YASKAWA MP210 Series User Manual page 169

5. Make sure that all the MECHATROLINK slave devices have started, and then execute self-configuration.
Check that all of the MECHATROLINK slave devices have started up normally, turn the power to the
MP2100 ON and execute self-configuration.
The LED indications on the MP2100 will change as follows.
Through self-configuration, the MP2100 recognizes the connected MECHATROLINK slave devices and
Optional Modules, and assigns I/O registers. The motion parameters are automatically set to enable the
minimum standard operations.
• The SERVOPACK's overtravel function will automatically be disabled by executing self-configuration, because the
INFO
self-configuration is intended to enable immediate operation of slave devices including servo drives.
For details on the overtravel function, refer to 11.2 Overtravel Function in Machine Controller MP2000 Series Built-in
SVB/SVB-01 Motion Module User's Manual (Manual No.: SIEP C880700 33).
Before operating the machine after execution of self-configuration, enable each SERVOPACK's overtravel function by
setting the parameters.
6. Start MPE720, set the fixed parameters that relate to reference units (fixed parameters No. 4, No. 5, No. 6,
No. 8, No. 9) and save them.
If the servo gain has not been adjusted in step 3, adjust the servo gain and make any other required adjust-
ments.
Note: 1. For the procedure from the startup of MPE720 to setting and saving of the fixed parameters, refer to
the following sections.
• 4.2.1 (2) Starting MPE720 Ver 6.
• 4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control (for MPE720 Ver.
6.)
• 4.3.1 Starting MPE720 Ver 5.
• 4.3.2 Reading Sample Programs and Setting and Saving Parameters (for MPE720 Ver. 5.)
2. For the list of fixed parameters, refer to Appendix D Motion Parameter Lists.
For details on fixed parameters and setting parameters matched to machines, refer to Machine Con-
troller MP2000 Series Built-in SVB/SVB-01 Motion Module User's Manual (Manual No.: SIEP
C880700 33).
3. For details on servo adjustment, refer to the relevant SERVOPACK manual.
BAT BAT
S2
TX S1 TX
: Not lit : Lit (green)

to Transfer the Sample Program to the MP2100
 and Creating Folders
4.5 System Startup Using Self-configuration
BAT
S2 S2
S1 TX S1
: Lit (red) : Flashing (green)
4
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