YASKAWA MP210 Series User Manual page 328

Appendix F MP2100M Slave CPU Synchronization Function
F.3.1 I/O Registers
(3) Flow of I/O Data Among Master and Slave Devices
• MP2000 (Master)
7 6 5 4 3 2 1 0
OW +0
OW +1
OW +2
OW +3
OW +4
OW +5
OW +6
OW +7
OW +8
OW +14
F-14
MP2100M (Slave)
→
MP2000 (Master)
[Output registers]
Scan counter
Not used
Not used
Data 1 Low
High
Data 2 Low
High
Data 3 Low
High
Data 4 Low
High
Data 5 Low
High
Data 6 Low
High
Data 7
Low
High
Data 13 Low
High
[MECHATROLINK transmission path]
7 6 5 4 3 2 1 0
00H
DATA_RWA
01H
Scan counter
02H
For system use
03H
For system use
04H
Data 1
Low
05H
High
06H
Data 2
Low
07H
High
08H
Data 3
Low
09H
High
0AH
Data 4
Low
0BH
High
0CH
Data 5
Low
0DH
High
0EH
Data 6
Low
0FH
High
10H
Data 7
Low
11H
High
1CH
Data 13 Low
1DH
High
MP2100M (Slave)
[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 +8
Data 7
IW +14
Data 13
Low
High
Low
High
Low
High
Low
High
Low
High
Low
High
Low
High
Low
High