YASKAWA MP210 Series User Manual page 324

Appendix F MP2100M Slave CPU Synchronization Function
F.3.1 I/O Registers
F.3 Operation
F.3.1 I/O Registers
The details of the I/O registers set in link allocation are presented here.
(1) Master Device I/O Data
• Details of input data
Item
Scan counter
Slave status
Data
F-10
[Input registers]
7 6 5 4 3 2 1 0
IW +0
Scan counter
For system use
IW +1
Slave status
For system use
IW +2
Data 1
IW +3
Data 2
IW +4
Data 3
IW +5
Data 4
IW +6
Data 5
IW +7
Data 6
IW +14
Data 13
This is a 1-byte data area whose value, set and refreshed by the application at the slave device, is
checked by the application at the master device. Its applications include the following.
• Confirming refreshing of the input data from the MP2100M
• Judging the operating status (running/stopped) of the MP2100M
Note that use of this area is optional.
This is the status of the MECHATROLINK transmission processing section of the MP2100M.
Its composition is shown on the next page.
With M-II (17-byte), a data area of up to 6 words can be used, while with M-II (32-byte), a data
area of up to 13 words can be used.
OW
OW
OW
Low
High
OW
Low
High
OW
Low
High
OW
Low
High
OW
Low
High
OW
Low
High
OW
Low
High
Details
[Output registers]
7 6 5 4 3 2 1 0
+0
Scan counter
Not used
+1
Not used
+2
Data 1 Low
High
+3
Data 2 Low
High
+4
Data 3 Low
High
+5
Data 4 Low
High
+6
Data 5 Low
High
+7
Data 6 Low
High
+14
Data 13 Low
High