YASKAWA MP3300 series Product Manual
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YASKAWA MP3300 series Product Manual

Machine controller mp3000 series
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See also: Setup Manual
Machine Controller MP3000 Series
MP3300
Product Manual
CPU Module model: JAPMC-CP3301-1-E, -CP3301-2-E, -CP3302-1-E, -CP3302-2-E
Base Unit model: JEPMC-BU3301-E, -BU3302-E, -BU3303-E, -BU3304-E
MANUAL NO. SIEP C880725 21D
Introduction
Appearances and Parts
CPU Module Functionality
Specifications
External Dimensions
1
2
3
4
5

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Summary of Contents for YASKAWA MP3300 series

  • Page 1 Machine Controller MP3000 Series MP3300 Product Manual CPU Module model: JAPMC-CP3301-1-E, -CP3301-2-E, -CP3302-1-E, -CP3302-2-E Base Unit model: JEPMC-BU3301-E, -BU3302-E, -BU3303-E, -BU3304-E Introduction Appearances and Parts CPU Module Functionality Specifications External Dimensions MANUAL NO. SIEP C880725 21D...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.
  • Page 3 About this Manual This manual describes the specifications and system configuration of MP3300 Machine Controllers and the functionality of the CPU Modules. Read this manual carefully to ensure the correct usage of the Machine Controller and apply the Machine Controller to control your manufacturing system. Keep this manual in a safe place so that it can be referred to whenever necessary.
  • Page 4  Visual Aids The following aids are used to indicate certain types of information for easier reference. Indicates precautions or restrictions that must be observed. Indicates alarm displays and other precautions that will not result in machine dam- age. Important Indicates items for which caution is required or precautions to prevent operating mis- takes.
  • Page 5 Related Manuals The following table lists the related manuals. Refer to these manuals as required. Be aware of all product specifications and restrictions to product application before you attempt to use any product. Category Manual Name Manual Number Contents Describes the functions of the MP2000/MP3000-series Machine Con- Machine Controller MP2000/MP3000 trollers and the procedures that are...
  • Page 6 Continued from previous page. Category Manual Name Manual Number Contents Describes the specifications, system Machine Controller MP3000 Series configuration, and operating methods Motion Control SIEP C880725 11 for the SVC32/SVR32 Motion Function User’s Manual Modules that are used in an MP3000- series Machine Controller.
  • Page 7 Continued from previous page. Category Manual Name Manual Number Contents Describes the functions, specifica- MECHATROLINK-III Compatible I/O tions, operating methods, and MECHA- Module SIEP C880781 04 TROLINK-III communications for the User’s Manual Remote I/O Modules for MP2000/ MECHA- MP3000-series Machine Controllers. TROLINK Machine Controller MP900/MP2000 Series...
  • Page 8 Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
  • Page 9  Safety Precautions That Must Always Be Observed  General Precautions WARNING  The installation must be suitable and it must be performed only by an experienced technician. There is a risk of electrical shock or injury.  Before connecting the machine and starting operation, make sure that an emergency stop pro- cedure has been provided and is working correctly.
  • Page 10  Installation Precautions CAUTION  Do not install the Machine Controller in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed the operating conditions • Locations that are subject to ambient humidity that exceeds the operating conditions •...
  • Page 11  Wiring Precautions CAUTION  Check the wiring to be sure it has been performed correctly. There is a risk of motor run-away, injury, or accidents.  Always use a power supply of the specified voltage. There is a risk of fire or accident. ...
  • Page 12  The illustrations that are presented in this manual are typical examples and may not match the product you received.  If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representa- tive or one of the offices listed on the back of this manual.
  • Page 13 • Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 14 Check the functionality and safety of the actual devices and equipment to be used before using the product. • Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

  • Page 15: Table Of Contents

    Contents About this Manual..........iii Using this Manual .
  • Page 16 CPU Module Functionality Basic Functionality ........3-2 3.1.1 Programs .

  • Page 17: Introduction

    Introduction This chapter introduces the MP3300. Definition of Terms ....1-2 1.1.1 MP3300 ....... 1-2 1.1.2 Racks .

  • Page 18: Definition Of Terms

    1.1 Definition of Terms 1.1.1 MP3300 Definition of Terms This section defines terms that have specific meanings in this manual. 1.1.1 MP3300 “MP3300” is a collective term that refers to the following CPU Modules and Base Units. Name Primary Function Stores the module definitions and programs, and interprets the programs.

  • Page 19: Rack Numbers

    1.1 Definition of Terms 1.1.4 Rack Numbers MP3300 Expansion Example An MP3300 expansion example is given in the following figure. EXIOIF Module* Main Rack CPU Module Expansion Racks with EXIOIF Modules (up to 3 Racks) EXIOIF Module EXIOIF Module EXIOIF Module MP2200 Base Unit* MP2200 Base Unit* MP2200 Base Unit*...

  • Page 20: Slot Numbers

    1.1 Definition of Terms 1.1.5 Slot Numbers 1.1.5 Slot Numbers The MPE720 automatically assigns slot numbers to the slots on the Base Unit so that the slots can be identified. Numbers 1 to 9* are assigned to the slots in order from the left. The highest slot number depends on the specifications of the Base Unit.

  • Page 21: System Configuration Example

    1.2 System Configuration Example System Configuration Example The following figure shows a typical system configuration. Refer to the following section for details on 1 to 12 in the following figure. 1.3 Devices and Components That Are Required to Build a System on page 1-6 Optional Modules MPE720 Integrated Engineering Tool Version 7...

  • Page 22: Devices And Components That Are Required To Build A System

    1.3 Devices and Components That Are Required to Build a System Devices and Components That Are Required to Build a System The following table lists the devices and components that are required to build the system that is shown in 1.2 System Configuration Example on page 1-5. The numbers 1 to 12 correspond to the numbers in the figure in 1.2 System Configuration Example on page 1-5.

  • Page 23: Mp3300 Module/Unit List

    1.3 Devices and Components That Are Required to Build a System 1.3.1 MP3300 Module/Unit List Continued from previous page. Name Model Remarks 64-point I/O JEPMC- 24 VDC, 64 inputs, 64 outputs Module MTD2310-E Analog Input JEPMC- 8 analog input channels Module MTA2900-E Used to input or output digi-...

  • Page 24: Optional Modules

    1.3 Devices and Components That Are Required to Build a System 1.3.2 Optional Modules 1.3.2 Optional Modules You can add the Optional Modules that are listed in the following table for as many open slots there are in the Base Unit. Unit Abbreviation Model...

  • Page 25: Precautions When Setting The Parameters

    1.4 Precautions When Setting the Parameters 1.4.1 Precautions When Setting the Circuit Numbers Precautions When Setting the Parameters Observe the following precautions when setting the Machine Controller. 1.4.1 Precautions When Setting the Circuit Numbers When assigning circuit numbers to the Motion Control and Communications Function Modules, the numbers must be within the following ranges.

  • Page 26: Appearances And Parts

    Appearances and Parts This section describes the appearance and parts of the MP3300. CPU Module ......2-2 2.1.1 Appearance and Part Names .

  • Page 27: Cpu Module

    2.1 CPU Module 2.1.1 Appearance and Part Names CPU Module The CPU Module stores the module definitions and programs, and interprets the programs. The CPU Module also controls the Optional Modules. This section shows the appearance and part names of the CPU Module and describes the indi- cators, switches, and connectors.
  • Page 28 2.1 CPU Module 2.1.1 Appearance and Part Names  Precautions When Using a CPU-302 Module The CPU-302 Module uses the CPU Slot and one option slot. As shown below, the number of usable Option Modules will be reduced by one when you mount the CPU-302 to any Base Unit. MBU-01 or MBU-02 (Eight Slots) You can mount seven Optional Modules.

  • Page 29: Display And Indicators

    2.1 CPU Module 2.1.2 Display and Indicators 2.1.2 Display and Indicators The CPU Module has the following display and four types of indicators. • Display • Status indicators • USB status indicator • MECHATROLINK-III status indicators • Ethernet status indicators Display The display shows the execution or error status of the CPU Module.
  • Page 30 2.1 CPU Module 2.1.2 Display and Indicators Status Indicators These indicators show the status of the CPU Module. Indicator Name Color Status When Lit* Green Operation is normal. Green A user program is being executed. An alarm occurred. An error occurred. The battery alarm occurred.
  • Page 31 2.1 CPU Module 2.1.2 Display and Indicators Ethernet Status Indicators These indicators show the status of Ethernet communications. Indicator Name Color Status When Not Lit, Lit, or Flashing Lit: Ethernet link established. LINK/ACT Yellow Flashing: Ethernet communications activity. Not lit: 10 M connection 100M Green Lit: 100 M connection...

  • Page 32: Switches

    2.1 CPU Module 2.1.3 Switches 2.1.3 Switches The CPU Module has the following two types of switches. • DIP switches: Mode switches • STOP/SAVE switch DIP Switches: Mode Switches These DIP switches primarily set the operating mode of the CPU Module. Pin Name Status Operating Mode Default...
  • Page 33 2.1 CPU Module 2.1.3 Switches STOP/SAVE Switch This switch is used when removing the USB memory device, or when batch saving data to the USB memory. STOP/SAVE switch Open the cover. • Lightly press this switch to prepare the USB memory device for removal. The USB memory device can be safely removed when the USB status indicator changes from flashing to not lit.

  • Page 34: Connectors

    2.1 CPU Module 2.1.4 Connectors 2.1.4 Connectors The CPU Module has three types of connectors: MECHATROLINK-III, Ethernet, and USB. MECHATROLINK-III Connectors These connectors are used to connect MECHATROLINK-III communications devices. Ethernet Connectors These connectors are used to connect Ethernet communications devices. USB Connector This connector is used to connect a USB memory device.

  • Page 35: Temperature Sensor

    2.1 CPU Module 2.1.5 Temperature Sensor 2.1.5 Temperature Sensor A temperature sensor is built into the CPU Module. The temperature sensor constantly monitors for abnormal temperatures in the CPU Module. If a temperature error is detected, an alarm is displayed on the CPU Module. There are four levels of alarms, as shown in the following table.

  • Page 36: Base Units

    2.2 Base Units 2.2.1 Appearance and Part Names Base Units The Base Unit provides the backplane to which Modules are mounted and supplies the required power to the Modules. There are two models of Base Units, a one-slot model and a three-slot model.
  • Page 37 2.2 Base Units 2.2.2 Connector Power Connector Connect the power supply to this connector. AC Power Supply DC Power Supply Type Model Color AC power supply 3-2134249-3 Black DC power supply 4-2013522-3 White  Pin Assignments: AC Power Supply Pin No. Signal Label Description AC input...

  • Page 38: Cpu Module Functionality

    CPU Module Functionality This chapter describes the functionality of the MP3300 CPU Module. Basic Functionality ....3-2 3.1.1 Programs ......3-2 3.1.2 Registers .

  • Page 39: Basic Functionality

    3.1 Basic Functionality 3.1.1 Programs Basic Functionality This section describes the basic functionality of the CPU Module. 3.1.1 Programs A program is a list of instructions to be processed by the CPU Module. This section describes the types of programs and gives an overview of each type. Types of Programs There are three types of user programs: •...
  • Page 40 3.1 Basic Functionality 3.1.1 Programs • Hierarchical Configuration There are four types of ladder drawings: parent drawings, child drawings, grandchild draw- ings, and operation error drawings. • Parent Drawings These drawings are automatically executed by the system program when the execution conditions are met.
  • Page 41 3.1 Basic Functionality 3.1.1 Programs The breakdown of the number of ladder drawings in each category is given in the following table. Number of Drawings Drawings DWG.A DWG.I DWG.H DWG.L Parent Drawings Operation Error Drawings Child Drawings Total of 998 Total of 1,998 Total of 62 max.
  • Page 42 3.1 Basic Functionality 3.1.1 Programs  Functions Functions are executed when they are called from a parent, child, or grandchild drawing with the FUNC instruction. Functions can be freely called from any drawing. The same function can be called simultane- ously from different types of drawings or different levels of drawings.
  • Page 43 3.1 Basic Functionality 3.1.1 Programs 1. The same numbers are used to manage the motion programs and sequence programs. Use a unique number for each program. • Motion program numbers are given in the form MPM or MPS. • Sequence program numbers are given in the form SPM or SPS. Important 2.
  • Page 44 3.1 Basic Functionality 3.1.1 Programs The following figure shows an execution example. Execution is started by the system program when the execution condition is met. Motion programs Parent drawing Grandchild drawing Child drawing DWG.H MPM001 DWG.H01.01 DWG.H01 SEE H01.01 VEL [a1]5000 [b1].. FMX T10000000;...
  • Page 45 3.1 Basic Functionality 3.1.1 Programs  Specifying Motion Programs There are two methods that you can use to specify motion programs. • Calling the motion program by specifying it directly • Calling the motion program by specifying it indirectly These two methods are described below. •...
  • Page 46 3.1 Basic Functionality 3.1.1 Programs  Work Registers Work registers are used to set and monitor motion programs. The address of the first work register for the motion program that is called with an MSEE instruction is specified in the MSEE instruction in the ladder program. The following figure shows the structure of the work registers.
  • Page 47 3.1 Basic Functionality 3.1.1 Programs Continued from previous page. Bit No. Name Description This bit is set to 1 when the Request for Start of Program Operation is ON. Bit D Start Request History 0: Request for Start of Program Operation is OFF. 1: Request for Start of Program Operation is ON.
  • Page 48 3.1 Basic Functionality 3.1.1 Programs Continued from previous page. Bit No. Name Description If this bit changes to 1 while an axis is in motion due to a SKP instruction (when the skip input signal selection is set to SS1), the axis will decelerate to a stop, Bit 8 Skip 1 and the reference in the remaining travel distance will be canceled.
  • Page 49 3.1 Basic Functionality 3.1.1 Programs Timing chart examples for axis operations and status flags after a control signal is input are Example provided below. Request for Start of Program Operation Control signal: Request for Start of Program Operation Status flag: Program Executing Axis operation: Pulse distribution Request for Pause Control signal: Request for Start of...
  • Page 50 3.1 Basic Functionality 3.1.1 Programs If a Motion Program Alarm Occurs Control signal: Request for Start of Program Operation Control signal: Program Reset and Alarm Reset Request Status flag: Program Executing Status flag: Program Alarm 1 scan Axis operation: Pulse distribution for Interpolation instruction Axis operation: Pulse distribution for Positioning instruction...
  • Page 51 3.1 Basic Functionality 3.1.1 Programs You cannot set the system work numbers when you use the M-EXECUTOR. The system will Information use system work numbers that are the same as the definition numbers.  Monitoring Motion Program Execution Information The execution information for motion programs can be monitored using the S registers (SW03200 to SW05119 and SW08192 to SW09125).
  • Page 52 3.1 Basic Functionality 3.1.1 Programs  Sequence Programs A sequence program is written in a text-based motion language. There are two types of sequence programs. Designation Type Features Number of Programs Method SPM Main programs are called from You can create up to 512 motion pro- Main programs (=1 to the M-EXECUTOR program...
  • Page 53 3.1 Basic Functionality 3.1.1 Programs  Specifying Sequence Programs Sequence programs must be specified directly. Indirect designations cannot be used. Specify the program number of the sequence program to execute (SPM). Sequence program SPM001 M-EXECUTOR Program Execution Definitions IF MW000<32767; MW000=MW000+1;...

  • Page 54: Registers

    3.1 Basic Functionality 3.1.2 Registers 3.1.2 Registers Registers are areas that store data within the Machine Controller. Variables are registers with labels (variable names). There are two kinds of registers: global registers that are shared between all programs, and local registered that are used only by a specific program. Global Registers Global registers are shared by ladder programs, user functions, motion programs, and sequence programs.
  • Page 55 3.1 Basic Functionality 3.1.2 Registers Motion Program Conceptual Diagram Motion program Sequence program (SPM003) (MPM001) Subprogram Subprogram MSEE MPS002; SSEE SPS004; (MPS002) (SPS004) D registers D registers D registers D registers (DW00000 (DW00000 (DW00000 (DW00000 DW00031) DW00031) DW00031) DW00031) D registers cannot be shared between D registers cannot be shared between different drawings.
  • Page 56 3.1 Basic Functionality 3.1.2 Registers Continued from previous page. Designation Type Name Usable Range Description Method GBnnnnnnnh, GWnnnnnnn, GLnnnnnnn, GW0000000 These registers are used as interfaces between G registers GQnnnnnnn, programs. GFnnnnnnn, GW2097151 They do not have a battery backup. GDnnnnnnn, GAnnnnnnn IW00000 to...
  • Page 57 3.1 Basic Functionality 3.1.2 Registers Continued from previous page. Designation Type Name Description Features Method These registers are used for inputs to functions. • Bit inputs: XB000000 to XB00000F XBnnnnnh, • Integer inputs: XW00001 to XW00016 XWnnnnn, Function • Double-length integers: XL00001 to XL00015 XLnnnnn, input •...
  • Page 58 3.1 Basic Functionality 3.1.2 Registers Continued from previous page. Name Precautions When the function is called, the previously set values are preserved. If a previous value is not necessary, initialize the value, or use a Z register instead. D registers retain the data until the power is turned OFF. The default value after startup depends on the setting of the D Register Clear when D registers Start option.
  • Page 59 3.1 Basic Functionality 3.1.2 Registers Continued from previous page. Symbol Data Type Range of Values Data Size Description Used for advanced numeric ± (1.175E - 38 to 3.402E + 38) or 0 2 words Real number operations. ± (2.225E - 308 to 1.798E + 308) or Double-precision Used for advanced numeric 4 words...
  • Page 60 3.1 Basic Functionality 3.1.2 Registers  Precautions for Operations Using Different Data Types If you perform an operation using different data types, be aware that the results will be different depending on the data type of the storage register, as described below. •...
  • Page 61 3.1 Basic Functionality 3.1.2 Registers The data is little endian, as shown in the following example. Information • MB00001006 MB00001006 MW0000100 • MW0000100 = 1234 hex MW0000100 1234 hex • ML0000100 = 12345678 hex MW0000100 5678 hex ML0000100 MW0000101 1234 hex •...
  • Page 62 3.1 Basic Functionality 3.1.2 Registers Index Registers (i, j) There are two special registers, i and j, that are used to modify relay and register addresses. The functions of i and j are identical. They are used to handle register addresses like variables. There are subscript registers for each program type, as shown in the following figure.
  • Page 63 3.1 Basic Functionality 3.1.2 Registers  Attaching an Index to a Double-length Integer or a Real Number Register Using an index is the same as adding the value of i or j to the register address. For example, if j = 1, ML0000000j is the same as ML0000001. Similarly, if j = 1, MF0000000j is the same as MF0000001.
  • Page 64 3.1 Basic Functionality 3.1.2 Registers Array Registers ([ ]) Array registers are used to modify register addresses, and are denoted by square brackets [ ]. These are used to handle register addresses like variables. Similarly to index registers, an offset is added to the register address. ...

  • Page 65: Execution Scheduling

    3.1 Basic Functionality 3.1.3 Execution Scheduling 3.1.3 Execution Scheduling This section describes the execution order of drawings. Controlling the Execution of Drawings Drawings are executed based on their priorities, as shown in the following figure. Power ON DWG.A (Startup Drawings) Interrupt signal Every high-speed scan Every low-speed scan...

  • Page 66: Scans

    3.1 Basic Functionality 3.1.4 Scans 3.1.4 Scans A scan refers to the processing that starts at fixed intervals. This section describes the scans. Types of Scans The CPU Modules has two types of scans, the high-speed H scan and low-speed L scan. A high-speed H scan has higher priority than a low-speed L scan.
  • Page 67 3.1 Basic Functionality 3.1.4 Scans If these restrictions are not observed, the high-speed scan cycle will stop and an alarm will occur. The alarm is reported in the M-III Restrictions Error Bit (SB00041D) in the CPU Error Sta- tus System Register. Refer to the following section for details. ...
  • Page 68 3.1 Basic Functionality 3.1.4 Scans  Example: High-speed Scan Time Set to 0.250 ms 0.5 ms 0.25 ms High-speed scan Basic cycle (0.5 ms) Reference issued at Reference issued at Reference issued at MP2000 Optional Module System service register SB000008* The purpose of this system service register is to determine from a ladder program whether the I/O scan service is being executed for MP2000 Optional Modules.
  • Page 69 3.1 Basic Functionality 3.1.4 Scans Setting the High-speed and Low-speed Scan Times Use MPE720 version 7 and perform the procedure given below to set the high-speed and low- speed scan times. Stop the CPU Module. − Select File Environment Setting from the menu bar. Alternatively, click the System Setting Icon on the Start Tab Page.
  • Page 70 3.1 Basic Functionality 3.1.4 Scans Observe the following precautions when setting the high-speed scan time and low-speed scan time. 1. Set the scan set value so that it is 1.25 times greater than the maximum value. If the scan set value is too close to the maximum value, the refresh rate of the MPE720 window Important will noticeably drop and can cause communications timeout errors to occur.
  • Page 71 3.1 Basic Functionality 3.1.4 Scans Set values in the High-speed Input and Low-speed Input Boxes in the Keep Latest Value Group. Click the OK Button. The settings will be saved and the Environment Setting Dialog Box will close. The Keep Latest Value setting specifies the number of scans to process before the I/O ser- Information vice clears the input registers.

  • Page 72: Function Modules

    3.2 Function Modules 3.2.1 Self Configuration Function Modules This section describes the built-in functionality of the CPU Module. 3.2.1 Self Configuration Self configuration is a feature that automatically recognizes all the Optional Modules that are installed in the Machine Controller and all the slave devices that are connected via the MECHA- TROLINK connector (such as Servo Drives), and creates the module configuration definition files based on that information.
  • Page 73 3.2 Function Modules 3.2.1 Self Configuration Operating Procedures This section describes the procedures for executing self configuration. • Refer to the following section when you perform self configuration for the first time after con- necting the devices.  Self Configuration Using the DIP Switch on page 3-36 •...
  • Page 74 3.2 Function Modules 3.2.1 Self Configuration Turn OFF the INIT and CNFG pins on the DIP switches (mode switches) on the CPU Module. 1. INIT Pin on the DIP Switch and RAM Data If the power supply is turned OFF and ON again when the INIT pin on the Machine Controller SW1 DIP switch is turned ON, the data in RAM will be cleared.
  • Page 75 3.2 Function Modules 3.2.1 Self Configuration Turn OFF the CNFG pin on the DIP switches (mode switches) on the CPU Module. Power Interruptions after Self Configuration After performing self configuration, turn OFF the power supply to the Machine Controller only after the definition data is saved to the flash memory of the Machine Controller.
  • Page 76 3.2 Function Modules 3.2.1 Self Configuration  Self Configuration Using the MPE720 There are two types of self configuration that can be performed with the MPE720. • Self configuration of all Modules: Use this mode when the system is being set up for the first time, or after the entire system has been changed.
  • Page 77 3.2 Function Modules 3.2.1 Self Configuration Click the Module Button. Click the All modules Button on the Launcher. The MC-Configurator Dialog Box will be displayed. Click the OK Button. Self configuration will be executed. 3-40...
  • Page 78 3.2 Function Modules 3.2.1 Self Configuration  Self Configuration of Specified Modules Before performing this procedure, turn ON the power supply to the SERVOPACKs and other devices. Important Important Click the Module Configuration Icon on the Start Tab Page. The following Module Configuration Definition Tab Page will be displayed. In the Function Module/Slave Column, select the Modules to configure using self con- figuration.
  • Page 79 3.2 Function Modules 3.2.1 Self Configuration Click the specified module Button on the Launcher. The MC-Configurator Dialog Box will be displayed. Click the OK Button. Self configuration will be executed only for the new devices that are detected by MECHATROLINK communications.
  • Page 80 3.2 Function Modules 3.2.1 Self Configuration Definition Information Updated by Self Configuration The definition information that is updated by self configuration is described below. This procedure will not update any of the definitions that were made for existing devices and Function Modules.
  • Page 81 3.2 Function Modules 3.2.1 Self Configuration  MECHATROLINK Communications Definition  When Set as the Master Item Settings after Self Configuration Master/Slave Master My station address 0×0001 250 μs Communication Cycle Message Communications Enabled Number of Retry to Slaves Number of connection Slave synchronous function Disabled ...

  • Page 82: Communications Function Module (218Ifd)

    3.2 Function Modules 3.2.2 Communications Function Module (218IFD) 3.2.2 Communications Function Module (218IFD) This Function Module is used for communications with a host device. The following table describes the communication features. Function Module Features Remarks • Supported Protocols The MP3000 Controller supports multiple protocols to enable general-purpose MODBUS/TCP, OMRON, MELSEC A- Ethernet...
  • Page 83 3.2 Function Modules 3.2.2 Communications Function Module (218IFD) The following Module Configuration Definition Tab Page will be displayed. Cells for 218IFD settings Double-click the 218IFD cell. The 218IFD Detail Definition Dialog Box will be displayed. Refer to the following manual for details on settings. MP3000 Series Communications User’s Manual (Manual No.: SIEP C880725 12) 3-46...

  • Page 84: Motion Control Function Modules (Svc, Svc32, Svr, And Svr32)

    3.2 Function Modules 3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32) 3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32) The Motion Control Function Module is used for communications with a MECHATROLINK com- munications device. There are two types of Motion Control Function Modules, the SVC and SVC32 and the SVR and SVR32.
  • Page 85 3.2 Function Modules 3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32) Click the Module Configuration Icon on the Start Tab Page. The following Module Configuration Definition Tab Page will be displayed. Cells for SVC/ SVC32 settings Cells for SVR/ SVR32 settings...
  • Page 86 3.2 Function Modules 3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32) Double-click the SVC/SVC32 cell in the Module Configuration Definition Tab Page. The MECHATROLINK Communications Definition Dialog Box is displayed. If more than one Module is mounted, select the Module to be checked or set. Information Set the MECHATROLINK communications definitions as required.
  • Page 87 3.2 Function Modules 3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32) Select View − Work Space from the menu bar. The Work Space Pane is displayed on the left side of the MC-Configurator Window. Click the Expand [+] Button beside each program in the Work Space Pane to display motion parameters as shown below.
  • Page 88 3.2 Function Modules 3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32) Double-click the motion parameter to set or monitor. The Axis Display Selection Dialog Box (“Display in axis selected”) will be displayed. Select the axis to set or monitor, and then click the OK Button. The SVC/SVC32 Definition Tab Page for the selected motion parameters will be displayed.
  • Page 89 3.2 Function Modules 3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32) • Setting/Monitor Parameters Tab Page • Servo/Servo Monitor Parameters Tab Page Set the SVC/SVC32 definitions as required. Refer to the following manual for details on settings. MP3000 Series Motion Control User’s Manual (Manual No.: SIEP C880725 11) 3-52...

  • Page 90: The M-Executor

    3.2 Function Modules 3.2.4 The M-EXECUTOR 3.2.4 The M-EXECUTOR This section describes the functionality of the M-EXECUTOR Motion Executor and the contents of its various displays. The M-EXECUTOR is a software module that executes motion and sequence programs. Term Introduction The M-EXECUTOR provides the following merits: •...
  • Page 91 3.2 Function Modules 3.2.4 The M-EXECUTOR Initializing the M-EXECUTOR Use the following procedure to initialize the M-EXECUTOR. Click the Module Configuration Icon on the Start Tab Page. The Module Configuration Definition Tab Page will be displayed. 3-54...
  • Page 92 3.2 Function Modules 3.2.4 The M-EXECUTOR Double-click the M-EXECUTOR cell. The M-EXECUTOR Definition Dialog Box will be displayed. 3-55...
  • Page 93 3.2 Function Modules 3.2.4 The M-EXECUTOR Click the OK Button. The Detail Definition Dialog Box will be displayed. Select File − Save from the toolbar. The M-EXECUTOR definitions will be saved. 3-56...
  • Page 94 3.2 Function Modules 3.2.4 The M-EXECUTOR M-EXECUTOR Detail Settings The detailed settings for the M-EXECUTOR are performed on the Module Configuration Tab Page and the Detail Definition Dialog Box. This section provides the procedures to display this tab page and dialog box, and describes their contents. ...
  • Page 95 3.2 Function Modules 3.2.4 The M-EXECUTOR  Details on the I/O Registers The I/O registers that are assigned to the M-EXECUTOR are used to execute motion and sequence programs, as well as to monitor sequence programs. The following tables give the contents of the M-EXECUTOR I/O registers. M-EXECUTOR Input Registers M-EXECUTOR Output Registers M-EXECUTOR...
  • Page 96 3.2 Function Modules 3.2.4 The M-EXECUTOR  Program Definition Tab Page Register the motion or sequence programs to execute. This section describes the items that are displayed on the Program Definition Tab Page.        ...
  • Page 97 3.2 Function Modules 3.2.4 The M-EXECUTOR  Setting Set the program designation method. The designation method can be different for each program. Designation Motion Sequence Description Method Programs Programs Direct The program is specified with the program number. Possible Possible designation Examples: MPM001 or SPM002 The program is specified by specifying a register that...
  • Page 98 3.2 Function Modules 3.2.4 The M-EXECUTOR  Allocation Control Register Tab Page This tab page is used to assign registers. This section describes the items that are displayed on the Allocation Control Register Tab Page.      ...
  • Page 99 3.2 Function Modules 3.2.4 The M-EXECUTOR  Allocation Contact Interlock This contact controls copying data between the assigned registers and the M-EXECUTOR control registers. When the assigned interlock contact is ON, the data in the assigned regis- ters and the M-EXECUTOR control registers is copied in the direction that is given by the arrow in the Direction Column ( ...
  • Page 100 3.2 Function Modules 3.2.4 The M-EXECUTOR Registering Program Execution This section gives the procedure to register the execution of programs. Display the program to register for execution. Click the Task Allocation ( ) Icon. The Task Allocation Dialog Box will be displayed. You can also use the Task Allocation Dialog Box to change the settings.
  • Page 101 3.2 Function Modules 3.2.4 The M-EXECUTOR Execution Scheduling Programs that are registered in the M-EXECUTOR are executed in the order of their priority lev- els (execution types). Programs that are registered in the M-EXECUTOR are executed immediately before processing the ladder programs. Power turned ON.
  • Page 102 3.2 Function Modules 3.2.4 The M-EXECUTOR The following is an execution example. • M-EXECUTOR Program Execution Definitions Sequence Program Execution Example Example The following figure shows an example of the sequence programs registered in the M-EXEC- UTOR.  Execution Timing This section describes the execution timing of programs in the above example.

  • Page 103: Data Logging

    3.2 Function Modules 3.2.5 Data Logging 3.2.5 Data Logging Data logging saves the values of specified registers in a log file according to the preset trigger timing and conditions. The data is stored in the RAM in the CPU Module or on the USB memory device. Data Storage Location Merits Demerits...
  • Page 104 3.2 Function Modules 3.2.5 Data Logging The Logging 1 Dialog Box will be displayed. Click the Format Button. The Format Dialog Box will be displayed. Set the format.        3-67...
  • Page 105 3.2 Function Modules 3.2.5 Data Logging Select the storage location. Setting Description In the built-in RAM disk Writes the sampled data to the built-in RAM disk in the CPU Module. USB memory Writes the sampled data to the USB memory device in the CPU Module. ...
  • Page 106 3.2 Function Modules 3.2.5 Data Logging Continued from previous page. Setting Description Year/Month/Day Adds the year, month, and day to the specified folder name. Example: 20110920 (YYYYMMDD) Adds the year, month, and day to the specified folder name and creates another folder directly below it named with the hour.
  • Page 107 3.2 Function Modules 3.2.5 Data Logging Add the registers to log.     Item Description Displays a list of the registers that can be selected for logging. • Right-click in the Logging Target List to display the pop-up menu to select or deselect registers.
  • Page 108 3.2 Function Modules 3.2.5 Data Logging Refer to the following table for the data size for each data type. Information Data Type Data Size B: bit 1 word W: integer 1 word L: double-length integer 2 words Q: quadruple-length integer 4 words F: single-precision real number 2 words...
  • Page 109 3.2 Function Modules 3.2.5 Data Logging  Set the data sampling rate. Setting Description Samples data synchronized with the high-speed scan. High-speed scan Data is sampled immediately after completing execution of the DWG.H lad- der program. Samples data synchronized with the low-speed scan. Low-speed scan Data is sampled immediately after completing execution of the DWG.L lad- der program.
  • Page 110 3.2 Function Modules 3.2.5 Data Logging Continued from previous page. Item Description Select one of the following operators. Setting Description Condition is met when the left register value is greater than > the right register value. Condition is met when the left register value is less than the <...
  • Page 111 3.2 Function Modules 3.2.5 Data Logging Click the Cancel Button to return to the Logging 1 Dialog Box without registering the Information settings. Click the OK Button. The Sampling and Trigger Dialog Box closed. Click the Start Button in the Logging 1 Dialog Box. Logging starts.
  • Page 112 3.2 Function Modules 3.2.5 Data Logging Scan Setting Guidelines This section describes guidelines for the scan settings based on when data is logged.  If Logging Is Synchronous with the Scan The general logging overhead is given below. Set the scan setting to a value that is larger than this value.
  • Page 113 3.2 Function Modules 3.2.5 Data Logging This timing chart illustrates the logging process when performed asynchronously with the scan. High-speed scan cycle Current high-speed scan time This process samples target data and loads it into a logging buffer. Logging Logging (data (data DWG.H...
  • Page 114 3.2 Function Modules 3.2.5 Data Logging Analyzing Log Data This section describes how the log data is formatted when viewed on a PC.  CSV File Format This example shows how log data that is stored in the CSV format appears when it is opened in Microsoft Excel.
  • Page 115 3.2 Function Modules 3.2.5 Data Logging  Binary File Format This example shows how log data that was stored in the binary format appears when it is opened in a text editor.     Header The header is given in ASCII characters. Item Description Corresponding Item in MPE720...
  • Page 116 3.2 Function Modules 3.2.5 Data Logging The following example shows how the register data is given for the settings and con- Example ditions listed below. File Details to Output • Data No. and DATE/TIME are selected Target Register to Log •...

  • Page 117: Usb Memory

    3.2 Function Modules 3.2.6 USB Memory 3.2.6 USB Memory You can transfer user application data between the RAM in the CPU Module and the USB memory device. Operation Description Reference Loads all of the user application data  that is saved in the USB memory Batch Loading from USB Memory Batch load device to the CPU Module’s non-vola-...
  • Page 118 3.2 Function Modules 3.2.6 USB Memory Set the INIT pin on the mode switches on the CPU Module according to the register type to load. INIT Switch Setting Registers to Load M registers Transferred. Not transferred. G registers S registers Not transferred regardless of DIP switch setting.
  • Page 119 3.2 Function Modules 3.2.6 USB Memory Set the INIT pin on the mode switches on the CPU Module according to the register type to save. INIT Switch Setting Registers to Save M registers Transferred. Not transferred. G registers Transferred. Not transferred. S registers Transferred.
  • Page 120 3.2 Function Modules 3.2.6 USB Memory Alarm History File This section describes the data that is displayed when an alarm history file is checked on a PC.  Format of the Alarm History File The following example shows how the CSV file is displayed when it is opened in a text editor. No,Alarm Code,Alarm Detail Format,Date,Rack,Unit,Slot,Detail1,Detail2,Detail3,Detail4,Detail5 1,A101H,I/O error,2000/01/01 00:00_40s,1,0,0,0000H,0000H,0000H,0000H,0000H 2,A30BH,Other error,2000/01/01 00:00_56s,1,0,0,0000H,0000H,0000H,0000H,0000H...

  • Page 121: File Transfer

    3.2 Function Modules 3.2.7 File Transfer 3.2.7 File Transfer Both an FTP server and FTP client are provided for file transfers. The features of both of these are given in the following table. Use them as best suited to your system.
  • Page 122 3.2 Function Modules 3.2.7 File Transfer Folder Structure This section describes the folder structure of the FTP server. Stores log data. Stores batch transfer data for the USB memory device. Stores data from an Import or Export instruction. Stores log data. Setting Up FTP Accounts FTP accounts must be set up to allow FTP clients to access the FTP server.
  • Page 123 3.2 Function Modules 3.2.7 File Transfer Select Security and then User Registration. • Adding a New FTP Account Click the New Button. The User Registration Dialog Box will be displayed. • Changing the Settings of an Existing FTP Account Select the user name for the FTP account to be changed and click the Modified Button. The User Registration Dialog Box will be displayed.
  • Page 124 3.2 Function Modules 3.2.7 File Transfer Set the FTP account information in the User Registration Dialog Box. Item Description Remarks This is the name that the FTP client on • You can enter up to 16 characters.  User Name the remote device must use to log in •...
  • Page 125 3.2 Function Modules 3.2.7 File Transfer  FTP Privileges and Applicable FTP Commands FTP Privileges Item Command Description Disconnects and terminates the connection   with the FTP server. Disconnects the connection with the FTP   close server. Connection/ ...
  • Page 126 3.2 Function Modules 3.2.7 File Transfer Press the Enter Key. The folder of the FTP server will be displayed. That is, the contents of the USB memory device con- nected to the CPU Module is displayed. 3-89...
  • Page 127 3.2 Function Modules 3.2.7 File Transfer FTP Client The FTP client is provided so that you can transfer data between the RAM in the CPU Module or the USB memory device and a remote device capable of acting as an FTP server. No special programming is required to get the log data in the application in the device that pro- vides the FTP server.
  • Page 128 3.2 Function Modules 3.2.7 File Transfer Click the FTP client settings Button on the My Tool Tab Page. The Environment Setting Dialog Box is displayed. You can set up to 20 FTP servers. Double-click the row for each ID. The FTP Server Details Dialog Box will be displayed. Refer to the following section for details on the settings.
  • Page 129 3.2 Function Modules 3.2.7 File Transfer In the Format Dialog Box for the logging 1 or logging 2 settings, select the FTP server Option for the saving destination and select the ID number that you set in the FTP Server Details Dialog Box. Note: 1.
  • Page 130 3.2 Function Modules 3.2.7 File Transfer  Details on the FTP Server Details Dialog Box The contents of the FTP Server Details Dialog Box are described in the following table.           Item Description Remarks...

  • Page 131: Security

    3.2 Function Modules 3.2.8 Security  Precautions • Logging Overruns FTP transfers are performed as part of the logging function. Logging data is not possible during FTP transfers. Adjust the amount of data to log and the timing so that logging over- runs do not occur.

  • Page 132: Maintenance Monitoring

    3.2 Function Modules 3.2.10 Maintenance Monitoring 3.2.10 Maintenance Monitoring You can use maintenance monitoring to monitor maintenance data in the Controller and in Σ-7- series SERVOPACKs connected to the Controller through MECHATROLINK communications. If you use maintenance monitoring at the same time as the SigmaWin, both the SigmaWin and maintenance monitoring may become slower.
  • Page 133 3.2 Function Modules 3.2.10 Maintenance Monitoring Setting Procedure Use the following procedure to set the maintenance data. Click the Maintenance Monitor Settings Icon from the Start Tab Page. The Maintenance Monitor Settings Dialog Box will be displayed. 3-96...
  • Page 134 3.2 Function Modules 3.2.10 Maintenance Monitoring Set the maintenance monitor data.    Monitored device Monitor data size Monitor data unit First address of system registers to which to output the monitor data  Select a group number. Maximum number of groups: 32 ...
  • Page 135 3.2 Function Modules 3.2.10 Maintenance Monitoring Continued from previous page. Moni- Num- Selection Contents tored ber of Unit Device Words The maintenance period of the inrush prevention relay is displayed as a percentage. When usage Rush current preven- is first started, 100% is displayed. The percent- SERVO- 0.01% tion circuit lifetime...
  • Page 136 3.2 Function Modules 3.2.10 Maintenance Monitoring Select the axis to assign. Maximum number of assigned axes: 16/group 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 Click the OK Button. Monitoring will be started. 3-99...
  • Page 137 3.2 Function Modules 3.2.10 Maintenance Monitoring Confirmation Method  System Registers The monitored data is stored in system registers. The ranges of the system registers that you can use for maintenance monitoring are given in the following table.  is the first address of the system register that is displayed on the Maintenance Mon- Information itor Setting Dialog Box.
  • Page 138 3.2 Function Modules 3.2.10 Maintenance Monitoring Continued from previous page. System Register Item Remarks  + 48 Circuit number  + 49 Axis 12 Axis number Same as above.  + 50 Monitor value  + 52 Circuit number  + 53 Axis 13 Axis number...

  • Page 139: Specifications

    Specifications This section provides the installation and usage conditions of the MP3300. It also provides detailed specifications of the MP3300. Installation and Usage Conditions ..4-2 4.1.1 Installation and Operating Conditions ..4-2 4.1.2 Control Panel Cooling Method .

  • Page 140: Installation And Usage Conditions

    4.1 Installation and Usage Conditions 4.1.1 Installation and Operating Conditions Installation and Usage Conditions 4.1.1 Installation and Operating Conditions The installation and usage conditions for the Machine Controller are given in the following table. Item Specification Ambient Operating 0 to 60°C (Forced cooling is required if 55°C is Temperature exceeded.) Ambient Storage Temperature...

  • Page 141: Control Panel Cooling Method

    4.1 Installation and Usage Conditions 4.1.2 Control Panel Cooling Method 4.1.2 Control Panel Cooling Method The components that are used in the Machine Controller require the ambient operating temperature to be between 0 and 60°C. Use one of the methods described below to ensure adequate cooling in the control panel. If the ambient temperature exceeds 55°C, use forced-air cooling.

  • Page 142: Cpu Module Specifications

    4.2 CPU Module Specifications 4.2.1 Hardware Specifications CPU Module Specifications This section provides the specifications that are related to the performance, hardware, func- tionality, and registers of the CPU Module. 4.2.1 Hardware Specifications The hardware specifications of the CPU Module are given in the following table. Item Specification Model...

  • Page 143: Performance Specifications

    4.2 CPU Module Specifications 4.2.2 Performance Specifications 4.2.2 Performance Specifications This section provides the performance specifications of the CPU Module. Specification CPU-301 CPU-301 Item (16 axes) (32 axes) Remarks CPU-302 CPU-302 (16 axes) (32 axes) Number of Main Racks: 1 max. Maximum Number of Number of Expansion Racks added by Racks...
  • Page 144 4.2 CPU Module Specifications 4.2.2 Performance Specifications Continued from previous page. Specification CPU-301 CPU-301 Item (16 axes) (32 axes) Remarks CPU-302 CPU-302 (16 axes) (32 axes) Number of Startup Drawings (DWG.A) Number of Interrupt Drawings (DWG.I) Number of High-speed Ladder Scan Drawings 1000 Number of steps per drawing: 4,000...
  • Page 145 4.2 CPU Module Specifications 4.2.2 Performance Specifications Continued from previous page. Specification CPU-301 CPU-301 Item (16 axes) (32 axes) Remarks CPU-302 CPU-302 (16 axes) (32 axes) Special registers for offsetting Subscript i Supported. addresses. Subscripts i and j function Index Registers Subscript j Supported.

  • Page 146: Communications Specifications

    4.2 CPU Module Specifications 4.2.3 Communications Specifications 4.2.3 Communications Specifications This section provides the communications specifications of the CPU Module. Item Specification Remarks − Abbreviation 218IFD 10Base-T or − Communications Interface 100Base-TX Common Number of Communications Ports − Items (Connectors) TCP, UDP, IP, ARP, or −...

  • Page 147: Motion Control Function Module Specifications

    4.2 CPU Module Specifications 4.2.4 Motion Control Function Module Specifications 4.2.4 Motion Control Function Module Specifications The specifications of the Motion Control Function Module that is built into the CPU Module are given in the following table. Specification CPU-301 CPU-301 Item (16 axes) (32 axes)

  • Page 148: M-Executor Specifications

    4.2 CPU Module Specifications 4.2.5 M-EXECUTOR Specifications 4.2.5 M-EXECUTOR Specifications This section provides the M-EXECUTOR specifications of the CPU Module. Registerable Programs Program Type Number of Registered Programs Motion Programs Startup Interrupt Not possible. Sequence Programs H Scan L Scan The combined total of motion programs and sequence programs must not exceed 32.

  • Page 149: Usb Memory Specifications

    − simultaneously open files Formatting Not supported. Use a formatted USB memory device. Recommended USB Memory Device The following USB memory device is recommended. It can be purchased from Yaskawa. Model Specification Manufacturer SFU24096D1BP1TO-C-QT-111-CAP 4 GB USB memory Swissbit Japan Inc.
  • Page 150 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Contents Details Address SW00104 to − Reserved for system. SW00109  SW00110 to Detailed User Operation Error Status on page 4- Detailed User Operation Error Status SW00189 SW00190 to −...
  • Page 151 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Contents Details Address SW16200 to  Alarm History Information Alarm History Information on page 4-55 SW17999 SW18000 to − Reserved for system. SW19999 SW20000 to  Product Information Product information on page 4-56 SW22063 SW22064 to...
  • Page 152 4.2 CPU Module Specifications 4.2.7 System Register Specifications  DWG.H Only Operation starts when the high-speed scan starts. Register Address Name Remarks 1 scan SB000010 1-scan Flicker Relay 1 scan 0.5 s 0.5 s SB000011 0.5-s Flicker Relay 1.0 s 1.0 s SB000012 1.0-s Flicker Relay...
  • Page 153 4.2 CPU Module Specifications 4.2.7 System Register Specifications  DWG.L Only Operation starts when the low-speed scan starts. Register Address Name Remarks 1 scan SB000030 1-scan Flicker Relay 1 scan 0.5 s 0.5 s SB000031 0.5-s Flicker Relay 1.0 s 1.0 s SB000032 1.0-s Flicker Relay...
  • Page 154 4.2 CPU Module Specifications 4.2.7 System Register Specifications  System Execution Status Register Address Name Remarks SW00004 High-speed Scan Set Value High-speed scan set value (0.1 ms) SW00005 Current High-speed Scan Time Current high-speed scan time (0.1 ms) SW00006 Maximum High-speed Scan Time Maximum high-speed scan time (0.1 ms) SW00007 High-speed Scan Set Value 2...
  • Page 155 4.2 CPU Module Specifications 4.2.7 System Register Specifications  System Status The data in these registers give the operating status of the system or provide information about errors. You can check the following system registers to determine whether the cause of the error is hardware or software related.
  • Page 156 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Name Register Address Contents H Scan Exceeded SW00044 H Scan Exceeded Count Counter L Scan Exceeded SW00046 L Scan Exceeded Count Counter Reserved for SB000470 to − SW00047 Reserved for system.
  • Page 157 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Name Contents Address FFFF hex Ladder program parent drawing 8000 hex Ladder program function Ladder program child drawing ( hex: 00 hex Child drawing No.) Ladder program grandchild drawing Program Error SW00056 ...
  • Page 158 4.2 CPU Module Specifications 4.2.7 System Register Specifications  User Operation Error Status The data in these registers give details when an operation error occurs in a user program. Drawing Type Error Description Register Address Contents Error Count SW00080 DWG.A •...
  • Page 159 4.2 CPU Module Specifications 4.2.7 System Register Specifications  User Operation Error Code −2: Index Errors Error Code Error Description Operation When an Error Occurs Re-executed as if i and j were set to 0. 1000 hex Index error in drawing (Both i and j registers stay the same.) Re-executed as if i and j were set to 0.
  • Page 160 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Detailed User Operation Error Status The data in these registers give details when a user operation error occurs in a user program. Register Address Name Remarks DWG.A DWG.I DWG.H DWG.L • Error Drawing No. Error Count SW00110 SW00126...
  • Page 161 4.2 CPU Module Specifications 4.2.7 System Register Specifications  System I/O Error Status The data in these registers give the I/O errors in the system for Rack 1. The details of the error status depend on the Modules that are mounted and the error code. Refer to the following manual for details.
  • Page 162 4.2 CPU Module Specifications 4.2.7 System Register Specifications  USB-related System Status The data in these registers give information on the USB memory and give the error status. Name Register Address Remarks Available USB Memory SL00650 Unit: Kilobytes Total USB Memory SL00652 0: No USB memory device SB006540...
  • Page 163 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Interrupt Status The data in these registers give the status of information provided by interrupts from each I/O Module.  Register Configuration Name Register Address Remarks − Interrupt Detection Count SW00698 Module Where an Interrupt SW00699 Number of Modules with a single interrupt...
  • Page 164 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Module Information The data in these registers give hardware information about the CPU Module and Optional Modules on Rack 1. Name Register Address Remarks SW00800 CPU Module ID SW00801 Hardware version (BCD) SW00802 Software version (BCD) SW00803...
  • Page 165 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Name Register Address Remarks SW00880 to SW00887 Slot 1 Same as above. SW00888 to SW00895 Slot 2 Same as above. SW00896 to SW00903 Slot 3 Same as above. SW00904 to SW00911 Slot 4 Same as above.
  • Page 166 4.2 CPU Module Specifications 4.2.7 System Register Specifications  MPU-01 Module Status The data in these registers give the status of the MPU-01 Multi-CPU Module. Register Name Contents Address SW01411 Status of MPU-01 Module circuit number 1 SW01412 Error status of MPU-01 Module circuit number 1 SW01413 Status of MPU-01 Module circuit number 2 SW01414...
  • Page 167 4.2 CPU Module Specifications 4.2.7 System Register Specifications  PROFINET Controller (266IF-01) IOPS Status Information The data in these registers give the IOPS status information for the PROFINET Controller (266IF-01).  Register Configuration Register Address Remarks SW02688 to SW02695 IOPS Output –...
  • Page 168 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Motion Program Execution Information The data in these registers give the execution status of the motion programs.  Register Configuration Register Address Name Reference − SW03200 Number of Currently Executing Program for Work 1 −...
  • Page 169 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Name Reference SW03728 to SW03785 Work 9 Program Information SW03786 to SW03843 Work 10 Program Information SW03844 to SW03901 Work 11 Program Information SW03902 to SW03959 Work 12 Program Information •...
  • Page 170 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Name Reference SW08960 to SW08991 Work 25 Extended Program Information SW08992 to SW09023 Work 26 Extended Program Information SW09024 to SW09055 Work 27 Extended Program Information SW09056 to SW09087 Work 28 Extended Program Information •...
  • Page 171 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Details The following table gives details on the Program Execution Bits from system register addresses SW03232 to SW03263. Register Address Contents SB032320 MPM001 or MPS001 SB032321 MPM002 or MPS002 SB032322 MPM003 or MPS003 SB032323 MPM004 or MPS004 SB032324...
  • Page 172 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Contents SB032340 MPM033 or MPS033 SB032341 MPM034 or MPS034 SB032342 MPM035 or MPS035 SB032343 MPM036 or MPS036 SB032344 MPM037 or MPS037 SB032345 MPM038 or MPS038 SB032346 MPM039 or MPS039 SB032347 MPM040 or MPS040...
  • Page 173 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Contents SB032370 MPM081 or MPS081 SB032371 MPM082 or MPS082 SB032372 MPM083 or MPS083 SB032373 MPM084 or MPS084 SB032374 MPM085 or MPS085 SB032375 MPM086 or MPS086 SB032376 MPM087 or MPS087 SB032377 MPM088 or MPS088...
  • Page 174 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Contents SB032400 MPM129 or MPS129 SB032401 MPM130 or MPS130 SB032402 MPM131 or MPS131 SB032403 MPM132 or MPS132 SB032404 MPM133 or MPS133 SB032405 MPM134 or MPS134 SB032406 MPM135 or MPS135 SB032407 MPM136 or MPS136...
  • Page 175 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Contents SB032430 MPM177 or MPS177 SB032431 MPM178 or MPS178 SB032432 MPM179 or MPS179 SB032433 MPM180 or MPS180 SB032434 MPM181 or MPS181 SB032435 MPM182 or MPS182 SB032436 MPM183 or MPS183 SB032437 MPM184 or MPS184...
  • Page 176 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Contents SB032460 MPM225 or MPS225 SB032461 MPM226 or MPS226 SB032462 MPM227 or MPS227 SB032463 MPM228 or MPS228 SB032464 MPM229 or MPS229 SB032465 MPM230 or MPS230 SB032466 MPM231 or MPS231 SB032467 MPM232 or MPS232...
  • Page 177 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Contents SB032490 MPM273 or MPS273 SB032491 MPM274 or MPS274 SB032492 MPM275 or MPS275 SB032493 MPM276 or MPS276 SB032494 MPM277 or MPS277 SB032495 MPM278 or MPS278 SB032496 MPM279 or MPS279 SB032497 MPM280 or MPS280...
  • Page 178 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Contents SB032520 MPM321 or MPS321 SB032521 MPM322 or MPS322 SB032522 MPM323 or MPS323 SB032523 MPM324 or MPS324 SB032524 MPM325 or MPS325 SB032525 MPM326 or MPS326 SB032526 MPM327 or MPS327 SB032527 MPM328 or MPS328...
  • Page 179 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Contents SB032550 MPM369 or MPS369 SB032551 MPM370 or MPS370 SB032552 MPM371 or MPS371 SB032553 MPM372 or MPS372 SB032554 MPM373 or MPS373 SB032555 MPM374 or MPS374 SB032556 MPM375 or MPS375 SB032557 MPM376 or MPS376...
  • Page 180 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Contents SB032580 MPM417 or MPS417 SB032581 MPM418 or MPS418 SB032582 MPM419 or MPS419 SB032583 MPM420 or MPS420 SB032584 MPM421 or MPS421 SB032585 MPM422 or MPS422 SB032586 MPM423 or MPS423 SB032587 MPM424 or MPS424...
  • Page 181 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Contents SB032610 MPM465 or MPS465 SB032611 MPM466 or MPS466 SB032612 MPM467 or MPS467 SB032613 MPM468 or MPS468 SB032614 MPM469 or MPS469 SB032615 MPM470 or MPS470 SB032616 MPM471 or MPS471 SB032617 MPM472 or MPS472...
  • Page 182 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Registers Used for System Work Numbers 1 to 32 The registers that are used for system work numbers 1 to 32 are given in the following table. Two system registers are given in the register table for the alarm code, but we recommend that you use system registers SL26.
  • Page 183 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. System Work Work 1 Work 2 Work 3 Work 4 Work 5 Work 6 Work 7 Work 8 Number Logical Axis 6 Pro- SL03300 SL03358 SL03416 SL03474 SL03532 SL03590 SL03648 SL03706 gram Current Position Logical Axis 7 Pro- SL03302 SL03360 SL03418 SL03476 SL03534 SL03592 SL03650 SL03708...
  • Page 184 4.2 CPU Module Specifications 4.2.7 System Register Specifications • System Work Numbers 9 to 16 System Work Work 9 Work 10 Work 11 Work 12 Work 13 Work 14 Work 15 Work 16 Number Executing Main SW03208 SW03209 SW03210 SW03211 SW03212 SW03213 SW03214...
  • Page 185 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. System Work Work 9 Work 10 Work 11 Work 12 Work 13 Work 14 Work 15 Work 16 Number Logical Axis 9 Pro- SL03770 SL03828 SL03886 SL03944 SL04002 SL04060 SL04118 SL04176 gram Current Position Logical Axis 10 Pro- SL03772 SL03830 SL03888 SL03946 SL04004 SL04062 SL04120 SL04178...
  • Page 186 4.2 CPU Module Specifications 4.2.7 System Register Specifications • System Work Numbers 17 to 24 System Work Work 17 Work 18 Work 19 Work 20 Work 21 Work 22 Work 23 Work 24 Number Executing Main SW03216 SW03217 SW03218 SW03219 SW03220 SW03221 SW03222...
  • Page 187 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. System Work Work 17 Work 18 Work 19 Work 20 Work 21 Work 22 Work 23 Work 24 Number Logical Axis 9 Pro- SL04234 SL04292 SL04350 SL04408 SL04466 SL04524 SL04582 SL04640 gram Current Position Logical Axis 10 Pro- SL04236 SL04294 SL04352 SL04410 SL04468 SL04526 SL04584 SL04642...
  • Page 188 4.2 CPU Module Specifications 4.2.7 System Register Specifications • System Work Numbers 25 to 32 System Work Work 25 Work 26 Work 27 Work 28 Work 29 Work 30 Work 31 Work 32 Number Executing Main SW03224 SW03225 SW03226 SW03227 SW03228 SW03229 SW03230...
  • Page 189 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. System Work Work 25 Work 26 Work 27 Work 28 Work 29 Work 30 Work 31 Work 32 Number Logical Axis 9 Pro- SL04698 SL04756 SL04814 SL04872 SL04930 SL04988 SL05046 SL05104 gram Current Position Logical Axis 10 Pro- SL04700 SL04758 SL04816 SL04874 SL04932 SL04990 SL05048 SL05106...
  • Page 190 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Expansion System I/O Error Status The data in these registers give the I/O errors in the system for Rack 1. The details of the error status depend on the Modules that are mounted and the error code. Refer to the following manual for details.
  • Page 191 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Expanded Unit and Module Information The data in these registers give hardware information about the CPU Module and Optional Modules on Rack 1. Name Register Addresses Remarks SW13700 CPU Module ID (Low) SW13701 CPU Module ID (High) SW13702...
  • Page 192 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Name Register Addresses Remarks Optional Unit and Module SW13748 ID (Low) Optional Unit and Module SW13749 ID (High) SW13750 Hardware version (BCD) SW13751 Software version (BCD) SW13752 Number of sub-slots (hex) SW13753 to SW13755 Reserved for system.
  • Page 193 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Alarm History Information The data in these registers provide alarm history information for the system registers.  Register Configuration Name Register Address Remarks Current Alarm SW16200 Cleared when the power is turned ON. Alarm History Entries SW16201 Alarm history entries...
  • Page 194 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Alarm Details Alarm details are given based on the alarm details format. • Alarm Detail Format = 1 (operation error) Register Address Remarks Register Address Example SW + 9 Error Drawing No. SW16212 SW...
  • Page 195 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Data Logging Execution Status The data in these registers give the execution status of data logging. Name Register Address Remarks 0: Logging 1 definition does not exist, SB240000 1: Logging 1 definition exists 0: Logging 2 definition does not exist, SB240001 1: Logging 2 definition exists...
  • Page 196 4.2 CPU Module Specifications 4.2.7 System Register Specifications  FTP Client Status and Control Information The data in these registers give the FTP client status and control information.  Register Configuration Register Address Remarks SB244000 Reserved for system. 0: No session created. SB244001 1: Session created.
  • Page 197 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Register Address Remarks SW24544 to ID110 Same as above. SW24559 SW24560 to ID111 Same as above. SW24575 SW24576 to ID112 Same as above. SW24591 SW24592 to ID113 Same as above. SW24607 SW24608 to ID114...
  • Page 198 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Automatic Reception Status for Ethernet Communications The data in these registers give the execution status of automatic reception. Name Register Address Contents SW25000 Rack No. SW25001 Unit No. Common Status SW25002 Slot No.
  • Page 199 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Name Register Address Contents SW25084 Rack No. SW25085 Unit No. Common Status SW25086 Slot No. SW25087 Sub-slot No. Transmission status SW25088 Refer to the following section for details. ...
  • Page 200 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Name Register Address Contents SW25168 Rack No. SW25169 Unit No. Common Status SW25170 Slot No. SW25171 Sub-slot No. Transmission status SW25172 Refer to the following section for details. ...
  • Page 201 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Name Register Address Contents SW25252 Rack No. SW25253 Unit No. Common Status SW25254 Slot No. SW25255 Sub-slot No. Transmission status SW25256 Refer to the following section for details. ...
  • Page 202 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Name Register Address Contents SW25336 Rack No. SW25337 Unit No. Common Status SW25338 Slot No. SW25339 Sub-slot No. Transmission status SW25340 Refer to the following section for details. ...
  • Page 203 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Name Register Address Contents SW25420 Rack No. SW25421 Unit No. Common Status SW25422 Slot No. SW25423 Sub-slot No. Transmission status SW25424 Refer to the following section for details. ...
  • Page 204 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Name Register Address Contents SW25504 Rack No. SW25505 Unit No. Common Status SW25506 Slot No. SW25507 Sub-slot No. Transmission status SW25508 Refer to the following section for details. ...
  • Page 205 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous page. Name Register Address Contents SW25588 Rack No. SW25589 Unit No. Common Status SW25590 Slot No. SW25591 Sub-slot No. Transmission status SW25592 Refer to the following section for details. ...
  • Page 206 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Error Status Register Value Status Contents No Error Normal Socket Creation Error System error Setting error in local station port number (The same Local Port Number Error address is bound during disconnection of the TCP connection.) Changing Socket Attribute Error System error (for TCP)
  • Page 207 4.2 CPU Module Specifications 4.2.7 System Register Specifications  Maintenance Monitor Information The data in these registers give maintenance monitor information.  Register Configuration Register Remarks Address − SL27600 Monitor Parameter Type Monitor 0001 hex: Word SW27602 Parameter Monitor Size 0002 hex: Long word Information −...
  • Page 208 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous Register Remarks Address SW27656 Circuit No. Selected The registers that report the SW27657 Axis No. Axis 14 monitor value depend on the SL27658 Monitor Value monitor size. SW27660 Circuit No. Axis Monitor Selected Example for Selected Axis 1...
  • Page 209 4.2 CPU Module Specifications 4.2.7 System Register Specifications Continued from previous Register Remarks Address SW29096 to Same as Group 23 Same as above. Same as above. SW29163 above. SW29164 to Same as Group 24 Same as above. Same as above. SW29231 above.

  • Page 210: Base Unit Specifications

    4.3 Base Unit Specifications Base Unit Specifications The specifications of the Base Units are listed in the following table. Specification Item 1 slot 3 slots 8 Slots 8 Slots Model JEPMC-BU3304-E JEPMC-BU3303-E JEPMC-BU3302-E JEPMC-BU3301-E Abbreviation MBU-304 MBU-303 MBU-302 MBU-301 Number of Slots Mountable Modules MP2000-series Optional Modules Input Voltage...

  • Page 211: External Dimensions

    External Dimensions This section provides external diagrams and dimensions for the MP3300. CPU Module ......5-2 Base Units ......5-3...

  • Page 212: Cpu Module

    5.1 CPU Module CPU Module CPU-301 Approx. weight: 0.2 kg CPU-302 Approx. weight: 0.3 kg...

  • Page 213: Base Units

    5.2 Base Units Base Units One-slot Base Unit (21) Unit: mm Approx. weight: 0.4 kg...
  • Page 214 5.2 Base Units Three-slot Base Unit (21) Unit: mm Approx. weight: 0.5 kg...
  • Page 215 5.2 Base Units Eight-slot Base Unit  MBU-301 (21) Unit: mm Approx. weight: 0.7 kg...
  • Page 216 5.2 Base Units  MBU-302 (21) Unit: mm Approx. weight: 0.7 kg...

  • Page 217: Index

    Index Index FTP client - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-90 FTP server - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-84 functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5 standard system functions - - - - - - - - - - - - - - - - - 3-5 user functions - - - - - - - - - - - - - - - - - - - - - - - - - 3-5...
  • Page 218 Index Program Single-block Start Request - - - - - - - - - - - - - 3-10 overall configuration - - - - - - - - - - - - - - - - - - - - - 4-11 product information - - - - - - - - - - - - - - - - - - - - - 4-56 programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 PROFINET Controller (266IF-01) IOPS status...

  • Page 219: Revision History

    Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP C880725 21B <1>-0 WEB revision number Revision number Published in Japan October 2014 Date of publication Date of Rev.
  • Page 220 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...

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