YASKAWA JEPMC-MP2300-Y Series User Manual page 125

Item
Communication Interface
Baud Rate
Transmission Cycle
Number of Link
Communication Bytes
Messaging
(Slave Function)
Communication Method
I/O Registers
Command Mode
Applicable Servomotors
Control Types
Motion Commands
Acceleration/Deceleration
Method
Position Unit
Speed Unit
Acceleration Unit
Torque Unit
Electronic Gear
Position Control Methods
Software Limit
Zero Point Return Methods
SERVOPACK Parameter
Management
Communication Method
I/O Registers
Command Mode
Control Type
Motion Commands
Speed Unit
Communication Method
I/O Registers
Self-configuration Function
Synchronization between Modules
* Only with MECHATROLINK-II
MECHATROLINK-II
10 Mbps
0.5 ms, 1 ms, 1.5 ms, 2 ms
17 bytes or 32 bytes
Provided
Single-send (communication cycle = transmission cycle) synchronous communication
Transmission/communication error detection (hardware) provided.
Synchronous communication error detection (software) provided.
Automatic recovery function not provided (recovery when alarm cleared).
Input/output using motion registers (synchronized on high-speed scan)
Motion Command Mode/MECHATROLINK Transparent Command Mode
Standard rotary motors, linear motors, and direct drive motors
Position control, speed control, torque control, and phase control
Positioning, external positioning, zero point return, interpolation, interpolation with
position detection function, JOG feed, STEP feed, speed reference
*
and phase reference , etc.
One-step asymmetric trapezoidal acceleration/deceleration, exponential acceleration/
deceleration filter, moving average filter
pulse, mm, inch, degree
n
Reference units/s, 10 reference units/min, percentage of rated speed
2
Reference units/s , ms (acceleration time from 0 to rated speed)
Percentage of rated torque
Provided
Finite length position control, infinite length position control, absolute system infinite
length position control, and simple absolute system infinite length position control
Positive/negative direction for each point
13 types
Parameters can be managed in the MPE720's SERVOPACK Parameter Window.
Single-send (communication cycle = transmission cycle) asynchronous
communication
Transmission/communication error detection (hardware) provided.
Synchronous communication error detection (software) not provided.
Automatic recovery function not provided (recovery by clearing alarm).
Input/output using motion registers (synchronized on high-speed scan)
Motion Command Mode/MECHATROLINK Transparent Command Mode
Speed control only (V/f, vector control and other control methods use interter settings.)
Inverter I/O control, etc.
The speed unit depends on the inverter settings.
Single-send (communication cycle = transmission cycle) asynchronous
communication
Transmission/communication error detection (hardware) provided.
Synchronous communication error detection not provided.
Automatic recovery function not provided.
Input/output using I/O registers and synchronized on the high-speed scan or low-speed
scan (selectable).
Module and slave devices can be automatically allocated.
Synchronization supported (enabled when power is cycled) when high-speed scan
cycle = communication cycle times n .
3.3 Motion Modules (Optional)
Specifications
MECHATROLINK-I
4 Mbps
2 ms
17 bytes
Not provided
*
, torque reference
*
,
3-17