YASKAWA MP210 Series User Manual page 326

Appendix F MP2100M Slave CPU Synchronization Function
F.3.1 I/O Registers
(2) I/O Data at Slave Devices
• Details of input data
Item
Scan counter
Slave status
Data
F-12
[Input registers]
7 6 5 4 3 2 1 0
IW +0
Scan counter
Not used
IW +1
Slave status
Not used
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 the 1-byte data area where the values set and refreshed by the application at the master
device are checked by the application at the slave devices. Its applications include the following.
• Confirming the refreshing of output data from the master device
• Judging the operation status (running/stopped) of the master device
Note that use of this area is optional.
This is the status of the MECHATROLINK transmission processing section of the MP2100M.
It is the same status as output to the master device.
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
Control bit
+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