status Motion Command (Command Error Occurrence) IW09 Status −...
Page 364 Appendix B SVR Motion Parameter Details B.3 Monitoring Parameter List (cont’d) Register No. Name Contents Speed Reference IL20 pulse/s Output Monitor IL22 to − − − Reserved IL2A Bit 0: Alarm (ALM) Bit 1: Warning (WARNG) Bit 2: Command Ready (CMDRDY) Bit 3: Servo ON (SVON) Bit 4: Main Power Supply ON (PON) Bit 5: Machine Lock (MLOCK)
Page 365 Appendix B SVR Motion Parameter Details B.3 Monitoring Parameter List (cont’d) Register No. Name Contents Servo Driver User Constant Reading Data (SERVOPACK IL38 Parameter Reading Stores the data of the parameter being read. Data for MECHATROLINK Command Area) Supplementary Servo Driver User Constant Reading Data (SERVOPACK...
Page 366: Appendix C Simple Connection Function Of The Engineering Tool
Appendix C Simple Connection Function of the Engineering Tool (Sup- ported by the CPU-03 and CPU-04) This section explains how to set up a communication process for connecting the MPE720 and MP2200. In MPE720 Ver.6, set the communication process on the MPE720 window.
Page 367 Appendix C Simple Connection Function of the Engineering Tool (Supported by the CPU-03 and CPU-04) C.2 Procedure Turn ON the 100-VAC power supply to the MP2200, and confirm that the RDY and RUN are lit on the CPU-03/CPU-04 Module. :Lit :Unlit Note: For the CPU-04, the TRX indicator functions as a CARD indicator.
Page 368 Appendix C Simple Connection Function of the Engineering Tool (Supported by the CPU-03 and CPU-04) C.2 Procedure Select Ethernet (LP) (IP:192.168.1.2) as the communication port. Personal computer IP address Note: You can check the personal computer IP address in advance in Control Panel. ...
Page 369 Appendix C Simple Connection Function of the Engineering Tool (Supported by the CPU-03 and CPU-04) C.2 Procedure A controller search list will appear. Select the found controller and click the Connection Button. Personal computer IP address MPE720 connects to the controller. A-19...
Page 370: Message Send Function (Msg-Snd
Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) Message Send Function (MSG-SND) This section explains the message send function (MSG-SND) used in a ladder program when transmitting messages. D.1.1 Specification Overview of the Message Send Function Function Name MSG-SND Transmits messages to a remote station on the circuit specified by the communication device type.
Page 371 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) D.1.2 I/O Item Details of the Message Send Function ( 1 ) Input Item The following table shows registers available for each input item. Input Item I/O Option Available Register Every bit type register Execute B-VAL...
Page 372 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) Cir-No (circuit number) Specify a circuit number for the communication device. Specify it in accordance with the circuit number displayed in the MPE720 Module Configuration Window. Circuit number Fig. D.1 MPE720 Module Configuration Window The following table shows the scope of circuit numbers.
Page 373 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) Param (parameter list start address) Specify the start address of the parameter list. For the “parameter list,” 17 words are automatically assigned from the configured address. In the parameter list, enter the function code and its relevant parameter data. Also, pro- cess result and status are output.
Page 374 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) Error (error occurred) Specify a bit that reports that an error has occurred in the message transmission. When an error occurs, the Error bit will turn ON only for one scan. Note: For more information about the error cause, refer to D.1.4 ( 2 ) Process Result (PARAM00) and D.1.4 ( 3 ) Status (PARAM01).
Page 375 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) D.1.3 Message Send Function Parameter List (Param) Overview The param of the MSG-SND function has a parameter list structure composed of 17 words. (The value of the Param itself is the start address (MA, DA) of the parameter list.) In the parameter list, enter a connection number, function code and its relevant parameter data.
Page 376 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) D.1.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMO- BUS Protocols This section explains the MSG-SND function setting and its parameter list details when MEMOBUS or Extended MEMOBUS is used as a protocol type.
Page 377 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 2 ) Process Result (PARAM00) Process result is output to the upper byte. Lower byte is used for system analysis. Value of Process Meaning Result 00xxH In process (Busy) 10xxH Process completed (Complete) 8yxxH...
Page 378 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 3 ) Status (PARAM01) Outputs status of the communication section (communication device). The following figure shows the bit assignment and the bit assignment details is listed in the table (a) and after. Bits 0 to 7 (d) PARAMETER Bits 8 to B...
Page 379 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( d ) PARAMETER (parameter) When RESULT(process result) = 4 (FMT_NG: parameter format error), an error code in the table below is output. Otherwise, the connection number is output. RESULT (process result) Code (Hex) Meaning...
Page 380 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 5 ) Option (PARAM03) Choose a unique setting for each communication device. When the protocol is MEMOBUS or Extended MEMOBUS, this is not used, and no setting is necessary. ( 6 ) Function Code (PARAM04) Set a function code to transmit.
Page 381 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 7 ) Data Address (PARAM05) Specify the start address of the data. The address must be input in decimal or hexadecimal numbers. Example: When the start address is MW01000, specify “1000 (decimal)” or “3E8H (hexadecimal).” The range of data addresses may differ, depending on the function code.
Page 382 When the remote device is MP2 00 series, specify “1”.  When the remote device is a controller manufactured by YASKAWA Electric Corporation, but other than the MP200 series, and comprises multiple CPU modules, specify the destination CPU number. Otherwise, specify “0”.
Page 383 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 10 ) Offset (PARAM08, PARAM09, PARAM10, PARAM11) Specify the offset addresses of read data storage areas and write data source of the transmission side. The address for the transmission side will be displaced by the number of words designated by the offset. Note: 1.
Page 384 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) D.1.5 Function Setting and Parameter Details for MELSEC Protocol This section explains MSG-SND function setting and its parameter list details when MELSEC is used as a protocol. ( 1 ) Message Send Function Setting ( a ) 218IFA/218IFC Setting Example An example of a function setting when 218IFA/218IFC is used as a communication device follows: Set the protocol type to MEMOBUS when used in MELSEC protocol.
Page 385 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 5 ) Option (PARAM03) Choose a unique setting for each communication device. This is not used by the MELSEC protocol, and does not require setting when MELSEC is used. ( 6 ) Function Code (PARAM04) Set a function code to transmit.
Page 386 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 7 ) Data Address (PARAM05) Specify the start address of the data. The address must be input in decimal or hexadecimal numbers. Example: When the start address is MW01000, specify “1000 (decimal)” or “3E8H (hexadecimal).” The valid range of usable function codes and data addresses may differ, depending on the device type and device range of the MELSEC side.
Page 387 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 8 ) Data Size (PARAM06) Set the data size (number of bits or words) for the read/write request. Be sure that the last data address determined based on the offset, data address, and data size does not go beyond the scope of the data addresses.
Page 388 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 9 ) Remote CPU Number (PARAM07) Refer to D.1.4 ( 9 ) Remote CPU Number (PARAM07). ( 10 ) Offset (PARAM08, PARAM09, PARAM10, PARAM11) Specify the offset addresses of the read data storage area and the write data source of the transmission side. The address for the transmission side will be displaced by the number of words designated by the offset.
Page 389 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) D.1.6 Function Setting and Parameter Details for MODBUS/TCP Protocol This section explains the MSG-SND function setting and its parameter list details when MODBUS/TCP is used as a protocol type. ( 1 ) Message Send Function Setting ( a ) 218IFA/218IFC Setting Example An example of a function setting when 218IFA/218IFC is used as a communication device follows:...
Page 390 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 4 ) Connection Number (PARAM02) Refer to D.1.4 ( 4 ) Connection Number (PARAM02). ( 5 ) Option (PARAM03) Choose a unique setting for each communication device. The following table provides the scope of the setting. Communication Device Valid Range Remarks...
Page 391 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 7 ) Data Address (PARAM05) Specify the start address of the data. The address must be a decimal or hexadecimal number. Example: When the start address is MW01000, specify “1000 (decimal)” or “3E8H (hexadecimal).” The range of data addresses may differ according to the function code.
Page 392 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) 2. Address table An address table used for the read/write request to the multiple holding registers is used for specifying addresses indirectly in order to indicate read/write data. The four words of addresses at the beginning of the M register set by PARAM05 (data address) are used as an address table.
Page 393 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 9 ) Remote CPU Number (PARAM07) Refer to D.1.4 ( 9 ) Remote CPU Number (PARAM07). ( 10 ) Offset (PARAM08, PARAM09, PARAM10, PARAM11) Specify the offset addresses of the read data storage area and the write data source of the transmission side. The address for the transmission side will be displaced by the number of words designated by the offset.
Page 394 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) D.1.7 Function Setting and Parameter Details for Non-procedural Protocol This section explains the MSG-SND function setting and its parameter list details when non-procedure is used as a pro- tocol. Note: Non-procedure communication protocol transmits the M register content intact without a protocol conver- sion.
Page 395 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 2 ) Process Result (PARAM00) The process result is output to the upper byte. The lower byte is used for system analysis. Value of Process Meaning Result 00xxH In process (Busy) 10xxH Process completed (Complete)
Page 396 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 3 ) Status (PARAM01) Outputs status of the communication section (communication device). The following figure illustrates bit assignment. Bit assignment details are listed in the table below. BIts 0 to 7 (d) PARAMETER Bits 8 to B (c) COMMAND...
Page 397 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( d ) PARAMETER (parameter) When RESULT (process result) = 4 (FMT_NG: parameter format error), an error code in the table below is output. Otherwise, the connection number is output. RESULT (process result) Code (Hex) Meaning...
Page 398 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 6 ) Data Size (PARAM06) Set the data size (number of bits or words) for the write request. Be sure that the last data address determined based on the offset, data address, and data size does not go beyond the scope of the data addresses.
Page 399 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) D.1.8 Relationship between Data Address, Data Size, and Offset for MSG-SND Function The relationship between data address, data size, and offset is as follows, when transmitted with offset: ( 1 ) When Reading Remote device (reception: slave) MP2 00 series (transmission: master) Coil, input relay,...
Page 400 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) ( 2 ) When Writing MP2 00 series (transmission: master) Remote device (reception: slave) Coil and holding registers M register MW00000 Offset A Data address B Data address B Data Data size C Data size C...
Page 401 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.1 Message Send Function (MSG-SND) Example: When reading coil state with offset: The various setting values and their relationships with the data of the remote device are as follows, when trans- mitting “reading coil state” with offset in MEMOBUS protocol: •...
Page 402 The following figure shows the data flow when transmitting “reads coil state” with offset: When transmission and reception are carried out normally in the figure below, the coil state in the device is stored in MW01512 and after of MP2200. MP2200 (transmission: master)
Page 403: Message Receive Function (Msg-Rcv
Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) Message Receive Function (MSG-RCV) This section explains how the message receive function (MSG-RCV) is used in a ladder program when receiving mes- sages. D.2.1 Specification Overview of the Message Receive Function Function Name MSG-RCV Receives messages from the remote station on the circuit specified by the communication device type.
Page 404 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) D.2.2 I/O Item Details of the Message Receive Function ( 1 ) Input Item The following table indicates the registers available for each input item. Input Item I/O Option Available Register Every bit type register Execute...
Page 405 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) Cir-No (circuit number) Specify a circuit number for the communication device. Specify it in accordance with the circuit number displayed in the MPE720 Module Configuration Window. Circuit number Fig. D.9 MPE720 Module Configuration Window The following table indicates the range of valid circuit numbers.
Page 406 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) Param (parameter list start address) Specify the start address of the parameter list. For the “parameter list,” 17 words are automatically assigned from the configured address. In the parameter list, enter the function code and its relevant parameter data. Addition- ally, process result and status are output.
Page 407 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) Error (error occurred) Specify a bit to report when an error occurs in the message reception. When an error occurs, the Error bit will turn ON only for one scan. Note: For more information about the error cause, refer to D.2.4 ( 2 ) Process Result (PARAM00) and D.2.4 ( 3 ) Status (PARAM01).
Page 408 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) D.2.3 Message Receive Function Parameter List (Param) Overview Param of the MSG-RCV function has a parameter list structure composed of 17 words. (The value of Param itself is the start address (MA, DA) of the parameter list.) In the parameter list, enter the function code and its relevant parameter data.
Page 409 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 2 ) Non-procedural Parameter List Param No. IN/OUT Contents Description Process result Outputs the process results. Status Outputs the status of the communication device. Connection number Specifies the remote source. Not used Not used Not used...
Page 410 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) [ b ] 218IF Setting Example An example of a function setting when 218IF is used as a communication device follows: Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol. Set the circuit number in accordance with the circuit number allocated to the target 218IF.
Page 411 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 3 ) Status (PARAM01) Outputs status of the communication section (communication device). The following figure shows the bit assignment. Bit assignment details are listed in the tables following. Bits 0 to 7 (d) PARAMETER Bits 8 to B...
Page 412 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) [ d ] PARAMETER (parameter) When RESULT(process result) = 4 (FMT_NG: parameter format error), an error code in the table below is output. Oth- erwise, the connection number is output. RESULT (process result) Code (Hex) Meaning...
Page 413 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) Fig. D.11 218IF Transmission Parameters Tab Page for the MPE720 Module Configuration Window ( 5 ) Option (PARAM03) A unique value is output for each communication device. Not used for the MEMOBUS or Extended MEMOBUS protocols. ( 6 ) Function Code (PARAM04) Received function code is output.
Page 414 ( 9 ) Remote CPU Number (PARAM07) When the remote device is MP200 series, “1” is output. When the remote device is a controller manufactured by YASKAWA Electric Corporation other than MP200 series and is comprised of multiple CPU modules, the remote CPU number is output.
Page 415 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 11 ) Write Range (PARAM12, PARAM13) Sets an available address range for the write request from the transmission side. A write request which is out of this available address range will cause an error. Specify the address range (PARAM12, PARAM13) as a word address.
Page 416 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) D.2.5 Function Setting and Parameter Details for MELSEC Protocol This section explains the MSG-RCV function setting and its parameter list details when MELSEC is used as a protocol. ( 1 ) Message Receive Function Setting [ a ] 218IFA/218IFC Setting Example An example of a function setting when 218IFA/218IFC is used as a transmission device follows: Set the protocol type to MEMOBUS when used in MELSEC protocol.
Page 417 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 5 ) Option (PARAM03) A unique value is output for each communication device. Not used for the MELSEC protocol. ( 6 ) Function Code (PARAM04) Received function code is output. The following table lists the function codes available when using the MELSEC protocol.
Page 418 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 10 ) Offset (PARAM08, PARAM09, PARAM10, PARAM11) Specify an offset address for the reception side data address. The address for the reception side will be displaced by the number of words designated by the offset. Note: 1.
Page 419 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 11 ) Write Range (PARAM12, PARAM13) Sets an available address range for a write request from the transmission side. A write request which is out of this avail- able address range will cause an error.
Page 420 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) D.2.6 Function Setting and Parameter Details for MODBUS/TCP Protocol This section explains the MSG-RCV function setting and its parameter list details when MODBUS/TCP is used as a protocol. ( 1 ) Message Receive Function Setting [ a ] 218IFA/218IFC Setting Example An example of a function setting when 218IFA/218IFC is used as a transmission device follows: Set the protocol type to MEMOBUS when used in MODBUS/TCP protocol.
Page 421 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 3 ) Status (PARAM01) Refer to D.2.4 ( 3 ) Status (PARAM01). ( 4 ) Connection Number (PARAM02) Refer to D.2.4 ( 4 ) Connection Number (PARAM02). ( 5 ) Option (PARAM03) A unique value is output for each communication device.
Page 422 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 8 ) Data Size (PARAM06) The read/write data size (number of bits or words) requested from the transmission side is output. ( 9 ) Remote CPU Number (PARAM07) Refer to D.2.8 Relationship between Data Address, Data Size, and Offset for MSG-RCV Function.
Page 423 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) The following table indicates the write range parameters. Table D.31 Write Range Parameter List Parameter Contents Description PARAM12 Write range LO Start address of the write range PARAM13 Write range HI Last address of the write range Specify the write range so that the expression below is met: 0 ≤...
Page 424 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) D.2.7 Function Setting and Parameter Details for Non-procedural Protocol This section explains the MSG-RCV function setting and its parameter list details when non-procedure is used as a pro- tocol. Note: Non-procedure communication protocol stores the received data in the M register intact without a proto- col conversion.
Page 425 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 2 ) Process Result (PARAM00) The process result is output to the upper byte. The lower byte is used for system analysis. Value of Process Meaning Result 00xxH In process (Busy) 10xxH Process completed (Complete)
Page 426 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 3 ) Status (PARAM01) Outputs status of the communication section (communication device). The following figure shows the bit assignment. The bit assignment details are listed in the following tables. Bits 0 to 7 (d) PARAMETER Bits 8 to B...
Page 427 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) [ d ] PARAMETER (parameter) When RESULT (process result) = 4 (FMT_NG: parameter format error), an error code in the following table is output. Otherwise, the connection number is output. RESULT (process result) Code (Hex) Meaning...
Page 428 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 7 ) Write Range HI (PARAM13) Sets an available address range for the write request from the transmission side. A write request which is out of this available address range will cause an error. Specify the write range (PARAM13) as a word address.
Page 429 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) D.2.8 Relationship between Data Address, Data Size, and Offset for MSG-RCV Function The relationships between data address, data size, and offset when received with offset are as follows: ( 1 ) When Reading Remote device (transmission: master) MP2 00 series (reception: slave) M register...
Page 430 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) ( 2 ) When Writing MP2 00 series (reception: slave) Remote device (transmission: master) Write range LO M register MW00000 Offset A Start address of the write data Data address B Data Data size C Data size C...
Page 431 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.2 Message Receive Function (MSG-RCV) Example: “Writes to multiple holding registers” with offset is received: When “writes to multiple holding registers” with offset is received in MEMOBUS protocol, various setting values and the relationship with the data of remote device are as follows: •...
Page 432 The following figure shows the data flow when receiving “writes to multiple holding registers” with offset: When transmission and reception are carried out normally in the figure below, the data in the remote device is stored in MW03000 and after of MP2200. Remote device (transmission)
Page 433: Communication Buffer Channel
Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.3 Communication Buffer Channel Communication Buffer Channel A communication buffer channel is used for giving and receiving data between the MSG-SND/ MSG-RCV function and communication device. This data buffer is composed of single or multiple channels, and each channel is distin- guished by a communication buffer channel number.
Page 434 Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) D.3 Communication Buffer Channel Remote device #1 Remote device #2 MP2200 Ethernet Ethernet Ethernet Remote IP Address Remote IP Address Local IP Address 192.168.1.y 192.168.1.z 192.168.1.x Ethernet Network block diagram The connection is set in the 218IFA Transmission Parameters Tab Page of the Module Configuration Window.
Page 435: Appendix E Optional Functions
Appendix E Optional Functions E.1 Clearing D Registers at Startup Appendix E Optional Functions Clearing D Registers at Startup ( 1 ) Overview of Functions D registers are internal registers that are unique for each user program. Normally, the D register data is not defined at startup, but it is also possible to start with the data cleared.
Page 436: Security
Appendix E Optional Functions E.2 Security Security ( 1 ) Overview of Functions Security functions set a password (security key) to prevent data saved in the Controller from being read by other par- ties. ( 2 ) Supported Versions The following versions support security functions. •...
Page 437: Security
Appendix E Optional Functions E.2 Security ( 4 ) Operation Procedure [ a ] Opening the Security Setting Dialog Box Make the security settings using the MPE720. The Security Setting Dialog Box will start when the Engineering Tool goes online with the Controller. Connect to the Controller online.
Page 438 Appendix E Optional Functions E.2 Security [ b ] New Security Settings Make a new security setting in the Security Setting Dialog Box. Select the Apply File Reading Restriction (Ladder/Motion/C Language) Check Box, and then select a restriction privilege level from 0 to 7. Note: The display depends on the conditions that are set.
Page 439 Appendix E Optional Functions E.2 Security [ c ] Changing the Restriction Privilege Change the restriction privilege with the security settings made. Open the Security Setting Dialog Box and change the restriction privilege level to a number from 0 to Enter the password in the Security Key Field.
Page 440 Appendix E Optional Functions E.2 Security [ d ] Changing the File Reading Restriction Change the file reading restriction with the security settings made. In this example, we will release the restriction. To set the restriction, use the same procedure. Having no file reading restriction set is the same as security being released. Select or clear the Apply File Reading Restriction (Ladder/Motion/C Language) Check Box.
Page 441 Appendix E Optional Functions E.2 Security A dialog box for changing the security key will be displayed as shown in the following figure. Enter the set password in the Current Security Key Field. Enter the new password in the New Secu- rity Key Field and New Security Key Confirmation Field.
Page 442 Appendix E Optional Functions E.2 Security ( 5 ) Security Operation [ a ] Privilege Settings in User Applications Privilege settings enable individually set reading privilege levels and writing privilege levels in the properties for each application (i.e., ladder, motion, or C language). The figure above shows the dialog box for ladder (DWG) properties.
Page 443 Appendix E Optional Functions E.2 Security ( 7 ) Security-related System Registers The security setting status can be checked by using the following system registers. Name Register Number Description Security Status SW00506 0: No security, 1: Security set File Reading Restriction Privilege SB005070 to SB005073 SW00507=***xH x: Restriction privilege level (0 to 7)
Page 444: Battery Backup For Table Data
Appendix E Optional Functions E.3 Battery Backup for Table Data Battery Backup for Table Data ( 1 ) Overview of Functions For the MP2000 Series, one table consists of the following three types of data. 1. Table definitions (e.g., definitions of table name, table type, number of columns, and number of rows) 2.
Page 445 Appendix E Optional Functions E.3 Battery Backup for Table Data ( 6 ) Setting Procedure for Using Battery Backup Memory Use the following procedure. Open the Table Data Store Target Window from the MPE720. Select File - Create New to open the Table Definition Dialog Box. Select Battery Backup in the Table data store target List.
Page 446 Appendix E Optional Functions E.3 Battery Backup for Table Data When you finish setting the table definitions, the window for setting the column attribute definitions will be displayed to allow you to enter the required data. The table data store target that was set in the table definitions will be displayed.
Page 447 Appendix E Optional Functions E.3 Battery Backup for Table Data ( 7 ) Application Precautions a) Always save data to the flash memory before turning OFF the power supply if new table data is created or definitions are changed by using this function. Table definitions and column attribute definitions will be saved to volatile memory even if battery backup memory is specified for the table data store target.
Page 448: Appendix F Installing Mpe720 Version 6
If you register online as a user of MPE720 version 6, you can download upgraded versions of the product free of charge for two years from the time of purchase from the Yaskawa e-Mecha website (http://www.e-mechatronics.com). We will also send you e-mail notification of version upgrades to the product as they are released. You must register as a member of the e-Mecha website before registering as an online user.
Page 449: Index
Index Index CARD module connector - - - - - - - - - - - - - - - - - - - - - - - 3-13 3-14 causes for command error occurrence- - - - - - - - - - - - - - - - - - - 8-32 child drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7 CNTR-01 module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-78 communication buffer channel - - - - - - - - - - - - - - - - - - - - - - - A-83...
Page 450 Index LED indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-34 connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18 overview of functions - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-33 external appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-76 SVR module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-37...
Page 451 MP2200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -...
Page 452 Index system error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8 status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17 system errors troubleshooting flowchart - - - - - - - - - - - - - - - - - - - - - - - - 8-10...
Page 453: Revision History
Printed version of the manual that is available on the web (web version: SIEP C880700 14H<14>-1) July 2016 <14> 1.2.2 Revision: MP2200 Modules Revision: Optional modules Revision: Devices Connectable to MECHATROLINK-I/II/III Revision: Cables, Accessories and Options, and Software − November 2015 Printed version of the manual that is available on the web (web version: SIEP C880700 14G<13>-1)
Page 454 Date of Rev. Rev. Section Revised Contents Publication December 2010 <5> Preface, 1.2.2 Addition: Description of MPU-01 Module (JAPMC-CP2700-E) 1.5.1 Revision: Cable-end connector model 10114-3000VE → 10114-3000PE 8.2.4 (5) [b] Addition: 0051H (Module synchronous error) October 2010 Front cover, Revision: Format back cover E.2 [d] Addition: Description of a controller software version...
Page 455 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 http://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 http://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 http://www.yaskawa.com.br...

YASKAWA MP2200 User Manual

Table of Contents

MP2200 Features

MP2200 Configuration

System Configuration

Devices Connectable to MECHATROLINK

Cables, Accessories and Options, and Software

2 Overview of Specifications and Functions

Specifications

Base Unit

Module

Module

Module

Module

EXIOIF Module

Optional Module

External Dimensions

3 Mounting and Wiring

4 System Startup

System Startup Overview

Preparation

Programming

5 Overview of System Operation

Startup Sequence and Basic Operation

User Programs

Registers

Self-Configuration

Application Precautions

6 Built-In Ethernet Communication (Supported by the Cpu-03 and Cpu-04)

Communication Methods

Communication with Other MP Series

Communication with Touch Panel

Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC Protocol)

7 Easy Programming (Supported by the Cpu-03 and Cpu-04)

System Startup Overview

Preparation (Step 1)

Programming (Step 2)

Executing Motion (Step 3)

Starting Motion Program from an External Signal

8 Maintenance, Inspection, and Troubleshooting

Appendices

Appendix A System Registers Lists

Appendix B SVR Motion Parameter Details

Appendix C Simple Connection Function of the Engineering Tool

Appendix D MSG-SND/ MSG-RCV Functions (Ethernet)

Appendix D MSG-SND/ MSG-RCV Functions (Ethernet)

Appendix E Optional Functions

Appendix F Installing MPE720 Version 6

Index

Revision History

Quick Links

Chapters

Troubleshooting

Related Manuals for YASKAWA MP2200

Summary of Contents for YASKAWA MP2200