Machine Controller MP2300

Basic Module
USER'S MANUAL
Model: JEPMC-MP2300

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP
INIT
CNFG
MON
SW1
TEST
OFF　　　
ON

M-I/II

BATTERY

CPU　I/O

DC24V

DC 0V

1
POWER

Overview of the MP2300

Module Specifications 2
Mounting and Connections 3
System Startup and Sample Programs 4
Outline of Motion Control Systems 5
Maintenance and Inspection 6
Appendices App

MANUAL NO. SIEP C880700 03D

Copyright © 2003 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
Using this Manual

The MP2300 is a compact Machine Controller that contains the power supply, the CPU, I/O, and the communication
functions in one single unit.
Please read this manual to ensure correct usage of the MP2300 system. Keep this manual in a safe place for future
reference.
Read this manual carefully to ensure the proper use of the MP2300. Also, keep this manual in a safe place so that it can
be referred to whenever necessary.
■ Basic Terms
Unless otherwise specified, the following definitions are used:

• MP2300: MP2300 Machine Controller

• PC: Programmable Logic Controller
• PP: Programming Panel
The Programming Device Software or a Programming Device (i.e., a personal computer) running the
• MPE720:
Programming Device Software

■ Manual Configuration
Read the chapters of this manual as required by the purpose.
Selecting
Studying Maintenance
Models and Designing Installation Trial
Chapter Specifications and
Peripheral the System and Wiring Operation
and Ratings Inspection
Devices
Chapter 1
√ √ − − − −
Overview of the MP2300
Chapter 2
√ √ − √ √ √
Module Specifications
Chapter 3
√ √ √ √ √ √
Mounting and Connections
Chapter 4
System Startup and Sample − − √ − √ −
Programs
Chapter 5
Outline of Motion Control − √ √ − − −
Systems
Chapter 6
Maintenance and − − √ √ √ √
Inspection

■ Graphic Symbols Used in this Manual

The graphic symbols used in this manual indicate the following type of information.

ΠThis symbol is used to indicate important information that should be memorized or minor precautions,
such as precautions that will result in alarms if not heeded.

■ Terms Used to Describe “Torque”

Although the term "torque" is commonly used when describing rotary servomotors and "force" is used when describing
linear servomotors, this manual uses "torque" when describing both (excluding parameters).

iii
 ■ Indication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before
the signal name, as shown in the following example:
Notation Examples

• S-ON = /S-ON
• P-CON = /P-CON

■ Related Manuals
The following table lists the manuals relating to the MP2300. Refer to these manuals as required.
Manual Name Manual Number Contents
Describes the functions, specifications, and
Machine Controller MP2000 Series Built-in SVB/ application methods of the MP2000 Series Motion
SIEP C880700 33
SVB-01 Motion Module User’s Manual Module that is built into the SVB, SVB-01, and SVR
Module.
Describes the functions, specifications, and
Machine Controller MP2000 Series
SIEP C880700 32 application methods of the SVA-01, SVA Motion
Built-in SVA-01 Motion Module User’s Manual
Module for the MP2000 Series.
Machine Controller MP2000 Series Describes the functions, specifications, and
Pulse Output Motion Module PO-01 SIEP C880700 28 application methods of the PO-01, Pulse Output
User’s Manual Motion Module for the MP2000 Series.
Describes the functions, specifications, and
Machine Controller MP2000 Series
application methods of the MP2000 Series
Communication Module SIEP C880700 04
Communication Modules (217IF, 218IF, 260IF,
User’s Manual
261IF).
Describes the functions, specifications, and
Machine Controller MP2000 Series
SIEP C880700 34 application methods of the I/O Module for the
I/O Module User’s Manual
MP2000 Series.
Describes the functions, specifications, and
Machine Controller MP2000 Series Analog
application methods of the Analog Input Module
Input/Analog Output Module AI-01/AO-01 SIEP C880700 26
AI-01 and Analog Output Module AO-01 for the
User’s Manual
MP2000 Series.
Describes the functions, specifications, and
Machine Controller MP2000 Series
SIEP C880700 27 application methods of the Counter Module
Counter Module CNTR-01 User’s Manual
CNTR-01 for the MP2000 Series.
Machine Controller MP900/MP2000 Series Describes the instructions used in MP900/MP2000
SIEZ-C887-1.2
User’s Manual, Ladder Programming ladder programming.
Machine Controller MP900/MP2000 Series
Describes the instructions used in MP900/MP2000
User’s Manual SIEZ-C887-1.3
motion programming.
Motion Programming
Describes the installation and operation of the
Engineering Tool for MP2000 Series Machine
SIEP C880700 30 engineering tools for MP2000 Series Machine
Controller MPE720 Version 6 User’s Manual
Controller MPE720 Version 6.
Machine Controller MP900/MP2000 Series
Describes how to install and operate the MP900/
MPE720 Software for Programming Device SIEP C880700 05
MP2000 Series programming system (MPE720).
User’s Manual
Σ Series SGM†/SGD Describes the Σ Series SERVOPACK models,
SIEZ-S800-26.3
User’s Manual specifications, and capacity selection methods.
Σ Series SGM†/SGD
User’s Manual Describes the Σ Series SERVOPACK models,
SIEZ-S800-26.4
High-speed Field Network specifications, and capacity selection methods.
MECHATROLINK-compatible AC Servo Drivers
Describes the installation, wiring, trial operation,
Σ-II Series
SIEP S800000 05 function applications methods, maintenance, and
SGM†H/SGDH User’s Manual
inspection of the Σ-II Series SERVOPACKs.
Describes the installation, wiring, trial operation,
Σ-II Series
SIEP S800000 15 function applications methods, maintenance, and
SGM†H/SGDM User’s Manual
inspection of the Σ-II Series SERVOPACKs.

iv
 Manual Name Manual Number Contents
Describes the models, specifications, wiring, trial
Σ-III Series SGM†H/SGDS operation, adjustment, function application methods,
SIEP S800000 00
User’s Manual maintenance, and inspection of the Σ-III Series
SERVOPACKs and Servomotors.
Σ-III Series SGM†S/SGDS Digital Operator Describes the operating methods of the JUSP-OP05A
TOBP S800000 01
Operating Instructions Digital Operator.
Describes the models, specifications, wiring, trial
Σ-III Series SGM†S/SGDS MECHATROLINK-II operation, adjustment, function application methods,
SERVOPACKs with Communication SIEP S800000 11 maintenance, inspection, and MECHATROLINK
User’s Manual communication of the Σ-III Series SERVOPACKs
and Servomotors.
Describes the installation, wiring, connection, and
AC Servodrive Σ-V Series
SIEP S800000 43 trial operation of the Σ-V Series servodrives and
User’s Manual Setup Rotational Motor
rotational servomotors.
Describes the installation, wiring, connection, and
AC Servodrive Σ-V Series
SIEP S800000 44 trial operation of the Σ-V Series servodrives and
User’s Manual Setup Linear Motor
linear servomotors.
AC Servodrive Σ-V Series SGM††/SGDV Describes the maintenance of the Σ-V Series analog
SIEP S800000 45
User’s Manual Design and Maintenance servodrives and rotational servomotors.

AC Servodrive Σ-V Series User’s Manual Describes the maintenance of the Σ-V Series　
SIEP S800000 46 servodrives with MECHATROLINK-II
Design and Maintenance Rotational Motor
communications and rotational servomotors.
AC Servodrive Σ-V Series User’s Manual Describes the maintenance of the Σ-V Series analog
SIEP S800000 47
Design and Maintenance Linear Motor servodrives and linear servomotors.

AC Servodrive Σ-V Series User’s Manual Describes the maintenance of the Σ-V Series　
SIEP S800000 48 servodrives with MECHATROLINK-II
Design and Maintenance Rotational Motor
communications and linear servomotors.
Describes the MECHATROLINK-II
AC Servodrive Σ-V Series User’s Manual communications commands of the Σ-V Series
SIEP S800000 54
MECHATROLINK-ΙΙ Command servodrives with MECHATROLINK-II
communications and rotational servomotors.
Describes the MECHATROLINK-II
AC Servodrive Σ-V Series User’s Manual
communications commands of the Σ-V Series
Operation of Digital Operator SGDV SIEP S800000 55
servodrives with MECHATROLINK-II
SERVOPACK
communications and linear servomotors.
Machine Controller MP900/MP2000 Series Describes the connection methods, setting methods,
SIEP C880700 06
Linear Servomotor Manual and other information for Linear Servomotors.
Machine Controller MP900/MP2000 Series Describes the programming instructions of the New
New Ladder Editor User’s Manual SIEZ-C887-13.1 Ladder Editor, which assists MP900/MP2000 Series
Programming Manual design and maintenance.
Machine Controller MP900/MP2000 Series Describes the operating methods of the New Ladder
New Ladder Editor User’s Manual SIEZ-C887-13.2 Editor, which assists MP900/MP2000 Series design
Operation and maintenance.
Machine Controller MP900/MP2000 Series Describes MECHATROLINK distributed I/O for
SIEZ-C887-5.1
User’s Manual, MECHATROLINK System MP900/MP2000 Series Machine Controllers.

■ Copyrights

• DeviceNet is a registered trademark of the ODVA (Open DeviceNet Venders Association).

• PROFIBUS is a trademark of the PROFIBUS User Organization.
• Ethernet is a registered trademark of the Xerox Corporation.
• MPLINK is a registered trademark of the YASKAWA Electric Corporation.
• Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation.
• MECHATROLINK is a trademark of the MECHATROLINK Members Association.
• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM”
and the ® mark do not appear with product or company names in this manual.

v
 Safety Information

The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure
the safe operation of the MP2300 and connected devices. Information marked as shown below is important for the
safety of the user. Always read this information and heed the precautions that are provided.
The conventions are as follows:

Indicates precautions that, if not heeded, could possibly result in loss of life, serious
WARNING injury, or property damage.

Indicates precautions that, if not heeded, could result in relatively serious or minor injury,
CAUTION or property damage.

If not heeded, even precautions classified under CAUTION can lead to serious results
depending on circumstances.

Indicates prohibited actions. Specific prohibitions are indicated inside .

PROHIBITED
For example, indicates prohibition of open flame.

MANDATORY
Indicates mandatory actions. Specific actions are indicated inside ●.
For example, indicates mandatory grounding.

vi
Safety Precautions

The following precautions are for checking products on delivery, storage, transportation, installation, wiring, operation,
application, inspection, and disposal. These precautions are important and must be observed.

■ General Precautions

WARNING
• Before connecting the machine and starting operation, ensure that an emergency stop procedure has
been provided and is working correctly.
There is a risk of injury.
• Do not touch anything inside the MP2300.
There is a risk of electrical shock.
• Always keep the front cover attached when power is being supplied.
There is a risk of electrical shock.
• Observe all procedures and precautions given in this manual for trial operation.
Operating mistakes while the servomotor and machine are connected may damage the machine or even cause
accidents resulting in injury or death.
There is a risk of electrical shock.
• Do not remove the front cover, cables, connector, or options while power is being supplied.
There is a risk of electrical shock.
• Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of electrical shock, operational failure or burning of the MP2300.
• Do not attempt to modify the MP2300 in any way.
There is a risk of injury or device damage.
• Do not approach the machine when there is a momentary interruption to the power supply. When
power is restored, the MP2300 and the device connected to it may start operation suddenly. Provide
safety measures in advance to ensure human safety in the event that operation restarts suddenly.
There is a risk of injury.
• Do not allow installation, disassembly, or repairs to be performed by anyone other than specified
personnel.
There is a risk of electrical shock or injury.

vii
 ■ Storage and Transportation

CAUTION
• Do not store or install the MP2300 in the following locations.
There is a risk of fire, electrical shock, or device damage.
• Direct sunlight
• Ambient temperature exceeds the storage or operating conditions
• Ambient humidity exceeds the storage or operating conditions
• Rapid changes in temperature or locations subject to condensation
• Corrosive or flammable gas
• Excessive dust, dirt, salt, or metallic powder
• Water, oil, or chemicals
• Vibration or shock
• Do not overload the MP2300 during transportation.
There is a risk of injury or an accident.
• Never subject the product to an atmosphere containing halogen (fluorine, chlorine, bromine, or
iodine) during transportation or installation.
There is a risk of device damage or an accident.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames,
pallets, or plywood, the packing materials must be treated before the product is packaged, and
methods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines, are packed with
fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from
the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or
iodine can contribute to the erosion of the capacitors.

■ Installation

CAUTION
• Never use the MP2300 in locations subject to water, corrosive atmospheres, or flammable gas, or
near burnable objects.
There is a risk of electrical shock or fire.
• Do not step on the MP2300 or place heavy objects on the MP2300.
There is a risk of injury.
• Do not block the air exhaust port or allow foreign objects to enter the MP2300.
There is a risk of element deterioration inside, an accident, or fire.
• Always mount the MP2300 in the specified orientation.
There is a risk of an accident.
• Do not subject the MP2300 to strong shock.
There is a risk of an accident.

viii
■ Wiring

CAUTION
• Check the wiring to be sure it has been performed correctly.
There is a risk of motor run-away, injury, or an accident.
• Always use a power supply of the specified voltage.
There is a risk of burning.
• In places with poor power supply conditions, take all steps necessary to ensure that the input power
supply is within the specified voltage range.
There is a risk of device damage.
• Install breakers and other safety measure to provide protection against shorts in external wiring.
There is a risk of fire.
• Provide sufficient shielding when using the MP2300 in the following locations.
There is a risk of device damage.
• Noise, such as from static electricity
• Strong electromagnetic or magnetic fields
• Radiation
• Near to power lines
• When connecting the battery, connect the polarity correctly.
There is a risk of battery damage or explosion.
• Only qualified safety-trained personnel should replace the battery.
If the battery is replaced incorrectly, machine malfunction or damage, electric shock, or injury may result.
• When replacing the battery, do not touch the electrodes.
Static electricity may damage the electrodes.

■ Selecting, Separating, and Laying External Cables

CAUTION
• Consider the following items when selecting the I/O signal lines (external cables) to connect the
MP2300 to external devices.
• Mechanical strength
• Noise interference
• Wiring distance
• Signal voltage, etc.
• Separate the I/O signal lines from the power lines both inside and outside the control box to reduce
the influence of noise from the power lines.
If the I/O signal lines and power lines are not separated properly, malfunctioning may result.

Example
外部配線の分離例of Separated External Cables
Steel separator
鉄板製のセパレータ

Power General Digital I/O

ディジタル
circuit
動力回路の control
一般制御回路 signal
入出力信号
ケーブル のケーブル ケーブル

ix
 ■ Maintenance and Inspection Precautions

CAUTION
• Do not attempt to disassemble the MP2300.
There is a risk of electrical shock or injury.
• Do not change wiring while power is being supplied.
There is a risk of electrical shock or injury.
• When replacing the MP2300, restart operation only after transferring the programs and parameters
from the old Module to the new Module.
There is a risk of device damage.

■ Disposal Precautions

CAUTION
• Dispose of the MP2300 as general industrial waste.

■ General Precautions

Observe the following general precautions

to ensure safe application.
• The products shown in illustrations in this manual are sometimes shown without covers or protective guards. Always
replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.

x
 Warranty

(1) Details of Warranty

■ Warranty Period
The warranty period for a product that was purchased (hereafter called “delivered product”) is one year from
the time of delivery to the location specified by the customer or 18 months from the time of shipment from
the Yaskawa factory, whichever is sooner.
■ Warranty Scope
Yaskawa shall replace or repair a defective product free of change if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product
reaching the end of its service life and replacement of parts that require replacement or that have a limited
service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cat-
alogs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship-
ment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters

(2) Limitations of Liability

1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of pro-
gram execution of the programs provided by the user or by a third party for use with programmable
Yaskawa products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer pur-
chasing the appropriate product for the intended application. The use thereof does not guarantee that there
are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties,
nor does it construe a license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property
rights or other proprietary rights of third parties as a result of using the information described in catalogs
or manuals.

xi
 (3) Suitability for Use
1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that
apply if the Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equip-
ment used by the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the
application is acceptable, use the product with extra allowance in ratings and specifications, and provide
safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in condi-
tions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle sys-
tems, medical equipment, amusement machines, and installations subject to separate industry or gov-
ernment regulations
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity,
or systems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety

4. Never use the product for an application involving serious risk to life or property without first ensuring
that the system is designed to secure the required level of safety with risk warnings and redundancy, and
that the Yaskawa product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for
reference. Check the functionality and safety of the actual devices and equipment to be used before using
the product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to
prevent accidental harm to third parties.

(4) Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be
changed at any time based on improvements and other reasons. The next editions of the revised catalogs or
manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm
the actual specifications before purchasing a product.

xii
Contents
Using this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi

1 Overview of the MP2300

1.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 MP2300 Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 MP2300 Series Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.3 MP2300 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3 System Configuration Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.4 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.1 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.2 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

1.5 Cables and Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.5.2 Accessories and Optionals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.5.3 Software (Programming Tool (Optional)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

2 Module Specifications
2.1 MP2300 Basic Module Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Hardware Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Environmental Conditions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.1.3 Function Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.2 MP2300 Basic Module Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.1 External Appearance, LED Indicators, and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.2.2 Module Configuration Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.2.3 CPU I/O (Built-in I/O) Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.2.4 Built-in SVB Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
2.2.5 Setting SVB Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17
2.2.6 Built-in SVB Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-25
2.2.7 SVR Virtual Motion Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

3 Mounting and Connections

3.1 Mounting the MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.1 Basic Module Dimensional Drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 Mounting the MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.3 Replacing and Adding Optional Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

xiii
 3.2 Basic Module Connections Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.2.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-9
3.2.2 Power Supply Connector- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.3 MECHATROLINK Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.4 CPU I/O (Built-in I/O) Connectors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16

4 System Startup and Sample Programs

4.1 Model System Startup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Flowchart for Model System Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3
4.1.3 Initializing SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-5
4.1.4 Setting and Saving Communication Process (Communication Manager)- - - - - - - - - - - - - - - -4-6
4.1.5 MP2300 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12

4.2 Starting the Sample Program - MPE720 Ver 6.†† - - - - - - - - - - - - - - - - - - - - 4-13

4.2.1 Copying and Transferring Sample Program Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control- - - - - - - - - - - 4-17
4.2.3 Saving Data from the MP2300 to Flash Memory,
and Transferring Data to Your Computer from the MP2300- - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4.3 Starting Sample Program - MPE720 Ver 5.†† - - - - - - - - - - - - - - - - - - - - - - - 4-23

4.3.1 Starting MPE720 Ver 5.†† and Creating Folders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.3.2 Reading Sample Programs and Setting and Saving Parameters - - - - - - - - - - - - - - - - - - - - - 4-28
4.3.3 Other Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42

4.4 Checking Sample Program Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44

4.4.1 How to Open the Tuning Panel Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44
4.4.2 Operation Check 1: Manual Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
4.4.3 Operation Check 2: Position Control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53
4.4.4 Operation Check 3: Phase Control - Electronic Shaft - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58
4.4.5 Operation Check 4: Phase Control - Electronic Cam - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-62

4.5 System Startup Using Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68

4.5.1 Starting the System for First Time- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68
4.5.2 System Startup when Adding Electronic Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-71
4.5.3 System Startup when Replacing Electronic Devices- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-73

5 Outline of Motion Control Systems

5.1 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-2
5.1.2 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-3
5.1.3 Startup Sequence Operation Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-4
5.1.4 LED Indicator Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-5

xiv
 5.2 User Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.1 Ladder Drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.2 Execution Control of Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.2.3 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.2.4 Motion Programs and MSEE and S Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.2.5 Example of Ladder Programs for Motion Program Control- - - - - - - - - - - - - - - - - - - - - - - - - 5-18
5.2.6 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20

5.3 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21

5.3.1 Types of Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.2 Data Types and Register Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
5.3.3 Using i and j Subscripts - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
5.3.4 Register Specification Methods- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27

5.4 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28

5.4.1 Self-configuration Processing Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5.4.2 Execution Procedure for Self-configuration Using the DIP Switch- - - - - - - - - - - - - - - - - - - - 5-30
5.4.3 Execution Procedure for Self-configuration Using MPE720 - - - - - - - - - - - - - - - - - - - - - - - - 5-32
5.4.4 Definition Data Refreshed by Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36

5.5 Precautions When Using the MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.5.1 Precautions when Setting or Changing User Definition Files - - - - - - - - - - - - - - - - - - - - - - - 5-38
5.5.2 Precautions when Setting or Changing Module Configuration Definition Files - - - - - - - - - - - 5-39
5.5.3 Setting and Changing the Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40

6 Maintenance and Inspection

6.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3

6.2 Replacing the Basic Module Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.2.1 Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.3 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5

6.3.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
6.3.2 MP2300 Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
6.3.3 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.4 Troubleshooting System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.4.1 Outline of System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.4.2 Accessing System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.4.3 Troubleshooting When ERR is Lit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.4.4 Troubleshooting When ALM is Lit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.4.5 System Register Configuration and Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14

6.5 Motion Program Alarms- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24

6.5.1 Motion Program Alarm Configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.5.2 Motion Program Alarm Code List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24

6.6 List of Causes for Command Error Occurrence - - - - - - - - - - - - - - - - - - - - - - - 6-26

xv
 6.7 Troubleshooting Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
6.7.1 Overview of Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
6.7.2 Motion Error Details and Corrections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
6.7.3 Servo Driver Status and Servo Driver Error Codes- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36

Appendices
A System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
A.3 Program Software Numbers and Remaining Program Memory Capacity Name- - - - - - - - - - - - A-4

B Current Values and Set Values (Input Data) in the SVB Definition Window - - - - - - A-5
B.1 Operations and Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
B.2 Precautions When Saving SERVOPACK Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-12

C Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-13

C.1 Initializing Procedures for Σ-V and Σ-III Series SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - -A-13
C.2 Σ-II SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-15
C.3 Σ-I SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-17

D Motion Parameter Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-19

D.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-19
D.2 Setting Parameter List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-20
D.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-25

INDEX

Revision History

xvi
 1
Overview of the MP2300

This chapter explains an overview and features of the MP2300 Machine Controller.

1.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 MP2300 Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 MP2300 Series Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.3 MP2300 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3 System Configuration Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.4 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.1 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.2 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

1.5 Cables and Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.5.2 Accessories and Optionals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

Overview of the MP2300

1.5.3 Software (Programming Tool (Optional)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1-1
 1 Overview of the MP2300

1.1 Features
The MP2300 is an all-in-one, compact Machine Controller that combines power supply, CPU, SVB, I/O, and
communication functions in one system. The MP2300 consists of a Basic Module that performs motion
control and sequence control and Optional Modules that perform I/O and communication functions.
The MP2300 has the following features:
• Flexibility
• High performance, and
• Easy to use

„ Flexibility
Optional Modules can be inserted into any of the three slots, so the optimum system can be built for your
machine.

„ High Performance
• High control characteristics have been realized by increasing the CPU and Motion Network (MECHA-
TROLINK-II) speed.
• MECHATROLINK-II baud rate: 2.5 times faster
• CPU processing speed: 1.4 times faster than MP930
• MECHATROLINK-II enables position control, speed control, and torque control and makes precise synchronous
control possible. The control mode can also be changed while online, facilitating complicated machine opera-
tions.
• Select the appropriate Communication Module to use the following open networks.
• Ethernet
• DeviceNet
• PROFIBUS
• MPLINK
• CP-215

„ Easy to Use
• The time of machine development can be greatly reduced by using the self-configuration function that automati-
cally detects devices connected to MECHATROLINK and automatically sets the required parameters.
• The application program converter can utilize your previous software assets with their accumulated databanks of
specific knowledge to improve the system further.

1-2
 1.2 MP2300 Configuration

1.2 MP2300 Configuration

The MP2300 is configured with one Basic Module and up to three Optional Modules.

1.2.1 Basic Module Appearance

The following figure shows the external appearance of the Basic Module.

LED indicators

MP2300
Switches YASKAWA RDY RUN
ALM ERR
TX BAT

Battery holder STOP

SUP
INIT
CNFG
MON
SW1
MECHATROLINK TEST
OFF‫ޓޓޓ‬
ON
connector

Option
Option

Option
M-I/II

BATTERY

Power supply connector

CPU‫ޓ‬I/O

DC24V
I/O connector
DC 0V

POWER

Overview of the MP2300

1-3
 1 Overview of the MP2300
1.2.2 MP2300 Series Models

1.2.2 MP2300 Series Models

The following table shows the possible combinations of the MP2300 Basic Module with the PS, the CPU, and the MB,
and Optional Modules.

No. Model Combination of Modules

Basic
Module

1 JEPMC-MP2300

Basic 217 218 LIO

Module IF IF 01

2 JEPMC-MP2300-Y1

Basic 218 LIO LIO

Module IF 01 01

3 JEPMC-MP2300-Y2

4 Reserved

Basic 217 218 LIO

Module IF IF 02

5 JEPMC-MP2300-Y4

Basic 218 LIO LIO

Module IF 02 02

6 JEPMC-MP2300-Y5

7 Reserved

Basic 217 217 LIO

Module IF IF 01

8 JEPMC-MP2300-Y7

Basic 217 LIO LIO

Module IF 01 01

9 JEPMC-MP2300-Y8

10 Reserved

Basic 217 217 LIO

Module IF IF 02

11 JEPMC-MP2300-Y10

1-4
 1.2 MP2300 Configuration

(cont’d)
No. Model Combination of Modules

Basic 217 LIO LIO

Module IF 01 02

12 JEPMC-MP2300-Y11

1.2.3 MP2300 Modules

The following table shows the names and descriptions of the Basic Module and Optional Modules.

Descriptio
Group Name Model Remarks
n
MECHATROLINK-I,
Basic Module Basic Module MP2300 JAPMC-MP2300 MECHATROLINK-II
8 input, 4 outputs
MECHATROLINK-II
SVB-01 JAPMC-MC2310 MECHATROLINK-I, -II, 16 axes maximum
Motion-control Module
Motion Analog Output Motion-
SVA-01 JAPMC-MC2300 Analog output, 2 axes maximum
Modules control Module
Pulse Output Motion-
PO-01 JAPMC-PL2310-E Pulse output, 4 axes maximum
control Module
16 inputs, 16 outputs (sink mode output)
I/O Module LIO-01 JAPMC-IO2300
1 pulse input
16 inputs, 16 outputs (source mode output)
I/O Module LIO-02 JAPMC-IO2301
1 pulse input
I/O Module LIO-04 JAPMC-IO2303 32 inputs, 32 outputs (sink mode output)
I/O Modules
I/O Module LIO-05 JAPMC-IO2304 32 inputs, 32 outputs (source mode output)
Analog Input Module AI-01 JAPMC-AN2300 Analog input, 8 channels
Analog Output Module AO-01 JAPMC-AN2310-E Analog output, 4 channels
Optional Output Module DO-01 JAPMC-DO2300 64 outputs (sink mode output)
Modules Counter Module CNTR-01 JAPMC-PL2300-E Reversible counter, 2 channels
RS-232C and 10Base-T Ethernet communi-
218IF-01 JAPMC-CM2300

Overview of the MP2300

Ethernet Communica- cation
tion Module RS-232C and 100Base-TX/10Base-T
218IF-02 JAPMC-CM2302-E
Ethernet communication
General-purpose Serial
Communication Mod- 217IF-01 JAPMC-CM2310 RS-232C and RS422/485 communication
Communica- ule
tion DeviceNet Communi-
260IF-01 JAPMC-CM2320 RS-232C and DeviceNet communication
Modules cation Module
PROFIBUS Communi-
261IF-01 JAPMC-CM2330 RS-232C and PROFIBUS communication
cation Module
MPLINK Communica- 215AIF-01
JAPMC-CM2360 RS-232C and MPLINK communication
1
tion Module MPLINK
CP-215 Communica- 215AIF-01
JAPMC-CM2361 RS-232C and CP-215 communication
tion Module CP-215

1-5
 1 Overview of the MP2300

1.3 System Configuration Example

The following diagram shows an example of system configuration.
MP2300 Optional Modules
Motion Modules

MECHATROLINK
SVB-01 Servo

24-VDC Analog
SVA-01 Servo
power supply
Pulse
PO-01 Stepping Motor

External I/O
I/O Modules
MECHATROLINK-II
LIO-01 External I/O device
PL2900
PL2910

IO2310

LIO-02 External I/O device

SGDS
SGDH
NS115

LIO-04 External I/O device

M M LIO-05 External I/O device

I/O Modules for Servos AI-01 External analog input

device
MECHATROLINK
AO-01 External analog output
device

DO-01 External output device

CNTR-01 Encoder

Communication Modules

218IF-01 Ethernet

218IF-02 Ethernet

217IF-01 RS422/485

260IF-01 DeviceNet

261IF-01 PROFIBUS

215IF-01 MPLINK/CP-215

RS-232C

ΠFor the details on the system configuration example, refer to 4.1.2 System Configuration on page 4-3.
ΠUse the connecting cables and connectors recommended by Yaskawa. Always check the device to be used
and select the correct cable for the device.
Œ Different SERVOPACKs are connected to MECHATROLINK-Ι (4 Mbps) and MECHATROLINK-ΙΙ (10 Mbps).
Refer to 1.4.1 SERVOPACKs on page 1-7 and select the appropriate SERVOPACKs.
Œ If devices compatibe with MECHATROLINK-ΙΙ and with MECHATROLINK-ΙΙ are used together, make the set-
tings for MECHATROLINK-Ι.
ΠThe user must supply the 24-VDC power supply.
ΠWhen connecting SERVOPACKs via MECHATROLINK, connect the overtravel, zero point return deceleration
limit switch, and external latch signals to the SERVOPACKs. For connection, refer to the SERVOPACK’s man-
ual.

1-6
 1.4 Devices Connectable to MECHATROLINK

1.4 Devices Connectable to MECHATROLINK

The devices that are compatible with MECHATROLINK and can be connected to the MP2300 and the SVB-
01 Module are listed below.

1.4.1 SERVOPACKs
Model Number Details MECHATROLINK-I MECHATROLINK-II
SGDV-††††11 MECHATROLINK-II communications
Yes Yes
SGDV-††††15 reference compatible SERVOPACKs
SGDS-†††1†† SGDS SERVOPACK Yes Yes
SGDH-†††E SGDH SERVOPACK
Yes Yes
JUSP-NS115 NS115 MECHATROLINK-II Interface Unit
SGDH-†††E SGDH SERVOPACK
Yes No
JUSP-NS100 NS110 MECHATROLINK-I Interface Units
SGD-†††N MECHATROLINK compatible AC SERVO-
Yes No
SGDB-††AN PACKs

1.4.2 Modules
Model Number Details MECHATROLINK-Ι MECHATROLINK-ΙΙ
64-point I/O Module
JEPMC-IO2310 Yes Yes
24 VDC, 64 inputs, 64 outputs (sink mode output)
64-point I/O Module
JEPMC-IO2330 Yes Yes
24 VDC, 64 inputs, 64 outputs (source mode output)
Counter Module
JEPMC-PL2900 Yes Yes
Reversible counter, 2 channels
Pulse Output Module
JEPMC-PL2910 Yes Yes
Pulse output, 2 channels
A/D Module
JEPMC-AN2900 Yes Yes
Analog inputs, −10 to 10 V, 4 channels
D/A Module
JEPMC-AN2910 Yes Yes
Analog outputs, −10 to 10 V, 2 channels
64-point I/O Module
JEPMC-IO350 Yes No
24 VDC, 64 inputs, 64 outputs

Overview of the MP2300

DC Input Module
JAMSC-120DDI34330 Yes No
12/24 VDC, 16 inputs
DC Output Module
JAMSC-120DDO34340 Yes No
12/24 VDC, 16 outputs
AC Input Module
JAMSC-120DAI53330 Yes No
100 VAC, 8 inputs
AC Input Module
JAMSC-120DAI73330 Yes No
200 VAC, 8 inputs
AC Output Module
JAMSC-120DAO83330 Yes No
100/200 VAC, 8 outputs
1
Relay Module
JAMSC-120DRA83030 Yes No
Wide voltage range relay contacts, 8 contact outputs
A/D Module
JAMSC-120AVI02030 Yes No
Analog inputs, −10 to 10 V, 4 channels
D/A Module
JAMSC-120AVO01030 Yes No
Analog outputs, −10 to 10 V, 2 channels
Counter Module
JAMSC-120EHC21140 Yes No
Reversible counter, 2 channels
Pulse Output Module
JAMSC-120MMB20230 Yes No
Pulse output, 2 channels
JEPMC-REP2000 MECHATROLINK-II Repeater No Yes
JEVSA-YV250 MYVIS (image processing device) Yes Yes

ΠFor details on each Module, refer to the Machine Controller MP900/MP2000 Series MECHATROLINK System
User’s Manual (Manual No.: SIE-C877-5.1).

1-7
 1 Overview of the MP2300
1.5.1 Cables

1.5 Cables and Accessories

1.5.1 Cables
The following table shows the cables that can be connected to the MP2300 Basic Module and Optional Modules.

Connector
Module Application Model Specifications
Name
Used between
CPU I/O External I/O JEPMC-W2060-††
CPU I/O and External I/O device
JEPMC-W6010-†† Used between the devices listed below
MECHATROLINK-I
*with a MECHATROLINK SVB-01 and SGD-†††N
cable
connector and loose wires SVB-01 and SGDB-††AN
MECHATROLINK-I
JEPMC-W6020
Terminator
MP2300 Basic
Module and JEPMC-W6002-†† Used between the devices listed below
SVB-01 M-I/II *with MECHATROLINK SVB-01 and I/O Unit,
connectors on both ends SVB-01 and SGDH-††E+NS100
MECHATROLINK-II
JEPMC-W6003-†† SVB-01 and SGDH-††E+NS115
cable
*with MECHATROLINK SVB-01 and SGDS-†††1††
connectors on both ends SVB-01 and SGDV-††††11
*with ferrite core SVB-01 and SGDV-††††15
MECHATROLINK-II
JEPMC-W6022
Terminator
Used between the devices listed below
SVA-01 and SGDM/SGDH
CN/1 Cable for analog reference SVA-01 and SGDS-†††01†
SVA-01 JEPMC-W2040-††
CN/2 input SERVOPACK SVA-01 and SGDS-†††02†
SVA-01 and SGDV-††††01
SVA-01 and SGDV-††††05
JEPMC-W6060-†† Used between
PO-01 CN/1, CN/2 Pulse I/O
*Loose wires on one end PO-01 and Stepping motor
LIO-01 JEPMC-W2061-†† Used between
I/O External I/O
LIO-02 *Loose wires on one end LIO-01/02 and External I/O device
LIO-04 JEPMC-W6060-†† Used between
CN/1, CN/2 External I/O
LIO-05 *Loose wires on one end LIO-04/05 and External I/O device
JEPMC-W6080-†† Used between
AI-01 CN/1, CN/2 Analog external inputs
*Loose wires on one end AI-01 and Analog external output device
JEPMC-W6090-†† Used between
AO-01 CN/1, CN/2 Analog external outputs
*Loose wires on one end AO-01 and Analog external input device
JEPMC-W6060-†† Used between
DO-01 CN/1, CN/2 External outputs
*Loose wires on one end DO-01 and External I/O device
JEPMC-W2063-†† Used between
CNTR-01 CN/1 External I/O
*Loose wires on one end CNTR-01 and Encoder
Used beetween
Common to all JEPMC-W5310-†† RS-232C port and 25-pin male D-sub
RS-232C communication connector
communication PORT
cable
modules Used between
JEPMC-W5311-††
RS-232C port and DOS/V

1-8
 1.5 Cables and Accessories

(cont’d)
Connector
Module Application Model Specifications
Name
Ethernet communication 10Base-T Cross or Straight cable (Cate-
218IF-01 10Base-T
cable gory 3 min.)
Ethernet communication 100Base-TX Cross or Straight cable
218IF-02 Ethernet
cable (Category 3 min.)
Module-side connector:
1010214-52A2JL (manufactured by
Sumitomo 3M)
RS422/485 communication Cable-side connector:
217IF-01 RS422/485
cable Use a commercially avail- 10114-3000VE (manufactured by
able cable. Sumitomo 3M)
Shell: 10314-52A0-008 (manufactured
by Sumitomo 3M)
Module-side connector:
DeviceNet communication
260IF-01 DeviceNet MSTB2-5/5-GF-5.08AM
cable
(manufactured by Phoenix Contact K.K.)
Module-side connector:
PROFIBUS commnication
261IF-01 PROFIBUS 17LE-13090-27(D33C) (manufactured
cable
by DDK Ltd.)
JEPMC-W6002-††
*with MECHATROLINK
connectors on both ends
MPLINK communication Used between 215AI-01 MPLINK and
JEPMC-W6003-†† MPLINK compatible device
MPLINK cable
*with MECHATROLINK
(MECHATROLINK cable)
215AIF-01 connectors on both ends
*with ferrite core
JEPMC-W6022 Terminator
Provided by the customers.
CP-215 communication
CP-215 Refer to the communication module manual
cable
(Manual No.: SIEPC88070004).

1.5.2 Accessories and Optionals

Name Accessory/Optional Model Remarks
ER3VC + exclusive use connector

Overview of the MP2300

Battery Accessory JZSP-BA01
(BA000517)
Power Supply Connector Accessory 721-203/026 Cable side
DIN Rail Mounting Parts Optional JEPMC-OP300 2 parts for 1 set
Option Slot Cover Optional JEPMC-OP2300 Front cover for empty slot

1.5.3 Software (Programming Tool (Optional))

The MPE720, programming tool for MP2300, is available.
Name Model Remarks
1
MPE720 CPMC-MPE720 (Ver 4.41A or later) CD-ROM (1 disk)
MPE720 Ver. 6 CPMC-MPE770 CD-ROM (1 disk)

1-9
 2
Module Specifications

This chapter explains detailed specifications and functions for the Basic Module of the MP2300.

2.1 MP2300 Basic Module Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Environmental Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.1.3 Function Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.2 MP2300 Basic Module Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.1 External Appearance, LED Indicators, and Switch Settings - - - - - - - - - - - - - - - - - - - - 2-7
2.2.2 Module Configuration Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.2.3 CPU I/O (Built-in I/O) Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.2.4 Built-in SVB Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
2.2.5 Setting SVB Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17
2.2.6 Built-in SVB Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-25
2.2.7 SVR Virtual Motion Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

Module Specifications

2-1
 2 Module Specifications
2.1.1 Hardware Specifications

2.1 MP2300 Basic Module Specifications

This section describes the Basic Module Specifications of the MP2300.

2.1.1 Hardware Specifications

The following table shows the hardware specifications of the Basic Module.
Item Specifications
Classification Basic Module
Name MP2300
Model Number JEPMC-MP2300
Flash Memory 8 MBytes (User area 5.5 MBytes)
SDRAM 16 MBytes
SRAM 256 kBytes: M registers, S registers, trace memory, alarm history (battery backup)
Motion network 1 channel
Motion Network SERVOPACK and I/O for up to 21 stations connectable (SERVOPACK for up to 16
MECHATROLINK axes)
Baud rate: 4 Mbps (MECHATROLINK-I) or 10 Mbps (MECHATROLINK-II)
8 digital inputs (1 input also used as an interrupt input)
24 VDC, 4.1 mA (TYP) source mode/sink mode inputs
I/O Signal
4 digital outputs
24 VDC, 100 mA (TYP) open-collector sink mode outputs
Seconds to year timer
Calendar
(Battery backup)
POWER: Power supply connector
Connectors M-I/II: MECHATROLINK connector
CPU I/O: I/O connector
RDY (green)
RUN (green)
ALM (red)
Indicators
ERR (red)
TX (green)
BAT (red)
STOP
SUP
INIT
Switches
CNFG
MON
TEST
Current Consumption 1A max.
Dimensions (mm) 120 × 130 × 105 (W × H × D)
Mass 450 g

2-2
 2.1 MP2300 Basic Module Specifications

2.1.2 Environmental Conditions

Item Specifications
Ambient
Operating 0°C to 55°C
Temperature
Ambient Storage
-25°C to 85°C
Temperature
Ambient
Environmental Operating 30% to 95% (with no condensation)
Conditions Humidity
Ambient Storage
5% to 95% (with no condensation)
Humidity
Pollution Level Pollution level 1 (conforming to JIS B 3501)
Corrosive Gas There must be no combustible or corrosive gas.
Operating
2,000 m above sea level or lower
Altitude
Conforming to JIS B 3502:
• 10 to 57 Hz with single-amplitude of 0.075 mm
Vibration
Resistance • 57 to 150 Hz with fixed acceleration of 9.8 m/s2
Mechanical
Operating • 10 sweeps each in X, Y, and Z directions
Conditions (sweep time: 1 octave/min)
Conforming to JIS B 3502:
Shock Resistance Peak acceleration of 147 m/s2 (15 G) twice for 11 ms each in the X, Y, and Z
directions

Electrical Conforming to EN 61000-6-2, EN 55011 (Group 1, Class A)

Operating Noise Resistance Power supply noise (FT noise): 2 Kv min., for one minute
Conditions Radiation noise (FT noise): 1 Kv min., for one minute

Installation Ground Ground to 100 Ω max.

Requirements
Cooling Method Natural cooling

Module Specifications

2-3
 2 Module Specifications
2.1.3 Function Specifications

2.1.3 Function Specifications

( 1 ) PLC Function Specifications

The following table shows the PLC function specifications.
Item Specifications
Control Method Sequence: High-speed and low-speed scan methods
Programming Ladder diagram: Relay circuit
Language Text-type language:Numeric operations, logic operations, etc.
Two scan levels: High-speed scan and low-speed scan
High-speed scan time setting: 1 to 32 ms (Integral multiple of MECHATROLINK
Scanning communication cycle)
Low-speed scan time setting: 2 to 300 ms (Integral multiple of MECHATROLINK
communication cycle)
Startup drawings (DWG.A): 64 drawings max. Up to three hierarchical drawing
levels
Interrupt processing drawings 64 drawings max. Up to three hierarchical drawing
(DWG.I): levels
User Drawings, High-speed scan process drawings 200 drawings max. Up to three hierarchical drawing
Functions and Motion (DWG.H): levels
Programs Low-speed scan process drawings 500 drawings max. Up to three hierarchical drawing
(DWG.L): levels
Number of steps: Up to 1,000 steps per drawing
User functions: Up to 500 functions
Motion programs: Up to 256
Revision history of drawings and motion programs
Security function for drawings and motion programs
Common data (M) registers: 64 Kwords
System (S) registers: 8 Kwords
Drawing local (D) registers: Up to 16 Kwords per drawing
Data Memory Drawing constant (#) registers: Up to 16 Kwords per drawing
Input (I) registers: 32 Kwords (including internal input registers)
Output (O) registers: 32 Kwords (including internal output registers)
Constant (C) registers: 16 Kwords
Trace Memory Data trace: 128 Kwords (32 Kwords × 4 groups), 16 points defined
Program memory: Flash memory: 8 MBytes (User area: 5.5 MBytes) definition files,
ladder programs, motion programs, etc.
Memory Backup
Data other than battery backup data
Data memory: Battery backup: 256 Kbytes, M registers, S registers, alarm history, trace data
Bit (relay): ON/OFF
Integer: −32768 to +32767
Data Types
Double-length integer: −2147483648 to +2147483647
Real number: ± (1.175E-38 to 3.402E+38)
Register number: Direct designation of register number
Register Designation
Symbolic designation: Up to 8 alphanumeric characters (up to 200 symbols per drawing)
Method
With automatic number or symbol assignment
Program control instructions: 14 instructions
Direct I/O instructions: 2 instructions
Relay circuit instructions: 14 instructions (including set and reset coils)
Logic operation instructions: 3 instructions
Numeric operation instructions: 16 instructions
Numeric conversion instructions: 9 instructions
Instructions
Numeric comparison instructions: 7 instructions
Data manipulation instructions: 14 instructions
Basic function instructions: 10 instructions
Table data manipulation instructions: 11 instructions
DDC instructions: 13 instructions
System functions: 9 instructions

2-4
 2.1 MP2300 Basic Module Specifications

( 2 ) Motion Control Function Specifications

The following table lists the motion control function specifications for the MP2300.

Item Specifications
Interface MECHATROLINK-I, MECHATROLINK-II
Number of Controlled Axes/Module Up to 16 axes (up to 48 axes when two SVB Modules are mounted)
PTP Control Linear, rotary, and infinite-length
Interpolation Up to 16 linear axes, 2 circular axes, and 3 helical axes
Yes
Speed Reference Output
(Only with MECHATROLINK-II)
Yes
Torque Reference Output
(Only with MECHATROLINK-II)
Yes
Phase Control
(Only with MECHATROLINK-II)
Positioning Yes
Control
External positioning Yes
Specificat
ions Zero point return Yes
Interpolation Yes
Interpolation with
Position position detection Yes
Control function
JOG operation Yes
STEP operation Yes
Parameter changes
Yes
during motion
(Only with MECHATROLINK-II in 32-byte mode)
command execution
Reference Unit mm, inch, deg, pulse, or μm
Reference Unit Minimum Setting 1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Maximum Programmable Value −2147483648 to +2147483647 (signed 32-bit value)
Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s, μm/s
Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/min,
Speed Reference Unit
μm/min
Percentage designation: Percentage of rated speed
Acceleration/Deceleration Type Linear, asymmetric, S-curve, exponent

Acceleration/Deceleration Reference Unit Reference unit/s2 designation: mm/s2, inch/s2, deg/s2, pulse/s2, μm/s2
Acceleration/deceleration time constant: Time from 0 to rated speed (ms)

Module Specifications
Override Function Positioning: 0.01% to 327.67% by axis
Coordinate System Rectangular coordinates
Home limit switch and Phase-C
DEC1+ Phase-C pulse
pulse
ZERO signal HOME
DEC1+ ZERO signal NOT and Phase-C pulse
Zero Point Return
Phase-C pulse NOT
Only Phase-C pulse INPUT and Phase-C pulse
POT and Phase-C pulse INPUT
2
POT
■ MECHATROLINK-Ι ■ MECHATROLINK-II
• SERVOPACKs • SERVOPACKs
SGD-†††N SGDH-†††E ＋ NS115
SGDB-††AN SGDS-†††1††
Applicable SERVOPACKs SGDH-†††E ＋ NS100 SGDV-††††11
SGDS-†††1†† SGDV-††††15
SGDV-††††11
SGDV-††††15
• Inverter
VS-616G5 (216IF card is needed)

2-5
 2 Module Specifications
2.1.3 Function Specifications

(cont’d)
Item Specifications
• Incremental Encoder
Encoders
• Yaskawa Absolute Encoder

2-6
 2.2 MP2300 Basic Module Functions

2.2 MP2300 Basic Module Functions

MP2300 Basic Module is an all-in-one, compact module that combines power supply, CPU, built-in SVB, and I/O in
one module. The Basic Module has both motion control and sequence control functions. With the 3-slot option slot
configuration, Optional Modules can be selected freely and the optimum system can be built for your machine. An
outline of the Basic Module functions is shown in the following diagram.

Interrupt
input 8
points

CPU/IO
Input Input port
processing

System bus Motion control

processing

Ladder
(DWG.H)
Application
execution

MECHATROLINK I/II
processing
Ladder
(DWG.L)
4
points
Output
Output port
processing

: Started at fixed intervals

2.2.1 External Appearance, LED Indicators, and Switch Settings

( 1 ) External Appearance

LED indicators

MP2300
Switch
YASKAWA RDY RUN
ALM ERR
TX BAT

Battery holder

Module Specifications
STOP
SUP
INIT
CNFG
MON
SW1
TEST
MECHATROLINK OFF‫ޓޓޓ‬
ON
connector
Option
Option

Option

M-I/II

BATTERY

Power supply connector

CPU‫ޓ‬I/O

2
DC24V
I/O connector
DC 0V

POWER

2-7
 2 Module Specifications
2.2.1 External Appearance, LED Indicators, and Switch Settings

( 2 ) Indicators
The following table shows the indicators that show the operating status of the Basic Module and error information.
Indicator Color Status
RDY Green Lit during normal operation.
RUN Green Lit during execution of user program.
RDY RUN
ALM Red Lit/blinking when warning occurs.
ERR ALM ERR Red Lit/blinking when malfunction occurs.
TRX BAT Lit during transmission of
TX Green
MECHATROLINK I/II data.
BAT Red Lit during battery alarm.

ΠFor details on indicator meanings, refer to 6.3.3 ( 2 ) LED Indicator Meanings on page 6-7.

( 3 ) Switch Settings
The DIP switch sets the operating conditions for the Basic Module when the power is turned ON.

STOP
1 2 3 4 5 6

SUP
INIT
CNFG
MON
SW1
TEST
OFF‫ޓޓޓ‬
ON

Default
No. Name Setting Operating Mode Details
Setting
ON User program stopped Stops the user program execution. Enabled only
6 STOP OFF
OFF User program running when the power is turned ON.
ON System use
5 SUP OFF Always leave set to OFF.
OFF Normal operation
ON Memory clear Set to ON to clear the memory. If this switch is set
4 INIT OFF to OFF, the program stored in flash memory will
OFF Normal operation be executed.
ON Configuration mode Set to ON to execute self-configuration for
3 CNFG OFF
OFF Normal operation connected devices.
ON System use
2 MON OFF Always leave set to OFF.
OFF Normal operation
ON System use
1 TEST OFF Always leave set to OFF.
OFF Normal operation

2-8
 2.2 MP2300 Basic Module Functions

2.2.2 Module Configuration Definitions

Configuration of the MP2300 including Basic Module and Optional Modules can be obtained and modified in the
Module Configuration Window.

( 1 ) Module Configuration Window Components

A typical MP2300 Module Configuration Window is shown below.
Information on Basic Module Information on the mounted Optional Modules

Configuration of the Basic

Module CPU
Configuration of the CPU I/O
Module built in the Basic Module
Configuration of the SVB
Module built in the Basic Module
Configuration of the SVR Virtual
Motion Module built in the Basic
Module

ΠFor information on how to open the Module Configuration Window, refer to 4.3.2 ( 4 ) Set and Save Motion Fixed
Parameters on page 4-36.

Module Specifications
The following table lists the items shown in the Module Configuration Window.
Item Description Modification
Slot Number Slot number Not possible
Module Type Module detected in the slot Possible
Controller Number Fixed to 01 Not possible
Circuit Number Module circuit number Possible
I/O start register number of the I/O Module to be connected to
I/O Start Register Possible
MECHATROLINK

I/O End Register

I/O last register number of the I/O Module to be connected to 2
Possible
MECHATROLINK
Possible
(Not possible
Disable Input Input enabled (Enable)/disabled (Disable)
if the cell is
blank)
Possible
(Not possible
Disable Output Output enabled (Enable)/disabled (Disable)
if the cell is
blank)
Start register number of the motion parameters
Motion Start Register Not possible
(Automatically sets according to the circuit number)

2-9
 2 Module Specifications
2.2.2 Module Configuration Definitions

Last register number of the motion parameters

Motion End Register Not possible
(Automatically sets according to the circuit number)
Opens the MECHATROLINK Transmission Definition Window.
Details (Double-click the MECHATROLINK cell of SVB Module to open the −
window.)
Status Status of each module in online mode Not possible

Œ “Possible” in the Modification line in the above table means that it is possible to change the setting of the item.
Always save the setting to the flash memory after having changed the setting.
ΠWhen changing the setting, be careful not to set the register numbers overlapped with another module.
ΠI/O Start Register and I/O End Register must be set even though the I/O Module is connected or not connected to
MECHATROLINK.

( 2 ) Self-Configuration
The self-configuration function automatically recognizes the Optional Modules mounted on the Machine Controller,
creates definition files such as the module configuration definition file, MECHATROLINK transmission definition file,
and SVB definition file. Additionally, module definition data can be automatically refreshed by executing the self-
configuration function when starting the MP2300 or anytime thereafter.
ΠFor information on how to execute the self-configuration function, refer to 5.4.2 Execution Procedure for Self-config-
uration Using the DIP Switch on page 5-30 and 5.4.3 Execution Procedure for Self-configuration Using MPE720 on
page 5-32.
ΠFor information on which definition data can be refreshed by executing the self-configuration function, refer to 5.4.4
Definition Data Refreshed by Self-configuration on page 5-36.

2-10
 2.2 MP2300 Basic Module Functions

2.2.3 CPU I/O (Built-in I/O) Module

The CPU I/O Module is a digital I/O module built in the MP2300 Basic Module, and provides eight external input
points and four external output points.

( 1 ) CPU/IO Module Details

For CPU I/O Module details including specifications, refer to 3.2.4 CPU I/O (Built-in I/O) Connectors on page 3-16.

( 2 ) Settings for CPU I/O Module (Local I/O definition Window)

Select MP2300 in the Module Type column of the Controller section in the Module Configuration Window, and then
double-click the Slot Number cell of IO.

Module Specifications
The message box will appear and ask for confirmation to create a new file. Click the OK Button to open the Local I/O
Window.

2-11
 2 Module Specifications
2.2.3 CPU I/O (Built-in I/O) Module

The following items are displayed in the Local I/O Window. The discrete inputs, discrete outputs, and interrupt inputs
can be set.

D : Enable or disable each item by clicking on the cell.

: Enabled, : Disabled
The register length is fixed at one word, i.e., 16 points are set for each input or output register.
REG : Displays the register number allocated to the inputs or outputs. It cannot be changed.
Word : Displays the word size of the register data. It cannot be changed.
SCAN : Select the speed from HIGH, LOW, or NA (none specified), for the scan that processes the inputs
or outputs.
Current Value : The current value of the register will be displayed in binary when online. It will not be displayed
when offline.
The outputs to external devices can be set by changing the current value of the discrete outputs.
When the set value is confirmed, it is immediately saved in the register.
Other current values cannot be changed.
HEX : The current value of the register will be displayed in hexadecimal when online. It will not be
displayed when offline.

After changing the local I/O configuration, save the definition data by selecting File – Save & Save into flash memory
from the main menu.

2-12
 2.2 MP2300 Basic Module Functions

2.2.4 Built-in SVB Modules

The SVB Module is a motion module used to control SERVOPACKs, stepping motor drivers, inverters, distributed I/O
devices, etc. via MECHATROLINK interface MECHATROLINK-I or -II.
The MECHATROLINK-II enables position, speed, torque, and phase control for highly accurate synchronized control.
In addition, sophisticated machine operations can be performed by switching the control mode while the axis is
moving.

MP2300 CPU Built-in SVB

MECHATROLINK SERVOPACK
User application
Position reference
Position control
Ladder/motion
program Speed reference
Speed control

Torque control SERVOPACK

Torque reference

Phase control
Phase reference

The SVB Modules are of two types: The built-in SVB (hereinafter referred to as Built-in SVB) and the slot-mounting
optional SVB (hereinafter referred to as Optional SVB).
A built-in SVB Module is incorporated in MP2300 Basic Module as a standard feature.
ΠFor built-in SVB Module specifications, refer to 2.2.6 Built-in SVB Specifications on page 2-25.
The Optional SVB is one of the optional modules for the Machine Controller. The SVB-01 Module is an Optional SVB
that can be mounted on MP2300.

( 1 ) Features
• Up to 21 slave stations can be connected to a single SVB Module (the SERVOPACKs can be connected up to
16 axes).
MP2300: Up to 2 SVB-01 Modules can be mounted in optional slots.
Including the built-in SVB, a total of 48 axes can be controlled.
• Synchronization between Modules is also supported, making it suitable for both synchronous control and
interpolation across Modules.

Module Specifications
• An SVB-01 Module used as a slave can be connected to a host controller equipped with MECHATROLINK
communication functions.
• Self-configuration enables automatic allocation of setting data for the slave device that is connected to
MECHATROLINK.
• SERVOPACK parameters can be managed over networks.

2-13
 2 Module Specifications
2.2.4 Built-in SVB Modules

( 2 ) System Configuration Example

The following diagram shows a system configuration example.

MP2300 SVB-01 218IF LIO-01

24-VDC
power External I/O
supply

Control panel
External I/O RS-232C

MECHATROLINK-II
MPE720
PL2910

PL2900

IO2310

SGDH

SGDS
NS115

Ethernet

M M

MECHATROLINK- Servos
compatible I/O Modules

MECHATROLINK-II
PL2910

PL2900

IO2310

SGDH

SGDS
NS115

M M

MECHATROLINK- Servos
compatible I/O Modules

ΠUse the specified cables and connectors. Refer to 3.2.3 ( 2 ) Cables on page 3-12 to select appropriate cables and
connectors to connect each device.
Œ The SERVOPACK models that can be connected through MECHATROLINK-Ι differ from those connected through
MECHATROLINK-ΙΙ. Refer to 1.4.1 SERVOPACKs on page 1-7 to select appropriate SERVOPACK models for the
MECHATROLINK interface to be used.
Œ If both MECHATROLINK-Ι (4 Mbps) compatible devices and MECHATROLINK-ΙΙ (10 Mbps) compatible devices are
connected in a system, make the settings in accordance with MECHATROLINK-Ι specifications.
ΠWhen connecting a servo to an SVB Module via MECHATROLINK, connect signals such as overtravel, homing
deceleration switch, and external latch to the servo. Refer to the relevant SERVOPACK manual for details on the
connections.
Œ When connecting ∑-II series SERVOPACKs (SGDH+NS100 or SGDH+NS115), do not connect a hand-held type
digital operator and SigmaWin+. If connected, alarms A.95 (command warning) and A.ED (execution not completed)
will occur for the commands sent from the SVB Module, and normal operation will be interrupted. If a digital operator
or SigmaWin+ must be connected to a Σ-II series SERVOPACK, disconnect the SERVOPACK from the SVB
Module.

2-14
 2.2 MP2300 Basic Module Functions

( 3 ) Synchronization between Modules

[ a ] Overview
MP2300 Machine Controllers have a function that can synchronize hardware between the CPU and an optional
module. This function enables MECHATROLINK communications in synchronization with high-speed scans. As a
result, synchronization between a built-in SVB Module and an SVB-01 Module, or among multiple SVB-01 Modules,
can be enabled.

High-speed scan

4 ms

Communication
cycle for SVB built
into the CPU

2 ms

Communication
cycle for SVB-01
#1
1 ms

Communication
cycle for SVB-01
#2

2 ms
When synchronized mode is used, the start of the high-speed scan and the various communication cycles are
synchronized. This means that commands from the high-speed scan will be sent at consistent points in communication
cycle processing and simplifies distribution processing for interpolation commands.

[ b ] Conditions Under Which Synchronization Is Possible

The following table shows the combinations of high-speed scan times and MECHATROLINK communication cycles
that allow synchronization between modules in the synchronization mode.
High-speed scan MECHATROLINK Communication Cycle
(RTC: 0.5 ms) 0.5 ms 1 ms 1.5 ms 2 ms
1.0 ms Yes Yes − Yes

Module Specifications
1.5 ms Yes − Yes −
2.0 ms Yes Yes − Yes
2.5 ms Yes − − −
3.0 ms Yes Yes Yes −
3.5 ms Yes − − −
4.0 ms Yes Yes − Yes
4.5 ms Yes − Yes −
5.0 ms Yes Yes − − 2
5.5 ms Yes − − −
6.0 ms Yes Yes Yes Yes
:

[ c ] Timing At Which Modules Are Synchronized

Modules are automatically synchronized when the power supply is turned OFF and ON again.

2-15
 2 Module Specifications
2.2.4 Built-in SVB Modules

[ d ] Operation when High-speed Scan Cycle Is Changed

MECHATROLINK communication with SVB Modules will continue even if the high-speed scan cycle is changed.
However, the speed waveform at execution of interpolation command will be disordered. When changing the high-
speed scan cycle, do so either with the CPU stopped or when motion command are not being executed.
Change the high-speed scan setting and then save the settings to flash memory and turn the power supply OFF and ON
when operation changes from synchronized to asynchronized or from asynchronized to synchronized.

[ e ] Operation When the MECHATROLINK Communication Cycle Is Changed

■ Changing the MECHATROLINK Communication Cycle of the SVB in the CPU
Synchronization may be lost when a change is made even if synchronization is possible for the high-speed scan and
communication cycle combination. When a change is made, save the settings to flash memory and then turn the power
supply OFF and ON.

■ Changing the MECHATROLINK Communication Cycle of the SVB-01 Module

Operation will be automatically synchronized when a change is made if synchronization is possible for the high-speed
scan and communication cycle combination. It is not necessary to turn the power supply OFF and ON.

[ f ] Conditions when the Power Supply Must Be Turned OFF and ON

When any of the following operations is performed, save the settings to flash memory and then turn the power supply
OFF and ON.
• After executing a self-configuration command from the MPE720 after turning ON the power supply
• After loading a Module definition after turning ON the power supply
• After changing the SVB communication cycle in the CPU after turning ON the power supply
• After operation changes from synchronized to asynchronized or from asynchronized to synchronized when the
high-speed scan setting is changed

2-16
 2.2 MP2300 Basic Module Functions

2.2.5 Setting SVB Module

A SERVOPACK connected to MECHATROLINK can be controlled by executing the MECHATROLINK transmission
definition and SVB definition with the MPE720 Engineering Manager.

( 1 ) MECHATROLINK Transmission Definition

[ a ] How to Open the MECHATROLINK Transmission Definition Window

In the Module Configuration Window, select the SVB Module in the Controller field and double-click the
MECHATROLINK cell in the Details field. The MECHATROLINK Transmission Definition Window will open.
ΠTo check or set the built-in SVB Module, select slot number 00 in the Controller field.
ΠIf several SVB Modules are mounted, select the SVB Module to be checked or set in the Controller field.

Module Specifications

2-17
 2 Module Specifications
2.2.5 Setting SVB Module

[ b ] MECHATROLINK Transmission Definition Window Details

The MECHATROLINK Transmission Definition Window has four tabs: Transmission Parameters, Link
Assignment, I/O Map, and Status. Click the tab to view each.

1. Transmission Parameters Tab

The parameters required to use the MECHATROLINK transmission system are displayed.
<Communication Method in MECHATROLINK-II> <Communication Method in MECHATROLINK-I>

The items shown on the Transmission Parameters Tab are described in the following table. For items whose input
fields are available, the settings can be changed. Always save the settings to the flash memory after changing them.

Item Display during Self-configuration Options and Precautions on Settings

Select MECHATROLINK-II (32 Byte Mode),
Communication
Displays the detected communication method. MECHATROLINK-II (17 Byte Mode), or
Type
MECHATROLINK-I.
Displays whether the selected SVB Module is used as a Select either Master or Slave. A built-in SVB
Master/Slave
Master station or Slave station. (slot number 00) is fixed to Master.
My station
For Master station, fixed to 0.
address Displays the local station address set by using the rotary
For slave stations, set a number between 1 and
(Local station switches.
the number of slave stations.
address)
Displays the transmission speed:
Transmission MECHATROLINK-II (32-byte mode): 10 Mbps
Cannot be set.
Speed MECHATROLINK-II (17-byte mode): 10 Mbps
MECHATROLINK-I: 4 Mbps
Displays the number of transmission bytes.
Transmission
The number of transmission bytes depends on the
Bytes
communication type and the station type, Master or
(Hidden for Cannot be set.
Slave. Refer to „ Transmission Bytes, Communication
MECHATROLINK
Cycle, Number of Retries to Slaves, Number of Slaves for
-I)
details.
Can be set only for the Master station and when
Displays the communication cycle.
MECHATROLINK-II is selected as the
The number of transmission bytes depends on the
communication type. The value that can be set
Communication communication type and the station type, Master or
differs depending on whether the SVB Module
Cycle Slave. Refer to „ Transmission Bytes, Communication
is a built-in SVB Module or optional SVB
Cycle, Number of Retries to Slaves, Number of Slaves for
Module. Refer to „ Communication Cycle That
details.
Can be Set for details.
Message
Confidence Level
(Hidden for Not used for MECHATROLINK transmission. Set to 0 (default).
MECHATROLINK
-II)

2-18
 2.2 MP2300 Basic Module Functions

(cont’d)
Item Display during Self-configuration Options and Precautions on Settings
SigmaWin+
For MECHATROLINK-II communications, displays
(Hidden for
whether or not to use SigmaWin+ for communication via Select either use or not use.
MECHATROLINK
MECHATROLINK-II adapter such as JUSP-NP115.
-I)
Number of
Displays the maximum number of slave stations to which
Retries Slaves
the Master can retry transmission in one transmission Only for Master station. Set a number between
(Hidden for
cycle when the Master has not received a normal 0 and 7. Cannot set for Slaves.
MECHATROLINK
response from a slave.
-I)
Displays the number of slave stations that can be
connected.
Number of Slaves Determined by communication type, communication Cannot be set.
cycle, use of SigmaWin+, and number of attempts to
retry transmission to slaves.
Wait for Monitor Displays whether or not to suspend CPU processing for
Select either Enable or Disable.
Data Update the scan delay time of monitoring parameters of an
Refer to „ Wait for Monitor Data Update for
(Hidden for built-in optional SVB Module. Suspended when enabled, not
details on this function.
SVB Modules) suspended when disabled.

■ Transmission Bytes, Communication Cycle, Number of Retries to Slaves, Number of Slaves

Transmission bytes, communication cycle, number of retries to slaves, and number of slaves at execution of self-
configuration will be automatically set according to conditions including communication type, station type (Master or
Slave), and the largest slave station number (the largest number among the detected slave station numbers).

<For Master Station>

MECHATROLINK-II MECHATROLINK-II
Item
(32-byte mode) (17-byte mode) MECHATRO-
Largest Slave LINK-I
1 to 8 9 10 to 16 17 to 21 1 to 14 15
Station Number
Transmission
31 bytes 16 bytes −
Bytes
Communication
1 ms 1 ms 2 ms 2 ms 1 ms 1 ms 2 ms
Cycle
Number of 21−The largest slave
1 0 5 1 0 14
Retries to Slaves station number
Number of The largest slave

Module Specifications
8 9 16 14 15 14
Slaves station number
<For Slave Stations>

MECHATROLINK-II MECHATROLINK-II
Item MECHATROLINK-I
(32-byte mode) (17-byte mode)
Transmission
− − −
Bytes
Communication
1 ms 1 ms 2 ms
Cycle
2
Number of
30 30 15
Retries to Slaves
Number of
30 30 15
Slaves

2-19
 2 Module Specifications
2.2.5 Setting SVB Module

■ Communication Cycle That Can be Set

The communication cycle that can be set will differ depending on the SVB Module type (built-in SVB or optional
SVB) and the communication type as follows.

SVB Module Type Built-in SVB Optional SVB

MECHATROLINK-II
Communication 32-byte mode 17-byte mode 32-byte mode 17-byte mode
Mode
Communication
0.5 ms, 1 ms, 1.5 ms, or
Cycle That Can be 1 ms, 1.5 ms, or 2 ms Fixed to 1 ms 0.5 ms or 1 ms
2 ms
Set

ΠCommunication Cycle can only be set for Master.

ΠThe communication cycle for MECHATROLINK-I is fixed to 2 ms.

■ Wait for Monitor Data Update

The SVB-01 Module (optional SVB) exchanges data with the Machine Controller’s CPU using the real shared
memory. In this process, the time until the motion parameters created on the SVB-01 Module can be monitored in CPU
applications is one scan longer than when using a built-in SVB Module. (See the following diagram.)

<Data Exchange Process with Built-in SVB Module>

High-speed scan High-speed scan

Out- Out-
put Input application Input application
CPU (DWG.H) put (DWG.H)
H-scan
processing

virtual
Shared
memory

Motion Motion
SVB
processing processing
H-scan
processing
Copies setting parameters Copies setting parameters

H-scan (High-speed scan) cycle

<Data Exchange Process with Optional SVB Module>

High-speed scan High-speed scan

Out- Input Out- application
application put Input
put (DWG.H)
CPU (DWG.H)
H-scan
processing

real
Shared
memory

SVB
internal
work

I/O Motion I/O Motion

input processing input processing
SVB-01
H-scan
processing Copies setting parameters and Copies setting parameters and
writes to monitoring parameters writes to monitoring parameters

H-scan (High-speed scan) cycle

The Wait for Monitor Data Update Mode (when Wait for Monitor Data Update is enabled) solves the problem of this
one-scan delay, so the motion monitoring parameters can be monitored with the same timing as a built-in SVB Module.
The time required for CPU high-speed scan processing, however, will be longer because the CPU’s application
execution start time is suspended until the SVB-01 Module motion processing is completed.

2-20
 2.2 MP2300 Basic Module Functions

2. Link Assignment Tab Page

The data of the slave devices (MECHATROLINK connected devices such as SERVOPACK, inverter, and distributed I/
O) are displayed on the Link Assignment Tab.

The items shown on the Link Assignment Tab are as follows. You can change the settings or delete the data station by
station on this tab. Always save the settings to the flash memory after changing them.

Item Description Options and Precautions on Settings

The station number set here must be the same as the
ST # Station number
number set using rotary switches.
TYPE Slave device connected at the station Select the device type from the pull-down list.
I/O register’s enable/disable status
D : Enabled Click the button to switch the status.
: Disabled
When setting, be careful not to overlap the register
The leading input register number (INPUT) and
range among stations. The register numbers that can be
the number of input registers in words (SIZE).
INPUT, SIZE set are in the range between the leading register number
The maximum number of input registers will be
and the ending register number in the Module
automatically set in SIZE.
Configuration Definition Window.
When setting, be careful not to overlap the register
The leading output register number (OUTPUT)
range among stations. The register numbers that can be
and the number of input registers in words
OUTPUT, SIZE set are in the range between the leading register number
(SIZE). The maximum number of output
and the ending register number in the Module
registers will be automatically set in SIZE.
Configuration Definition Window.
Scan type used for synchronization with CPU.
Select either High or Low. When TYPE is set to a
SCAN High: High-speed scan
SERVOPACK, fixed to High.
Low: Low-speed scan
Comment
− Enter a comment of up to 32 characters for each station.
(Station name)

Module Specifications
■ Deleting a Station Assignment
Click any cell in the row of the station to be deleted, and select Edit - Assignment Delete from the main menu.
ΠCare must be taken when deleting a station assignment. The deletion is irreversible.

„ *****I/O and *****SERVO in Type

The following slave devices (I/O Modules) do not have model codes. Therefore, “*****I/O”(wild card I/O) will be displayed in
TYPE for these devices after execution of self-configuration.
• JEPMC-IO350 2
• JAMSC-120DAI53330
• JAMSC-120DAI73330
• JAMSC-120DAO83330
• JAMSC-120DRA83030
For a servo with customized specifications that could not be recognized by self-configuration, “*****SERVO” (wild card
servo) will be displayed in TYPE.
Select a correct device type in the Link Assignment Tab Page for the devices with *****I/O or *****SERVO displayed in
TYPE.

2-21
 2 Module Specifications
2.2.5 Setting SVB Module

3. I/O Map Tab

The status allocated to I/O registers is displayed.
ΠThe I/O Map Tab is used for monitoring (read-only). Do not change the displayed settings.

4. Status Tab Page

The MECHATROLINK transmission status is displayed. The displayed settings cannot be changed.

The items shown on the Status Tab are the same as those on the Link Assignment Tab except for STS.

■ STS
In online mode MECHATROLINK transmission status information is displayed in hexadecimal.
ΠIn offline mode, nothing will be displayed.
The meaning of each bit is shown below.
F E D C B A 9 8 7 6 5 4 3 2 1 0

Type code (01H: Inverter, 02H: Servo, 03H: I/O)

Reserved
Transmission error (High-speed scan)

Transmission error (Low-speed scan)

Reserved

Normal transmission

2-22
 2.2 MP2300 Basic Module Functions

( 2 ) SVB Definition
The SVB Definition file defines the motion parameters (motion fixed parameters, motion setting parameters, and
motion monitoring parameters) to control motion axes such as the SERVOPACK, inverter, and stepper.
ΠRefer to D Motion Parameter Lists on page A-19 for details on motion parameters.

[ a ] Opening the SVB Definition Window

Open the SVB Definition Window by the following procedure.

1. Double-click the slot number cell of the SVB Module in the Module Details field in the Module
Configuration Window (refer to 2.2.2 ( 1 ) Module Configuration Window Components on page 2-9).

The Create New Confirmation Dialog Box will open. Click OK to display the Fixed Parameters Tab of the
SVB Definition Window.

Module Specifications
2. Select the axis to be set or monitored from the Axis pull-down list.

ΠAxis corresponds to ST# (station number) in the Link Assignment Tab of the MECHATROLINK
Transmission Definition Window.

2-23
 2 Module Specifications
2.2.5 Setting SVB Module

3. Click the Fixed Parameters, Set Up Parameters, or Monitor tab to display the desired page.
ΠIf the setting in Servo Type is switched from Rotary to Linear, or vice-versa, some of the displayed parameters
will change. Refer to 4.2.2 Motor Type and Related Alarms in Machine Controller MP2000 Series Built-in SVB/
SVB-01 Motion Module User’s Manual (Manual No.: SIEPC88070033) for details.

Fig. 2.1 Fixed Parameters Tab

Fig. 2.2 Setup Parameters Tab

Fig. 2.3 SERVOPACK Parameters Tab

Œ Refer to the relevant SERVOPACK user’s manual for information on SERVOPACK parameters.
ΠWhen using a SERVOPACK parameter Window to save (excluding when the SERVOPACK is replaced), make
sure to select Edit-SERVOPACK Current value-Setting Value.
ΠRefer to B Current Values and Set Values (Input Data) in the SVB Definition Window on page A-5.

Fig. 2.4 Monitor Parameters Tab (read-only)

2-24
 2.2 MP2300 Basic Module Functions

2.2.6 Built-in SVB Specifications

[ a ] MECHATROLINK Communication Specifications
Item MECHATROLINK-Ι MECHATROLINK-ΙΙ
Topology Bus Bus
Transmission Path Electric bus Electric bus
50 m 50 m
Transmission Distance (Can be extended up to 100m by (Can be extended up to 100m by
connecting repeaters*.) connecting repeaters*)
Baud Rate 4 Mbps 10 Mbps
Communication Cycle 2 ms 1 ms, 2 ms
Maximum Number of
14 21
Connectable Stations
Communication Control Method Cyclic Cyclic
Media Access Control Method 1:N 1:N (2:N when using SigmaWin+)
Communication Mode Control communication Control communication
Error Detection Control CRC check CRC check

* Applicable repeater model: JEPMC-REP2000

[ b ] MECHATROLINK Communication Settings and Max. Number of Slaves

MECHATROLINK Communication Settings

Max. Number of Slaves
Communication Method Baud Rate Communication Cycle
MECHATROLINK-I 4Mbps 2 ms 14
MECHATROLINK-II
10Mbps 1 ms 15
(17-byte mode)
1 ms 9
MECHATROLINK-II
10Mbps 1.5 ms 15
(32-byte mode)
2 ms 21 (16 axes max. for Servos)

ΠRefer to 8.8.6 MECHATROLINK Definition in Machine Controller MP900/MP2000 Series MPE720 Software for
Programming Device User’s Manual (Manual No.: SIEP C880700 05) for information on MECHATROLINK
commnication settings.

[ c ] Transmission Distance and Max. Number of Slaves

Module Specifications
Transmission Distance
Communication Method Max. Number of Slaves
(Total Network Length)
MECHATROLINK-I 50 m 14
30 m
(Can be extended up to 100m by connecting 16 (21)*
repeaters)
MECHATROLINK-II
50 m
(Can be extended up to 100m by connecting 15 (21)*
repeaters)
2
* The max. number of slaves in parentheses are when repeaters (JEPMC-REP2000) are used. For
MECHATROLINK-II communication, repeaters (JEPMC-REP2000) are required to connect more than 17 slave
stations.

2-25
 2 Module Specifications
2.2.7 SVR Virtual Motion Module

2.2.7 SVR Virtual Motion Module

( 1 ) Outline
The Virtual Motion Module is a software module provided as a standard feature with the MP2300. It is not connected
to a motor, but provides a virtual axis interface.
The SVR is configured in the same way as the MP2300 built-in SVB with fixed parameters, setting parameters, and
monitoring parameters, and can be accessed from application programs using I/O registers.
Œ Refer to Machine Controller MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual (Manual No.:
SIEPC88070033) for detailed information on SVR motion parameters and motion commands.
The SVR can be used to control up to 16 virtual axes in the high-speed scan control cycle.
In the MP2300 Basic Module, slot 4 in the default Module Configuration Window is for SVR.

ΠIf the SVR is not used, MP2300 processing time can be reduced by setting the Module Type for SVR to
UNDEFINED in the Module Configuration Window.

2-26
 2.2 MP2300 Basic Module Functions

( 2 ) Example SVR Usage

The SVR is used in the following two applications.
• Program testing: Results are easily obtained without mounting a motor.
• Generating commands: If the SVR is used in applications where motion modules are required only for
generating commands, such as master axis for phase control or multi-axis synchronous control, then Motion
Modules on real axes are no longer required.
The following table lists application examples of the SVR.
Slot
Application Example Application Method
Number
Electronic cam or shaft operation can be achieved by using the SVR for the virtual
1 Master axis for phase control
master axis.
Multi-axis synchronous control can be achieved by controlling the SVR from a
Multi-axis synchronous
2 motion program and then using the ladder program to copy position commands of the
control
SVR to other axes.
If the motion program is used to perform circular interpolation with the SVR, the axis
3 Sine curve commands
will operate with a sine curve command.
ΠThe software limit function and machine lock function cannot be used with the SVR. The position error will always be
0.

( 3 ) System Configuration Example

The following figure shows an example system configuration using SVR.

MP2300

CPU Virtual motion

module (SVR)
Parameter
Motion

High-speed scan
Virtual Servo axes

High-speed scan

Ladder program SERVOPACK

YASKAWA SERVOPACK 200V

SGDS-01A12A

SW1
C

Motion module
N
CHARGE 6
A/B
MECHATROLINK

(Built-in SVB)
L1
L2
L1C C
Parameter

N
L2C 3
Motion

B1/

Module Specifications
B2

C
U N
1
V
W
C
N
2
C
N
4

High-speed scan
Real Servo axes

Motion program

Servomotor
Optional modules
SERVOPACK
YASKAWA SERVOPACK 200V

SGDS-01A12A

2
SW1
C

Motion module
N
CHARGE 6
A/B
MECHATROLINK

(SVB-01)
L1
L2
L1C C
N
L2C 3
Parameter

B1/
Motion

B2

C
U N
1
V
W
C
N
2
C
N
4

High-speed scan

Servomotor

2-27
 2 Module Specifications
2.2.7 SVR Virtual Motion Module

( 4 ) SVR Operation

[ a ] SVR Execution Timing

The SVR is processed at the beginning of the high-speed scan. SVR processing is performed in the next scan after
specifying and the processing results are reflected in the monitoring parameters.

Reference set SVR processing Reflected in monitoring

parameters

SVR H Drawing SVR H Drawing SVR H Drawing

High-speed scan

Results of commands in the H SVR processing results

drawing are used in SVR can be monitored in the H
processing the next scan. drawing of the same scan.

[ b ] Processing Time
When fixed parameter 0 (Run Mode) is set to 0 (Normal Running), services are started for each of the 16 SVR module
virtual axes.
ΠThe default for the Run Mode parameter is 1 (Axis Unused).

The following table gives guidelines for the processing time required for each SVR axis.

Command MP2300
NOP 35 +14 × Number of axes (μs)
POSING 35 +36 × Number of axes (μs)

ΠNumber of axes: The number of axes (1 to 16) when Run Mode (fixed parameter 0) is set to Normal Running (0).
The formula listed above do not apply when the number of axes is 0.

„ Differences from SVB Simulation Mode

Simulation mode does not have a positioning function, so the position data is refreshed in one scan to the final target
position. The SVR has its own positioning function that performs distribution, so like a real module, position data is
refreshed each scan for the final target position.

2-28
 3
Mounting and Connections

This chapter explains how to mount the Basic Module and Optional Modules. Also refer to
the connection specifications for the Basic Module.

3.1 Mounting the MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.1 Basic Module Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 Mounting the MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.3 Replacing and Adding Optional Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.2 Basic Module Connections Specifications - - - - - - - - - - - - - - - - - - - - - - - - 3-9

3.2.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.2.2 Power Supply Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.3 MECHATROLINK Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.4 CPU I/O (Built-in I/O) Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16

Mounting and Connections

3-1
 3 Mounting and Connections
3.1.1 Basic Module Dimensional Drawings

3.1 Mounting the MP2300

3.1.1 Basic Module Dimensional Drawings
Refer to the following dimensions for installation.
Panel Cutout Dimensions
Four-M4 tap 111±0.2
Rear

M4 mounting screws (4)

121±0.2
Top view

Front

120
(18)
(4.5)

108
(4.5) 111 4.5

MP2300 218IF-01 LIO-01 LIO-01

RDY RUN RUN ERR LD1 LD5 LD1 LD5

YASKAWA ALM ERR STRX COL LD2 LD6 LD2 LD6

TX BAT TX RX LD3 LD7 LD3 LD7

LD4 LD8 LD4 LD8

STOP
SUP
INIT INIT
MODE MODE
CNFG TEST
MON
OFF ON
TEST I/O I/O
SW1
OFF ON

Cable connector (3P) PORT

721-203/026-000 M-I/II
121
130

BATTERY

CPU I/O

DC24V
10Base-T
DC 0V

POWER
4.5

Front view Right side view

Units: mm
ΠA 721-203/026-000 Cable Connector is mounted to the POWER connector.
Use this connector and twisted-pair cable and prepare the power cable. Refer to 3.2.2 ( 2 ) Assembling the 24-VDC
Power Supply Cable on page 3-11 for details.
ΠAccessesory: Operation lever type 231-131

The operation lever is used when connecting wires to the cable connector.

3-2
 3.1 Mounting the MP2300

3.1.2 Mounting the MP2300

There are two methods for mounting MP2300.
• Using screws
• Using DIN rail

( 1 ) Screw Mounting
Place the MP2300 against the mounting base and tighten the four mounting screws.

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP
INT
CNFG
MON
TEST ‫ޓ‬ SW1

OFF‫ޓ‬ON

M-I/II
Option
Option

Option

BATTERY

CPU‫ޓ‬
I/O

DC24V

DC 0V

Mounting screw
(M4 Phillips screw)
Use a screwdriver with a blade
length of 10 cm or more.
Note: Mount the MP2300 vertically on the wall,
as shown in the above drawing.

( 2 ) DIN Rail Mounting

[ a ] DIN Rails and Spacer

Two types of DIN rails are available: with 7-mm or 10-mm gap from the mounting base as shown in the following dia-
gram. If mounting a MP2300 using DIN rail with 10 mm gap, install a spacer on the rear of the MP2300 near the bot-
tom to protect the MP2300 from vibration and shock.
Gap from mounting base: 7.0 mm or 10.0 mm

Mounting and Connections

For a 10-mm gap

Mounting base

DIN rail
Spacer 3

DIN rail

ΠThe parts for mounting the MP2300 to the DIN rail are sold separately. Purchase the following product when using
DIN rail.
Product name: DIN Rail Mounting Parts
Model No.: JEPMC-OP300

3-3
 3 Mounting and Connections
3.1.2 Mounting the MP2300

[ b ] Procedure for Mounting to DIN Rail

Use the following procedure to attach the DIN rail mounting parts to the MP2300 and then mount the MP2300 to the
DIN rail.

1. Insert the DIN rails in the two slots on the rear of the MP2300 as shown in the following figure.

MP2300 Rear Side

DIN rail
mounting parts
Insert the parts in these positions

DIN rail
mounting
parts
inserted

Insert the mounting clips so that they are in the positions shown with a dotted line in the previous figure.
ΠThe figure below shows the front and back of a mounting clip. Insert each clip so that its front faces outward.

Front Back

2. Pull the DIN rail mounting clips down to release them.

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP
INT
CNFG
MON
TEST SW1

OFF ON

M-I/II
Option
Option

Option

BATTERY

CPU I/O

DC24V

DC 0V

Clip

3-4
 3.1 Mounting the MP2300

3. Hook the MP2300 to the top of the DIN rail (a), and then push the MP2300 towards the mounting base
to secure it in place (b).

a)

b)

4. Push the DIN rail mounting clips to lock them in place.

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP
INT
CNFG
MON
TEST SW1

OFF ON

M-I/II

Option
Option

Option

BATTERY

CPU I/O

DC24V

DC 0V

Clip

5. Place end plates on either side of the MP2300 to secure it to the DIN rail.
MP2300
YASKAWA RDY RUN
ALM ERR

DIN rail TX BAT

STOP
SUP
INT
CNFG
MON
TEST SW1

OFF ON

M-I/II
Option
Option

Option

Mounting and Connections

BATTERY

CPU I/O

DC24V

DC 0V End plate

This completes the installation procedure.

3-5
 3 Mounting and Connections
3.1.3 Replacing and Adding Optional Modules

3.1.3 Replacing and Adding Optional Modules

Use the following procedures to replace and add Optional Modules.

( 1 ) Preparation

1. Backup the programs.

Save the programs written to the Machine Controller in the personal computer using MPE720.
Œ MPE720 Ver 5.††: Right-click the PLC folder and then select Transfer-All Files-From Controller to
MPE720.
Œ MPE720 Ver 6.††: Open the project file and then select Online-Transfer-Read from Controller.

2. Remove the MP2300.

Turn OFF the power supply and remove all the cables connected to the MP2300. Next, remove the MP2300 from
the panel or rack, and place them where there is sufficient space, such as on a work table.

( 2 ) Removing Optional Modules

1. Remove the Battery Cover.

Insert a hard thin metal object, such as a coin, into the notch on the side of the battery cover and open the cover
forward to remove the battery cover.

2. Remove the Option Panel.

Hold the battery cover with the front facing forward, insert the protrusion on the battery cover into the notch at
the top of the Module's option panel, and release the hook on the option panel.
ΠRemove the Option Cover from the empty slot before mounting an Optional Module in an empty slot.

Release the hook on the bottom in the same way and remove the option panel.

3-6
 3.1 Mounting the MP2300

3. Remove the Optional Module from the Mounting Base.

Pull out on the top of the option panel and remove it. A notch can be seen in the Communication Module from
the gap in the panel. Insert the round projection on the battery cover (see the following figure) into the gap in the
panel so that it is inserted in the notch in the Module.

Notch

Projection
Round knob

Hold the battery cover as shown in the following figure and use it to gently pull back on the Module, rotating it
indicated by the arrows, to disconnect the Module from the Mounting Base. The Module will move towards you.

Fulcrum
支点

Round knob
Projection

4. Pull out the Optional Module.

Hold onto the top and bottom of the Module with your fingers and pull the Module straight out. Be sure to hold
onto the edges of the Module. Do not touch the components mounted to the Module.

Mounting and Connections

Place the Module that you removed into the bag that it was delivered in and store it.

3-7
 3 Mounting and Connections
3.1.3 Replacing and Adding Optional Modules

( 3 ) Mounting Optional Modules

1. Insert Optional Modules.

Hold onto the top and bottom of the Module, align the Module with the left side of the guide rail inside the option
slot, and insert the Module straight in.
ΠIf the Module is not inserted on the guide rail, the FG bar on the bottom of the slot may be damaged.

Guide
rail

2. Connect to the Mounting Base Connector.

After inserting the Module all the way to the back, press the Module firmly until it connects securely to the
Mounting Base connected. If the Module is connected securely, the front of the Module should approximately
align with the hooks.

3. Mount the Option Panel.

Insert the hole on the bottom of the option panel into the bottom hook and then securely attach the hole to the top
hook.

This completes the Optional Module mounting procedure.

ΠAlways attach an Option Cover (JEPMC-OP2300) to any unused slot.

3-8
 3.2 Basic Module Connections Specifications

3.2 Basic Module Connections Specifications

3.2.1 Connectors
The following illustration shows the connectors for the Basic Module.

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP
INT
CNFG
MON
SW1
MECHATROLINK TEST

connector OFF ON

M-I/II

Option
Option

Option
BATTERY

Power supply connector

CPU I/O

DC24V
I/O connector DC 0V

Mounting and Connections

3-9
 3 Mounting and Connections
3.2.2 Power Supply Connector

3.2.2 Power Supply Connector

( 1 ) Specifications, Pin Arrangement, and Connection Procedure

Supply a 24-VDC to the MP2300. Connect the power supply connector as shown in the diagram below.

Connector No. of Connector Model

Name Cable Model
Name Pins Module Cable Manufacturer
Power Supply
POWER 3 721-863 721-203/026 WAGO –
Connector

Signal
Pin No. Description
Name
24 VDC
3 24V 24 VDC input
0 VDC 2 0V 0 V input

Frame ground
1 FG
(Ground to 100 Ω or less.)

MP2300

721-863
721-203/026

24 VDC 24 V
AC input 24-VDC
power 0V
0V

POWER

FG FG

ΠUse an insulated 24-VDC power supply. Attach the power supply switch on the AC side. If the switch is attached on
the 24-VDC side, there will be an inrush current of approximately 40 A when the power is turned ON.

3-10
 3.2 Basic Module Connections Specifications

( 2 ) Assembling the 24-VDC Power Supply Cable

A detachable connector is provided for the power supply terminals. Use AWG24 to AWG20 (0.2 mm2 to 0.51 mm2)
twisted-pair cable to assemble the 24-VDC power supply cable with the following procedure.

1. Strip approx. 6.5 mm from the end of the cable to expose the core wire.

6.5 mm

2. Insert the core wire.

Use the lever (provided) or a screwdriver to open the clamp as shown below, and fully insert the core wire into
the wire inlet.
Install the lever Open the clamp by using the Open the clamp by using a
lever screwdriver

1 2

Lever
Screwdriver
Cable
Plug
Cable

1 Insert the hooked end of the With the lever pressed down,
lever into the square hole on the fully insert the core wire into the
wire inlet. With the tip of screwdriver
plug.
inserted into the hole on top of
2 Press down on the lever until
the plug housing, fully insert the
the protrusion enters the hole on
core wire into the wire inlet.
top of the plug housing.

3. Fasten the clamp.

Release the lever or remove the screwdriver to fasten the clamp so that the core wire will remain securely in the
plug.

Mounting and Connections

3-11
 3 Mounting and Connections
3.2.3 MECHATROLINK Connectors

3.2.3 MECHATROLINK Connectors

MECHATROLINK connector is used to connect the MP2300 and the SERVOPACKs and distributed
I/O via MECHATROLINK cables.

( 1 ) Specifications and Pin Arrangement

Connector No. of Connector Model

Name
Name Pins Module Cable Manufacturer
MECHATROLINK
M-I/II 4 USB-AR41-T11 DUSB-APA41B1-C50 DDK Ltd.
Connector

Signal
Pin Number Description
Name
1 (NC) Not used.
2 /DATA Signal −
3 DATA Signal +
4 SH Not used.
Shell Shield Connects the shield wire.

( 2 ) Cables
Name and Specification Model Number Length
JEPMC-W6002-A5 0.5 m
JEPMC-W6002-01 1m
MECHATROLINK Cable JEPMC-W6002-03 3m
MECHATROLINK Connector – MECHATROLINK Connector
JEPMC-W6002-05 5m
JEPMC-W6002-10 10 m
JEPMC-W6002-20 20 m
JEPMC-W6002-30 30 m
JEPMC-W6002-40 40 m
JEPMC-W6002-50 50 m
JEPMC-W6003-A5 0.5 m
JEPMC-W6003-01 1m
MECHATROLINKCable
MECHATROLINK Connector – MECHATROLINK Connector JEPMC-W6003-03 3m
(with Ferrite Core) JEPMC-W6003-05 5m
JEPMC-W6003-10 10 m
JEPMC-W6003-20 20 m
JEPMC-W6003-30 30 m
JEPMC-W6003-40 40 m
JEPMC-W6002-50 50 m
JEPMC-W6011-A5 0.5m
JEPMC-W6011-01 1m
MECHATROLINK Cable
JEPMC-W6011-03 3m
MECHATROLINK Connector – Loose Wire (For Σ-I SERVOPACK)
JEPMC-W6011-05 5m
JEPMC-W6011-10 10 m
JEPMC-W6011-20 20 m
JEPMC-W6011-30 30 m
JEPMC-W6011-40 40 m
JEPMC-W6011-50 50 m
Terminator
JEPMC-W6022 −

3-12
 3.2 Basic Module Connections Specifications

( 3 ) Cable Connections between the MP2300 or I/O Units or the MP2300 and SERVOPACKs
(Except for SGD-………N and SGDB-……AN SERVOPACKs)
Use the MECHATROLINK cable JEPMC-W6002-…… or JEPMC-W6003-…… for connection between the MP2300
and I/O units or SERVOPACKs (Except for SGD-………N and SGDB-……AN SERVOPACKs)*1.
The connection diagram using MECHATROLINK cable JEPMC-W6002-…… or JEPMC-W6003-……*2 is shown
below.
* 1. Use MECHATROLINK cable JEPMC-W6011-…… when connecting SERVOPACK SGD-………N or
SGDB-……AN.
* 2. The JEPMC-W6003-…… cable has a ferrite core.

MP2300/SVB-01 I/O Unit or SERVOPACK

Pin number
Signal Name Signal Name

(NC) 1 1 (NC)

DATA 2 2 DATA

DATA 3 3 DATA

SH 4 4 SH

Shield Shell Shell Shield

Cable Type: JEPMC-W6002-

JEPMC-W6003-

Mounting and Connections

3-13
 3 Mounting and Connections
3.2.3 MECHATROLINK Connectors

( 4 ) Cable Connections between the MP2300 and SGD-………N and SGDB-……AN

SERVOPACKs
Use the MECHATORLINK cable JEPMC-W611-…… for the connections between the MP2300 and SGD-………N or
SGDB-……AN SERVOPACK and between these SERVOPACKs.
The following diagram shows the connections between the MP2300 (or SVB-01) ←→ SERVOPACK ←→ SERVO-
PACK ←→ SERVOPACK using the MECHATROLINK cables JEPMC-W611-…….

SERVOPACK SERVOPACK SERVOPACK (terminating)

MP2300/SVB-01
USB Connector MR Connector MR Connector MR Connector
Signal Name Signal Name Signal Name Signal Name

(NC) 1 1 /DATA 1 /DATA 1 /DATA

/DATA 2 2 DATA 2 DATA 2 DATA

DATA 3 3 3 3

TERM
SH 4 4 TERM 4 TERM 4

Shield Shell FG FG
5 5 5 FG

/DATA /DATA /DATA

6 6 6
Externally connect a terminator
DATA DATA DATA to Pins 6 and 7.
7 7 7
Resistance: 130ǡr5% 1/2W

8 8 8

Œ The JEPMC-6011-†† has a USB connector on one end and loose wires on the other end. Use an MR
connector and wiring material to create a 1:N cable.
ΠThe terminator must be provided by the user.
Œ The shield wire can be connected as instructed in the SERVOPACK’s manual. However, the connections
shown in the above diagram is recommended when using the MP2300 in combination with a SVB-01 Module.
Œ Prepare the cables according to MECHATROLINK-Ι specifications. Connections that do not meet the specifi-
cations will prevent normal communication due to the influence of reflected waves or other factors.
MECHATROLINK-Ι Specifications
Total network length: 50 m max.
Maximum number of slave stations: 14 stations max.
Minimum distance between stations: 0.3 m min.

( 5 ) Terminator Connections
JEPMC-W6022
Pin number
Name
(NC) 1

/DATA 2
130 Ω
DATA 3

SH 4

Shield Shell

3-14
 3.2 Basic Module Connections Specifications

( 6 ) Connection Example between MP2300, SERVOPACK, and IO2310

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP YASKAWA
INT JEPMC-IO2310
CNFG
MON
SW1

L1
TEST
OFF ON
CN1
IN1 OUT1 IN2 OUT2
M-I/II

A1 B1 A1 B1 A1 B1 A1 B1

BATTERY

CPU I/O

DC24V

DC 0V

L2

YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V

SGDS-01A12A SGDS-01A12A SGDS-01A12A

SW1
C
L3 SW1
C
Ln SW1
C
N N N
CHARGE 6 CHARGE 6 CHARGE 6
A/B A/B A/B

Terminator:
L1 L1 L1
L2 L2 L2
L1C
L2C
C
N
3
L1C
L2C
C
N
3
L1C
L2C
C
N
3
JEPMC-W6022
B1/ B1/ B1/
B2 B2 B2

C C C
U N U N U N
1 1 1
V V V
W W W
C C C
N N N
2 2 2
C C C
N N N
4 4 4

ΠUse MECHATROLINK cables between modules.

Œ Use under the conditions that L1 + L2 + L3 + . . . + Ln ≤ 50 m
ΠThe MP2300 has a built-in terminator.

Mounting and Connections

3-15
 3 Mounting and Connections
3.2.4 CPU I/O (Built-in I/O) Connectors

3.2.4 CPU I/O (Built-in I/O) Connectors

CPU I/O connector is used to connect the MP2300 and external I/O signals.

( 1 ) Specifications
External input: 8 points, External output: 4 points

Connector No. of Connector Model

Name
Name Pins Module Cable Manufacturer

• 1020-3000VE Connector
I/O Connector CPU I/O 20 10220-52A2JL Sumitomo 3M
• 10320-52F0-008 Shell

( 2 ) Cables
Name Model Number Length
JEPMC-W2060-A5 0.5 m
I/O Cable (loose wires） JEPMC-W2060-01 1m
JEPMC-W2060-03 3m

( 3 ) External Appearance of I/O Cable

JEPMC-W2060-††

( 4 ) Connector Pin Arrangement

The following table shows the connector pin arrangement.

Pin Signal Pin

I/O Remarks Signal Name I/O Remarks
Number Name Number
1 DI_COM P Input common 11 DI_COM P Input common
2 DI_00 I Input 00 12 DI_04 I Input 04
3 DI_01 I Input 01 13 DI_05 I Input 05
4 DI_02 I Input 02 14 DI_05 I Input 06
5 DI_03 I Input 03 15 DI_07 I Input 07
6 − 16 −
7 − 17 DO_24V P +24 V input
8 DO_COM P Output common 18 DO_COM P Output common
9 DO_00 O Output 00 19 DO_02 O Output 02
10 DO_01 O Output 01 20 DO_03 O Output 03

ΠP: Power input, I: Input signal, O: Output signal

3-16
 3.2 Basic Module Connections Specifications

( 5 ) Input Circuits
The following table shows the CPU I/O Connector input circuit specifications.

Item Specifications
DI-00 General-purpose input (shared with interrupts)
Inputs 8 points
DI-01 to DI-07 General-purpose input
Input Format Sink mode/source mode input
Isolation Method Photocoupler
Input Voltage ±24 VDC±20％
Input Current 4.1 mA (TYP.)
ON Voltage/Current 15 VDC min./2.0 mA min.
OFF Voltage/Current 5 VDC max./1.0 mA max.
ON: 1 ms max.
ON Time/OFF Time
OFF: 1 ms max.
Number of Commons 1 (8 points/common)

ΠDI_00 is shared with an interrupt input. If DI_00 is turned ON while interrupts are enabled, the interrupt processing
drawing is executed.

+24 V

+5 V
DI_COM

DI_IN 5.6 kΩ/0.5 W

R Input
register

R
0 24 0.01μF

Fig. 3.1 Digital Input Circuit (Sink Mode Input)

+24 V

+5 V
DI_COM

Mounting and Connections

R
5.6 kΩ/0.5 W
DI_IN
R Input
register
R
0 24

Fig. 3.2 Digital Input Circuit (Source Mode Input)

3-17
 3 Mounting and Connections
3.2.4 CPU I/O (Built-in I/O) Connectors

( 6 ) Output Circuit
The following table shows the CPU I/O Connector output circuit specifications.
Item Specifications
Outputs 4 points
Output Format Transistor, open-collector, sink mode output
Isolation Method Photocoupler
Output Voltage +24 VDC ±20％
Output Current 100 mA max.
Leakage Current When OFF 0.1 mA max.
ON: 1 ms max.
ON Time/OFF Time
OFF: 1 ms max.
Number of Commons 1 (4 points/common)
Fuse
Protection Circuit ΠThe fuse is not, however, for circuit protection. It is for protecting against fire at
output shorts. Attach a fuse externally to each output if circuit protection is
required.

+24 V

Output DO_24V
register R

DO_OUT
R

R
33kΩ
DO_COM

0 24

Fig. 3.3 Digital Output Circuit (Sink Mode Output)

3-18
 3.2 Basic Module Connections Specifications

( 7 ) CPU I/O Connector Connections

The following diagram shows the connections for the CPU I/O connector.

1 DI_COM

11 DI_COM
24 VDC
Digital input R
2 DI_00
R

3 DI_01

4 DI_02
External
5 DI_03 input
signals
12 DI_04

13 DI_05

14 DI_06

15 DI_07

17 DO_24V
24 VDC

DO_00 Fuse
9
Digital output L
R
DO_01
External
10 L ouput
DO_02
signals
19
L

20 DO_03
L

Fuse 8 DO_COM

18 DO_COM
Fuse blowout
detection circuit

ΠConnect a fuse suitable for the load specifications in the output signal circuit in series with the load. If an
external fuse is not connected, load shorts or overloads could result in fire, destruction of the load device, or
damage to the output element.
ΠThe pins 1 and 11 and the pins 8 and 18 are internally connected. Connect them externally as well.

Mounting and Connections

3-19
 4
System Startup and Sample Programs

This chapter describes the procedure for starting the MP2300 system and sample programs for
typical operation and control.

4.1 Model System Startup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.1 Flowchart for Model System Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.3 Initializing SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.1.4 Setting and Saving Communication Process (Communication Manager) - - - - - - - - - - 4-6
4.1.5 MP2300 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12

4.2 Starting the Sample Program - MPE720 Ver 6.†† - - - - - - - - - - - - - - - - 4-13

4.2.1 Copying and Transferring Sample Program Files - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control - - - - - 4-17
4.2.3 Saving Data from the MP2300 to Flash Memory, and Transferring Data to
Your Computer from the MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4.3 Starting Sample Program - MPE720 Ver 5.†† - - - - - - - - - - - - - - - - - - - 4-23

4.3.1 Starting MPE720 Ver 5.†† and Creating Folders - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.3.2 Reading Sample Programs and Setting and Saving Parameters - - - - - - - - - - - - - - - 4-28

System Startup and Sample Programs

4.3.3 Other Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42

4.4 Checking Sample Program Operation - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44

4.4.1 How to Open the Tuning Panel Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44
4.4.2 Operation Check 1: Manual Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
4.4.3 Operation Check 2: Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53
4.4.4 Operation Check 3: Phase Control - Electronic Shaft - - - - - - - - - - - - - - - - - - - - - - - 4-58
4.4.5 Operation Check 4: Phase Control - Electronic Cam - - - - - - - - - - - - - - - - - - - - - - - - 4-62

4.5 System Startup Using Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - 4-68

4.5.1 Starting the System for First Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68
4.5.2 System Startup when Adding Electronic Devices - - - - - - - - - - - - - - - - - - - - - - - - - - 4-71
4.5.3 System Startup when Replacing Electronic Devices - - - - - - - - - - - - - - - - - - - - - - - - 4-73

4-1
 4 System Startup and Sample Programs
4.1.1 Flowchart for Model System Startup

4.1 Model System Startup Procedure

This section describes the procedure for starting the Model System and using the sample programs of the
MPE720 Programming Tool (on the MPE720 installation disk). The procedure for designing machine systems
is omitted here.

4.1.1 Flowchart for Model System Startup

An outline of the procedure for system startup is provided below.
The procedure differs in steps 7 and 8, depending on the MPE720 version.
Refer to the reference material for each procedure, indicated in the right-hand column.

1 Preparation of Devices
Prepare and connect the devices required for testing. → 4.1.2 System Configuration on page 4-3

2 Mounting Modules
Mount the 218IF-01 to the Basic Module. → 3.1.3 Replacing and Adding Optional Modules on page 3-6

3 Connecting and Wiring the System

Connect the MPE720 installed personal computer, and wire the Servomotors and SERVOPACKs.
→ 4.1.2 System Configuration on page 4-3

4 Initializing the SERVOPACKs

Initialize the SERVOPACKs. → 4.1.3 Initializing SERVOPACKs on page 4-5

5 Setting and Saving the Communication Process (Communication Manager)

Start the Communication Manager to set and save the communication process on each port.
→ 4.1.4 Setting and Saving Communication Process (Communication Manager) on page 4-6

6 MP2300 Self-configuration
The connected devices are automatically confirmed. → 4.1.5 MP2300 Self-configuration on page 4-12

7 Reading Sample Programs and Starting MPE720 Starting and Preparing the MPE720 Ver 5.††
Ver 6.†† Start the MPE720 and create a folder for storing sample
Read the sample program from the installed disk to start on programs. → 4.3.1 Starting MPE720 Ver 5.†† and Creating
MPE720 Ver 6.†† Folders on page 4-24.
→ 4.2.1 Copying and Transferring Sample Program Files
on page 4-13

8 Setting and Saving Sample Programs Reading, Transferring, and Saving Sample Programs
After transferring the sample program to MP2300, set Read the sample program to the MPE720, transfer it to the
parameters such as fixed parameters. Then, save the MP2300. Then, set the parameters such as fixed parameters,
configuration definitions to flash memory. and save the configuration definitions to flash memory.
→ 4.2.2 Setting Motion Fixed Parameters and Adjusting the → 4.3.2 Reading Sample Programs and Setting and Saving
Settings for Servo Control on page 4-17 and 4.2.3 Saving Parameters on page 4-28
Data from the MP2300 to Flash Memory, and Transferring
Data to Your Computer from the MP2300 on page 4-21.

9 Checking Operation
Execute the program and check the test operation.
→ 4.4 Checking Sample Program Operation on page 4-44

4-2
 4.1 Model System Startup Procedure

4.1.2 System Configuration

This section describes the system configuration shown in the following diagram. Prepare each devices and connect as
diagram.

24 VDC
power MECHATROLINK cable (see (1).)
(see (4).)
SERVOPACK (see (3).) SERVOPACK (see (3).)
YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V
MP2300 218IF-01 SGDS-01A12A SGDS-01A12A
YASKAWA RDY
ALM
RUN
ERR
RUN

STRX
ERR

COL
Terminator
SW1 SW1
TX BAT TX RX
C
N
MECHATROLINK C
N
(see (1).)
STOP
SUP
INT
INIT
TEST
CHARGE 6
A/B cable (see (1).) CHARGE 6
A/B
CNFG OFF ON
MON
TEST ‫ ޓ‬SW1 L1 L1
PORT
OFF‫ޓ‬ON
L2 L2
M-I/II L1C C L1C C

L2C
N
3 L2C
N
3
Digital
Option
Option

BATTERY B1/ B1/ operator

B2 B2
(see (3).)
CPU‫ޓ‬
I/O C C
U N U N SVON COIN
VCMP
TGON REF CHARGE
DC24V 10Base-T 1 1
V V
DC 0V
W W
YASKAWA
C C
N N ALARM SCROLL MODE/SET
2 2 RESET

C C JOG
DATA
SVON
N N
4 4

Controller (see (1).) SERVO

READ WRITE

DIGITAL OPERATOR JUSP-OP05A

SERVO

200 VAC *Connect when setting

parameters.

PP cable Encoder cable Motor cable

(see (2).) (see (3).) (see (3).)

MPE720 installed personal computer Servomotor Servomotor

(see (2).) (see (3).) (see (3).)

System Startup and Sample Programs

For details on equipment for the controller, programming device, servodrive, and the power supply, refer to the following
descriptions.

( 1 ) Controller-related Equipment
Name Model Quantity
MP2300 JEPMC-MP2300 1
218IF-01 JAPMC-CM2300 1
MECHATOROLINK Cables (1 m) JEPMC-W6002-01 2
Terminator JEPMC-W6022 1

ΠFor mounting the 218IF-01 Module to the MP2300, refer to 3.1.3 Replacing and Adding Optional Modules on page
3-6.

4-3
 4 System Startup and Sample Programs
4.1.2 System Configuration

( 2 ) Programming Device-related Equipment

Name Model Quantity
CPMC-MPE720 version 4.41A or later
MPE720 1
CPMC-MPE770 version 6.0 or later
PP Cable (for RS-232C connection) JEPMC-W5311-03 1
PP Cable (for Ethernet connection) Commercially-available cross cable 1
Computer Commercially-available product 1

ΠAbove equipments can connect to the MP2300 with eigher RS-232C or Ethernet.

( 3 ) Servodrive-related Equipment
Name Model Quantity
Σ-III SERVOPACKs SGDS-01A12A 2
Σ-III Servomotors SGMAS-01ACA21 2
Motor Cables (3 m) JZSP-CSM01-03 2
Encoder Cables (3 m) JZSP-CSP01-03 2
Digital Operator JUSP-OP05A 1

ΠThe sample program settings control operation for station 1 and 2 axes, so the MECHATROLINK station numbers
must be set to 1 and 2 on the SERVOPACK rotary switches.
ΠOpen the front cover of the SERVOPACK and set the DIP switch inside as follows: Pin 1: ON; Pin 2: ON; Pin 3: OFF;
Pin 4: OFF.
ΠWhen making SERVOPACK settings, the Digital Operator is connected to the SERVOPACK for which settings are to
be made.

( 4 ) Other Required Equipment

Name Specification Quantity
24-VDC power supply Current capacity of 2 A or larger 1

4-4
 4.1 Model System Startup Procedure

4.1.3 Initializing SERVOPACKs

This section describes the procedure for initializing Σ-III SERVOPACKs using the Digital Operator. Always initialize
SERVOPACKs that have been transferred from other systems. SERVOPACKs that are being used for the first time do
not need to be initialized.

1. Check that the SERVOPACK power is OFF and then insert the Digital Operation connection plug into
the CN3 connector on the SERVOPACK.

2. Turn ON the SERVOPACK control power and main power.

3. Turn ON the Digital Operator power.

4. Press the Key on the Digital Operator to display the Auxiliary Function Mode main menu, and

use the Keys to select Fn005.

5. Press the Key to switch to the Fn005 parameter initialization execution display.
* If the display does not change and “NO-OP” is displayed on the status display, a Write Prohibited password has
been set using Fn010 and the user settings cannot be initialized. Clear the write protection and execute the
operation again.

6. Press the Key again and execute Fn005.

“Parameter Init” will flash during initialization.

System Startup and Sample Programs

The flashing will stop when initialization has been completed and the status display will change from BB to
Done to A.941.

ΠTo cancel initialization, press the Key before pressing the Key. The display returns to the
Auxiliary Function Mode main menu.

7. Turn the SERVOPACK control and main power supplies from OFF to ON to enable the initialization.
4

4-5
 4 System Startup and Sample Programs
4.1.4 Setting and Saving Communication Process (Communication Manager)

4.1.4 Setting and Saving Communication Process (Communication Manager)

Use the following procedure to set the communication process between the personal computer (MPE720) and the
MP2300 using the Communication Manager. These settings are not required if the communication settings have
already been made.

1. Open the YE_Applications Folder and double-click the Communication Manager Icon in the
YE_Applications Folder. Or, Click Start - All Programs - YE_Applications - Communication
Manager to start the Communication Manager.

Double-click

The Communication Process Icon appears on the task tray at the bottom right of the screen (version 5.30 or
later).

2. Double-click the Communication Process Icon on the task tray to open the Communication
Process Window.

Communication Process Icon

In this section, Logical PT number 1 is assigned for RS-232C connection and 2 for Ethernet connection in the
Communication Process Window.

■ Settings for RS-232C Connection

3. Double-click Logical PT number 1 in the Communication Process Window to display the Logical Port
Setting Window.

The Logical Port Setting Window appears.

4-6
 4.1 Model System Startup Procedure

4. For RS-232C connections, select Serial under Port Kind and then click Detail Button in the Logical
Port Setting Dialog Box.

The Serial Port Setting Dialog Box appears.

5. Match the settings under Physical Port to the computer’s serial communication port. Leave the other
items on the default settings. Once the settings have been completed and checked, click the OK
Button to close the Logial Port Setting Dialog Box.

6. The Logical Port Setting Window appears. Click the OK Button again. The screen will return to the
Communication Process Window. Check that Serial has been allocated to Logical PT number 1.

System Startup and Sample Programs

4-7
 4 System Startup and Sample Programs
4.1.4 Setting and Saving Communication Process (Communication Manager)

■ Settings for Ethernet Connection

Prior to make settings for Ethernet connection, the IP adderss of the personal computer must be set. Use the following
procedure to set the IP address and make settings for Ethernet connection.
ΠMake the following settings with the LAN cable connected.

7. Click Start - Settings - Control Panel - Internet Options.

The Internet Properties Window appears.

8. Click Connection Tab to display the page. Click LAN settngs.

The Local Area Network (LAN) Settings Dialog Box appears.

9. Check if the Automatically detect the settings Check Box is cleared and click the OK Button to close
the dialog box.

10. For a computer running Windows 2000 OS, click the Start Button and select Settings - Control Panel
- Network and dial-up connection.
For a computer running Windows XP OS, click the Start Button and select Settings - Control Panel -
Network connection.
On the computer running Windows 2000 OS, the Network and dial-up conneciton Window will be displayed,
and on the computer running Windows XP OS, the Network connection Window.

4-8
 4.1 Model System Startup Procedure

11. For the computer running Windows 2000 OS, double-click the Local area connection Icon.
For the computer running Windows XP OS, select Local area connection and click Change settings
of this connection in the Network Task field.
＜ Windows 2000 running computer ＞ ＜ Windows XP running computer ＞

The Property for Local area connection Dialog Box appears.

12. Select Internet Protocol (TCP/IP) and click the Properties Button.

The Internet protocol (TCP/IP) Properties Dialog Box appears.

13. Click the Use the following IP address Option Button and enter 192 168 1 2 under IP Address and
255 255 255 0 under Subnet Mask. Click the OK Button to close the dialog box.

System Startup and Sample Programs

4-9
 4 System Startup and Sample Programs
4.1.4 Setting and Saving Communication Process (Communication Manager)

14. Double-click Logical Port No. 2 in the Communication Process Window to display the Logical Port
Setting Dialog Box.

15. Select CP-218 under Port Kind in the Logical Port Setting Dialog Box and click the Detail Button.

The CP-218 Port Setting Dialog Box appears.

16. Enter the IP address of computer and click OFF for Default. Leave the other items on their default
settings. Click the OK Button to close the dialog box.

17. Click the OK Button in the Logical Port Setting Dialog Box to return to the Communication Process
Window. Check to see if the CP-218 (Ethernet connection ) is assigned to the Logical Port No. 2.

4-10
 4.1 Model System Startup Procedure

■ Saving the Communication Port Settings and Restarting Communication Process Window

18. Click File - Save. A save confirmation window will be displayed. Click the Yes Button to save the
communication port settings.

These settings will be used as the communication port information whenever the communication process is
started.

19. Exit the Communication Process Window and restart to validate the settings.
Select File - Exit to close the Communication Process Window. The confirmation message will be
displayed. Click the Yes Button to close the Communication Process Window.

20. Double-click the Communication Manager Icon in the YE_Application Folder to reopen the
Communication Process Window.

System Startup and Sample Programs

Double-click

4-11
 4 System Startup and Sample Programs
4.1.5 MP2300 Self-configuration

4.1.5 MP2300 Self-configuration

Execute self-configuration to automatically configure the Optional Modules mounted to the Basic Module and the
devices connected to the MECHATROLINK.
This section explains the method for self-configuration.

1. Check that the power supply of the Σ-III SERVOPACK is ON.

2. Turn OFF the 24-VDC power supply to the MP2300.

3. Turn ON the INIT and CNFG switches on the DIP switch (SW1) on the MP2300 Basic Module.

STOP
SUP
INIT
CNFG
MON
TEST
SW1

OFF ON

4. Turn ON the 24-VDC power supply to the MP2300.

Check that the LED indicators on the MP2300 Basic Module change as the following illustration.

RDY RUN RDY RUN RDY RUN

ALM ERR ALM ERR ALM ERR
TX BAT TX BAT TX BAT
: Lit : Not lit : Blinking

5. Turn OFF the INIT and CNFG switches on the DIP switch (SW1) on the MP2300 Basic Module.

STOP
SUP
INIT
CNFG
MON
TEST
SW1

OFF ON

This completes the self-configuration, and the information of Optiotional Modules and MECHATROLINK slave
devices are read in the definition information file.

„ Power Restart and RAM data Clear

If the INIT switch on the DIP switch on the Basic Module is ON and the power is turned ON, RAM data will be cleared.
Also, flash memory data will be read and RAM data will be overwritten when the INIT switch is OFF and the power is turned
ON. In either case, the RAM data will be cleared by turning the power ON. Therefore, always save data to the MP2300 flash
memory before turning OFF the power when writing or editing programs.
For information on how to save data to flash memory, refer to 4.2.3 ( 1 ) Saving to Flash Memory on page 4-21 (MPE720 Ver
6.††) or 4.3.2 ( 6 ) Saving to Flash Memory on page 4-40 (MPE720 Ver 5.††).
„ Turning OFF Power after Executing Self-configuration
Do not turn OFF the 24-VDC power supply to the MP2300 after executing self-configuration until the definitions data has been
saved to flash memory in the MP2300. If the power is turned OFF somehow before the data is saved to flash memory, execute
self-configuration again.

4-12
 4.2 Starting the Sample Program - MPE720 Ver 6.††

4.2 Starting the Sample Program - MPE720 Ver 6.††

This section describes how to copy the sample program file from MPE720 Ver 6.†† installation disk, how to start
MPE720 Ver 6.†† to transfer the sample program to the MP2300, and how to set and save parameters, according to
the following flowchart.
The descriptions assume that the MPE720 is already installed on your computer.

Copy the sample program file onto the hard disk of your
4.2.1 ( 1 ) Copying the Sample Program File on page 4-
1 computer from the installation disk contained in the CD- →
13
ROM.

Start MPE720 Ver 6.†† and transfer the sample program 4.2.1 ( 2 ) Starting MPE720 Ver 6.†† To Transfer the
2 →
file to the MP2300. Sample Program to the MP2300 on page 4-14

Open the SVB Definition Window to set and save the motion 4.2.2 ( 1 ) Setting and Saving Motion Fixed Parameters
3 →
fixed parameters. on page 4-17

4.2.2 ( 2 ) Making Servo Adjustments and Saving SER-

4 Adjust and save the SERVOPACK parameters. →
VOPACK Parameters on page 4-19

Save the parameter settings stored in the MP2300 RAM to

5 → 4.2.3 ( 1 ) Saving to Flash Memory on page 4-21
the flash memory.

4.2.3 ( 2 ) Transferring Data from the MP2300 to Your

6 Transfer the MP2300 data to your computer. →
Computer on page 4-22

4.2.1 Copying and Transferring Sample Program Files

Use the following procedure to copy the sample program files from the installation disk to the hard disk of your
computer, start MPE720 Ver 6.††, and transfer the file to the MP2300.

System Startup and Sample Programs

( 1 ) Copying the Sample Program File
1. Insert the MPE720 Ver 6.†† installation disk into the CD-ROM drive on your computer.
The installation window will automatically start running. Click the Cancel Button to cancel the autorun.

2. Open the My Computer folder, and then right-click the MPE720V6 disk drive. Click Open in the pop-up
menu that appears.

The root directory of the installation disk will be displayed.

4-13
 4 System Startup and Sample Programs
4.2.1 Copying and Transferring Sample Program Files

3. Open the Sample folder, and then open the ENG folder inside the Sample folder to display the sample
program files.

4. Copy the sample program file 2300SMPL_E.YMW, and paste it in a folder in the hard disk.

( 2 ) Starting MPE720 Ver 6.†† To Transfer the Sample Program to the MP2300

1. Double-click the 2300SMPL_E.YMW file copied to the hard disk.

MPE720 Ver 6.†† will start up and the following message will ask for confirmation to connect to the controller.
Click the No Button.

2. Click Communications Setting in the MPE720 Ver 6.†† main window.

The Communications Setting Dialog Box will appear.

4-14
 4.2 Starting the Sample Program - MPE720 Ver 6.††

3. Click the ▼ Button, and select a port to be used for communications with the MP2300 from the drop-
down list box. Then, click the Connection Button.
ΠIn the drop-down list box, the details of each port set in the procedure described in 4.1.4 Setting and Saving
Communication Process (Communication Manager) on page 4-6 will be displayed.

The MP2300 and your computer will be connected online.

4. Select Online - Write into Controller in the menu bar.

The Transfer Program - Write into Controller Dialog Box will appear.

5. Click the Individual Button to select an individual file transfer, and click the Save to flash after
transferring to the controller Check Box to clear it. Then, select the System Configuration Check
Box. Select the Scan time definition and Data trace Check Boxes from the list of files that will be
displayed on the right.

6. Select the Program Check Box. Then, select the Ladder program, Main program and Group

System Startup and Sample Programs

definition Check Boxes under Motion Program. Click the Start Button.

4
A message box will appear and ask whether or not to stop the MP2300 to allow transfer of the files.

4-15
 4 System Startup and Sample Programs
4.2.1 Copying and Transferring Sample Program Files

7. Click the CPU STOP Button.

The MP2300 will stop running and MPE720 will start transferring the selected sample program files. When the
transfer is complete, a message box will appear to tell you that the sample program files have been successfully
written to the MP2300.

8. Click the OK Button in the message box. Another message box will appear asking whether or not to
run the MP2300. Click the Yes Button to run the MP2300.

The MP2300 will start running.

The sample program files have been transferred to the MP2300.

4-16
 4.2 Starting the Sample Program - MPE720 Ver 6.††

4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control

( 1 ) Setting and Saving Motion Fixed Parameters

This section describes how to set and save MP2300 motion fixed parameters for Axes 1 and 2 according to the sample
program.
ΠTo use the program, set the motion fixed parameters according to the connected system. For details regarding the
motion fixed parameters, refer to Machine Controller MP2000 Series Built-in SVB/SVB-01 Motion Modules User’s
Manual (Manual No.: SIEPC88070033).

1. Select Setup - Module configuration from the Launcher. Alternatively, double-click Module
configuration in the 2300SMPL_E folder in the system sub programs.

The Engineering Manager will start, and the Module Configuration Window will open.

2. Select 00 in the Controller Area and double-click the 3 in the Module Details MP2300 SLOT≠00 Area
in the Module Configuration Window.

System Startup and Sample Programs

The SVB Definition Window with Fixed Parameters Tab Page will appear.

4-17
 4 System Startup and Sample Programs
4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control

3. Set the fixed parameters for axis 1.

Select Axis 1 from the axis selection box at the top-left of the window and select mm under No. 4 Reference unit
selection on the Fixed Parameters Tab Page.

4. In the Engineering Manager Window, select File - Save to save the settings for axis 1 fixed
parameters.

5. Follow steps 3 and 4 to set and save the fixed parameters for axis 2 as well.
The process for saving fixed parameter settings has now been completed. Next, save the SERVOPACK parameters.

4-18
 4.2 Starting the Sample Program - MPE720 Ver 6.††

( 2 ) Making Servo Adjustments and Saving SERVOPACK Parameters

This section describes how to make Servo adjustments and save the SERVOPACK parameters for each axis to the
MP2300.

1. Execute servo gain and other adjustments for each Servo.

ΠRefer to each SERVOPACK manual for information on the Servo adjustments.

2. Select the axis in the SVB Definition Window, then click the SERVOPACK Tab to display the
SERVOPACK Tab Page.

3. Select Edit - Copy Current Value.

System Startup and Sample Programs

A confirmation dialog box will appear.
ΠThe data in the Input Data Column is the SERVOPACK data saved to the MP2300 and the data in the Current
Value Column is the data set to the SERVOPACK.
ΠRefer to B Current Values and Set Values (Input Data) in the SVB Definition Window on page A-5 for
information on the relationship between Current Value and Setting Data.

4. Click the Yes Button in the confirmation dialog box to write the SERVOPACK data (current position) as
the MP2300 settings data.

4-19
 4 System Startup and Sample Programs
4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control

5. Select File - Save to save the SERVOPACK settings for axis 1 to the MP2300.

6. Follow steps 2 to 5 to write and save the SERVOPACK current position for axis 2 as settings data as
well.

7. Select File - Exit to exit the setting and saving process in the Engineering Manger Window.

4-20
 4.2 Starting the Sample Program - MPE720 Ver 6.††

4.2.3 Saving Data from the MP2300 to Flash Memory, and Transferring Data to Your
Computer from the MP2300
Save the data stored in the MP2300, including the module configuration files that have been automatically created by
executing the self-configuration function and the edited program files, to the flash memory, and transfer it to your
computer to synchronize the data stored in the MP2300 with the data stored in your computer.

( 1 ) Saving to Flash Memory

Use the following procedure to save the data from the MP2300 RAM to flash memory.

1. Select Online - Save to Flash in the menu bar of the MPE720 Ver 6.†† main window.
The Transfer Program - Save to Flash Dialog Box will appear.

2. Check to see that the target controller displayed in the dialog box is correct, and then click the Start
Button.

A message box will appear and ask whether or not to stop the MP2300 while saving data to the flash memory.

3. Click the NO Button to stop the MP2300 and start saving the data to the flash memory.

When the data has been successfully saved in the flash memory, a message box will appear to inform you that

System Startup and Sample Programs

saving process is complete.

4. Click the OK Button in the message box. Another message box will appear asking whether or not to
run the MP2300. Click the Yes Button to run the MP2300.

The data has been saved in the flash memory.

4-21
 4 System Startup and Sample Programs
4.2.3 Saving Data from the MP2300 to Flash Memory, and Transferring Data to Your Computer from the MP2300

( 2 ) Transferring Data from the MP2300 to Your Computer

Use the following procedure to transfer data from the MP2300 RAM to a computer.

1. Select Online - Read from Controller from the menu bar of the MPE720 Ver 6.†† main window.
The Transfer Program - Read from Controller Dialog Box will appear.

2. Check the selected items and displayed contents to see if they are correct, and then click the Start
Button.

The project file (sample file) saved in your computer will be overwritten with the data transferred from the
MP2300. When the overwriting is complete, a message box will appear to inform you.

3. Click the OK Button. Data transfer from the MP2300 to the computer will end.

4-22
 4.3 Starting Sample Program - MPE720 Ver 5.††

4.3 Starting Sample Program - MPE720 Ver 5.††

The following flowchart describes the method used for reading the sample program from the installation disk of
MPE720 Ver 5.††, and for setting and saving parameters after starting the MP2300 using MPE720 Ver 5††.

1 Starting the MPE720 → 4.3.1 ( 1 ) Starting the MPE720 Ver 5.†† on page 4-24

Create a group folder

2 → 4.3.1 ( 2 ) Creating Group Folders (Option) on page 4-25
Create a Group Folder to save Order Folders.

Create an order folder

3 → 4.3.1 ( 3 ) Creating Order Folders (Required) on page 4-26
Create an Order Folder to save Controller Folders.

Create a controller folder

4 → 4.3.1 ( 4 ) Creating Controller Folders (Required) on page 4-27
Create a Controller Folder to save programs.

Log On Online
5 → 4.3.2 ( 1 ) Logging On Online on page 4-28
Connect to MP2300 and log on to MPE720.

Load Sample Programs

6 Load sample programs from MPE720 system CD- → 4.3.2 ( 2 ) Loading the Sample Programs on page 4-32
ROM.

Transfer Individual Sample Programs

7 Select a sample program to be transferred and → 4.3.2 ( 3 ) Transfer Individual Programs on page 4-34
transfer to MP2300.

Set the Motion Fixed Parameters

8 Set the motion fixed parameters to match the → 4.3.2 ( 4 ) Set and Save Motion Fixed Parameters on page 4-36

System Startup and Sample Programs

sample program.

Adjust the Servo and Save the SERVOPACK

Parameters 4.3.2 ( 5 ) Making Servo Adjustments and Saving SERVOPACK
9 →
Make Servo adjustments and save the Parameters on page 4-38
SERVOPACK parameters for each axis.

Save to Flash Memory

10 Save the sample program to the MP2300 flash → 4.3.2 ( 6 ) Saving to Flash Memory on page 4-40
memory.

Transfer All Files to Hard Disk

11 Save the MP2300 data in the hard disk of the → 4.3.2 ( 7 ) Dumping All Data on page 4-41
4
personal computer for backup.

4-23
 4 System Startup and Sample Programs
4.3.1 Starting MPE720 Ver 5.†† and Creating Folders

4.3.1 Starting MPE720 Ver 5.†† and Creating Folders

This section describes the preparation for connecting the MPE720 (motion programming software, optional) to the
MP2300 and the method for installing the sample program for the MP2300.
The explanation is given assuming that the MPE720 has been installed on your personal computer.
Œ Refer to Machine Controller MP900/MP2000 Series MPE720 Software for Programming Device User’s Manual
(Manual No.: SIEPC88070005) for the installation method of MPE720.

( 1 ) Starting the MPE720 Ver 5.††

Start the MPE720 Ver 5.†† using the following procedure.

1. Open the YE_Applications Folder and double-click the MPE720 Icon.

Or, select Start - All Programs - YE_Application - MPE720.

The MPE720 starts up and the File Manager Window appears.

4-24
 4.3 Starting Sample Program - MPE720 Ver 5.††

( 2 ) Creating Group Folders (Option)

In the File Manager Window, create a group folder for storing order folders.
ΠRefer to Group Folders, Order Folders, Controller folders at the bottom of this page for more information about
these folders.

1. Right-click (root) and select New - Group Folder from the pop-up menu.

The Make New Folder Dialog Box will appear.

2. Enter a group folder name of up to 8 characters and click the OK Button.

A new group folder will be created. Double-click (root) or click to display the entered group folder name.

System Startup and Sample Programs

■ Group, Order, and PLC folders
Group folders, order folders, and PLC folders form part
of a directory tree, as shown in the figure to the left.
Group
folders Programs created using MPE720 are saved to PLC
folders.
MPE720 cannot create programs if no PLC folder
Order exists. PLC folders cannot be created if no order folder
folders
exists. For this reason, always create an order folder and
PLC folder. Creating group folders is optional.
Controller
folders

4-25
 4 System Startup and Sample Programs
4.3.1 Starting MPE720 Ver 5.†† and Creating Folders

( 3 ) Creating Order Folders (Required)

In the File Manager Window, create an Order Folder for storing Controller Folders.

1. Right-click (root) or the Group Folder in which the Order Folder is to be created and select New -
Order Folder from the pop-up menu.

The Make New Folder Dialog Box will appear.

2. Enter an Order Folder name of up to 8 characters and click the OK Button.

A new Order Folder will be created. Click the group folder or to display the entered Order Folder name.

4-26
 4.3 Starting Sample Program - MPE720 Ver 5.††

( 4 ) Creating Controller Folders (Required)

In the File Manager Window, create a Controller Folder for storing programs.

1. Right-click the Order Folder in which the Controller Folder is to be created and select Create New
Folder - Controller Folder from the pop-up menu.

The Controller Configuration Dialog Box will appear.

2. Enter a Controller Folder name of up to 8 characters under Controller Name, select MP2300 under
Controller Type, and click the OK Button.

A new Controller Folder will be created. Click the Order Folder or to display the entered Controller Folder

System Startup and Sample Programs

name.
.

4-27
 4 System Startup and Sample Programs
4.3.2 Reading Sample Programs and Setting and Saving Parameters

4.3.2 Reading Sample Programs and Setting and Saving Parameters

This section use sample programs to explain how to log on after being connected to the MP2300, transfer programs, set
motion fixed parameters, and log off. The following flowchart outlines the order of the explanations.

( 1 ) Logging On Online
Use the following procedure to connect to the MP2300 and log on online to the MPE720 to transfer programs.

■ Connecting to the MP2300

1. Right-click on the Controller Folder that has been created and select Online from the pop-up menu
that is displayed.

A confirmation dialog box will appear. Click the Yes Button to switch to online mode.
ΠThe communication mode cannot be changed while logging on to the Controller folder is performed when using
MPE720. If a Cannot change to CPU while logged on message is displayed when Online is selected, refer to
4.3.3 ( 2 ) Logging Off on page 4-43 and log off from the Controller folder.

2. Right-click on the Controller Folder that was selected in step 1 and select Properties from the pop-up
menu that is displayed. Check that a check mark appears to the left of Online and Online is displayed
in the data area at the bottom right of the window.

The Controller Configuration Dialog Box will appear.

4-28
 4.3 Starting Sample Program - MPE720 Ver 5.††

3. Select the Network Tab Page and check that OnLine is set to Yes. Under Logical Port No. (Device
Type), select the logical port number to be used, from the logical ports set using the communication
process. The contents displayed on the tab page changes according to the selected port number.

ΠCP217 represents the RS-232C connection (serial port), and CP218 represents the Ethernet connection.

System Startup and Sample Programs

4-29
 4 System Startup and Sample Programs
4.3.2 Reading Sample Programs and Setting and Saving Parameters

4. < For RS-232C Connection >

Leave the values other than the Logical Port No on their default settings, and click OK Button.

<For Ethernet Connection >

Enter the IP address of the personal computer, and click OK Button.

5. Click the Yes Button in the dialog box that is displayed next to complete selection of the logical port.

4-30
 4.3 Starting Sample Program - MPE720 Ver 5.††

■ Logging On Online
Œ When using MPE720 Ver 5.††, logging on is performed for each Controller Folder. Controller Folders that
have not been logged onto cannot use the MPE720 functions.

6. Right-click on the Conroller Folder that was selected in step 1 and select Log On from the pop-up
menu that is displayed.

The CPU Log On Dialog Box will appear.

7. Enter USER-A (default) under User Name and Password, and click the OK Button.

Logon will be executed for the selected Controller folder, and the dialog box will close.

System Startup and Sample Programs

ΠThe user name and password may have already been changed. Ask the system administrator beforehand.
ΠThe user name and password are changed from the File menu in the File Manager Window. Refer to Machine
Controller MP900/MP2000 Series MPE720 Software for Programming Device User’s Manual (Manual No.:
SIEPC88070005) for details.

4-31
 4 System Startup and Sample Programs
4.3.2 Reading Sample Programs and Setting and Saving Parameters

( 2 ) Loading the Sample Programs

The sample programs on the MPE720 system CD-ROM will be decompressed on the personal computer and loaded to
the Controller Folder. Set the MPE720 system CD-ROM in the CD-ROM drive of the personal computer.

1. Use Explorer to open the SAMPLE - Eng folders and double-click the 2300SMPL_E.EXE icon.

A dialog box for specifying where to unpack the file will appear.

2. Specify the destination path (a path other than File Manager) and click the Decompress Button.

The sample program will be unpacked and saved to the specified path and a folder called 2300SMPL_E will be
created.

3. Right-click on the Controller folder where the sample program is to be saved in File Manager Window
and select Transfer - All Files - From Another Drive to MPE720 in the pop-up menu that is
displayed.

An execution confirmation dialog box will appear.

4-32
 4.3 Starting Sample Program - MPE720 Ver 5.††

4. Deselect Compression transmission. Check the Source. If the Source is different from the decompression
destination folder, click the Change Button and continue to step 5. If the Source is correct, move to step 6.

5. The Change Transfer Drive Dialog Box will appear. Click the Detail Button to open the Select the
Folder Dialog Box.

6. Three sub-folders under the 2300SMPL_E folder will appear. Click the Select Button to close the
dialog box.

7. The Execute Dialog Box will appear. Click the OK Button.

System Startup and Sample Programs

The Execution Status Dialog Box will appear. Once the transfer has been completed, a confirmation dialog box
will appear. Click the OK Button.
4

4-33
 4 System Startup and Sample Programs
4.3.2 Reading Sample Programs and Setting and Saving Parameters

8. The All Media to MPE720 Window will appear. Select File - Exit to end reading files to the MPE720.

( 3 ) Transfer Individual Programs

Transfer the programs that have been read to the MPE720 individually to the MP2300.

1. Right-click on the Controller Folder that has been logged onto online and select Transfer - Selected
Files - From MPE720 to Controller from the pop-up menu that is displayed.

The Individual Load Window will appear.

4-34
 4.3 Starting Sample Program - MPE720 Ver 5.††

2. Select the programs to be transferred. For programs with a Details Button next to them, click the
Details Button and select the individual function programs for the program listed in the Set Details
Dialog Box that is displayed.
In this example, DWG, Scan Time, Data Trace, Group Definition, and Motion Main Program are
selected, and detailed settings are made for DWG and Motion Main Program.

a) Set Drawing Details Dialog Box

The details for the DWG sample program are shown below. Select the programs to be transferred and click
the OK Button. If Select All is selected, all programs for the DWG program will be selected. In this example,
select Select All and click the OK Button to return to the Individual Load Window.

System Startup and Sample Programs

b) Motion Main Program Detail Set Dialog Box

The details for the Motion Main Program of sample program are shown below.
In this example, select Select All and click the OK Button to return to the Individual Load Window.

4-35
 4 System Startup and Sample Programs
4.3.2 Reading Sample Programs and Setting and Saving Parameters

3. Select File - Execute.

Click the Yes Button in the confirmation dialog box to start the file transfer. When the transfer has been
completed, a confirmation dialog box will appear again. Click the OK Button.

4. Select File - Exit in the Individual Load Window to exit the transfer.

( 4 ) Set and Save Motion Fixed Parameters

This section describes the procedure for setting motion fixed parameters for axes 1 and 2 to match the sample program .
ΠWhen using a program, set the fixed parameters to match the devices being used. Refer to Machine Controller
MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual (Manual No.: SIEPC88070033).

1. Double-click the 2300SMPL Controller Folder - Definition Folder in the File Manager Window to
display the five folders contained within it. Double-click the Module Configuration Folder.
.

The Enginnering Manager Window will open and the Module Configuration Window will appear.

4-36
 4.3 Starting Sample Program - MPE720 Ver 5.††

2. Select 00 in the Controller Area and double-click the 3 in the Module Details MP2300 SLOT≠00 Area
in the Module Configuration Window.

The SVB Definition Window with Fixed Parameters Tab Page will appear.

3. Set the fixed parameters for axis 1.

Select Axis 1 from the axis selection box at the top-left of the window and select mm under No. 4 Reference unit
selection on the Fixed Parameters Tab Page.

System Startup and Sample Programs

4. In the Engineering Manager Window, select File - Save to save the settings for axis 1 fixed
parameters.

5. Follow steps 3 and 4 to set and save the fixed parameters for axis 2 as well.
The process for saving fixed parameter settings has now been completed. Next, save the SERVOPACK parameters.

4-37
 4 System Startup and Sample Programs
4.3.2 Reading Sample Programs and Setting and Saving Parameters

( 5 ) Making Servo Adjustments and Saving SERVOPACK Parameters

This section describes how to make Servo adjustments and save the SERVOPACK parameters for each axis to the
MP2300.

1. Execute servo gain and other adjustments for each Servo.

ΠRefer to each SERVOPACK manual for information on the Servo adjustments.

2. Select the axis in the SVB Definition Window, then click the SERVOPACK Tab to display the
SERVOPACK Tab Page.

3. Select Edit - Copy Current Value.

A confirmation dialog box will appear.

ΠThe data in the Input Data Column is the SERVOPACK data saved to the MP2300 and the data in the Current
Value Column is the data set to the SERVOPACK.
ΠRefer to B Current Values and Set Values (Input Data) in the SVB Definition Window on page A-5 for
information on the relationship between Current Value and Setting Data.

4. Click the Yes Button in the confirmation dialog box to write the SERVOPACK data (current position) as
the MP2300 settings data.

4-38
 4.3 Starting Sample Program - MPE720 Ver 5.††

5. Select File - Save to save the SERVOPACK settings for axis 1 to the MP2300.

6. Follow steps 2 to 5 to write and save the SERVOPACK current position for axis 2 as settings data as
well.

7. Select File - Exit to exit the setting and saving process in the Engineering Manger Window.

System Startup and Sample Programs

4-39
 4 System Startup and Sample Programs
4.3.2 Reading Sample Programs and Setting and Saving Parameters

( 6 ) Saving to Flash Memory

Save sample programs that have been transferred individually to the MP2300 to the MP2300 flash memory using the
procedure below.

1. Right-click the Controller Folder in which the sample programs have been saved and select Transfer -
Other - Save to Flash from the pop-up menu that is displayed.

The Save Flash Memory Content Window will appear.

2. Select File - Execute.

3. Click the Yes Button in the displayed confirmation dialog box, and then click the Yes Button in the
TrnSys Dialog Box that is displayed.

4. Another confirmation dialog box will be displayed. Click the Yes Button. The data will be saved to
flash memory. When saving to flash memory has been completed, a dialog box to confirm that the CPU
is to be run will be displayed. Click the Yes Button. Then the display will automatically return to the
Save Flash Memory Content Window.

5. Select File - Exit to exit saving to flash memory.

4-40
 4.3 Starting Sample Program - MPE720 Ver 5.††

( 7 ) Dumping All Data

Execute All Program File Dump to back up to a personal computer the module configuration definitions automatically
detected by the MP2300 during self-configuration and edited programs. The MP2300 program data and the program
data in the personal computer hard disk are synchronized when all programs are dumped.

1. Right-click the Controller Folder in which the sample programs have been saved, and select Transfer
- All Files - From Controller to MPE720 from the pop-up menu that is displayed.

An execution confirmation dialog box will appear.

2. Check the details and click the OK Button.

System Startup and Sample Programs

The file transfer will start. A notification dialog box will be displayed when the transfer has been completed.
Click the OK Button in the dialog box to display the All Dump Window.

3. Select File - Exit to stop the dumping of all data.

4
Now, the sample program is available. Refer to 4.4 Checking Sample Program Operation on page 4-44 to check
the sample program operation.

4-41
 4 System Startup and Sample Programs
4.3.3 Other Operations

4.3.3 Other Operations

This section describes the CPU RUN setting and log-off operation required when MPE720 Ver 5.†† is used.

( 1 ) CPU RUN Settings

If the CPU STOP status is not cleared after executing processes such as saving to flash memory, use the following
procedure to return to RUN status.

1. Right-click on the Controller Folder where sample programs are saved and select Controller
Operation from the pop-up menu that is displayed.

The Controller Running Status Dialog Box will appear.

2. Click the Run Button.

ΠTo stop the CPU, for example to verify errors, click the STOP Button displayed here.

3. Change confirmation dialog box will be displayed. Click the Yes Button to return to the Controller
Running Status Dialog Box. Check that the RUN LED indicator is lit.

4. Click the CLOSE Button in the Controller Running Status Dialog Box to exit RUN settings.

4-42
 4.3 Starting Sample Program - MPE720 Ver 5.††

( 2 ) Logging Off
Log off once the work using MPE720 (Embedded) has been completed.

1. Right-click on the Controller Folder where sample programs are saved and select Log Off from the
pop-up menu that is displayed.

2. Click the Yes Button in the displayed dialog box to complete the logoff process.

System Startup and Sample Programs

4-43
 4 System Startup and Sample Programs
4.4.1 How to Open the Tuning Panel Window

4.4 Checking Sample Program Operation

This section describes how to check four operations in the model system applying sample programs started in
4.3 or 4.4 by using the Tuning Panel Window for sample programs.

4.4.1 How to Open the Tuning Panel Window

( 1 ) From Engineering Manager Window

Use the following procedure to open the Tuning Panel Window from the Engineering Manager Window.

1. Open the Engineering Manager Window, and then select File - Open - Program - Turning Panel
from the menu bar.
Œ For information on how to open the Engineering Manager Window of MPE720 Ver 6.††, refer to 4.2.2 ( 1 )
Setting and Saving Motion Fixed Parameters on page 4-17.
Œ For information on how to open the Engineering Manager Window of MPE720 Ver 5.††, refer to 4.3.2 ( 4 )
Set and Save Motion Fixed Parameters on page 4-36.

The Open DWG setting Dialog Box will appear.

2. Enter the number of the drawing (program) to be displayed in the Tuning Panel Window in the Name
input field, and then click the OK Button.

When using MPE720 Ver 6.††, the message box shown in step 3 will appear and ask for confirmation to open
the Tuning Panal Window. (To step 3)
When using MPE720 Ver 5.††, the Tuning Panel Window will open.

3. Click the Yes Button to open the Tuning Panel Window.

4-44
 4.4 Checking Sample Program Operation

( 2 ) From the File Manager Window (For MPE720 Ver 5.†† Only)
When using MPE720 Ver 5.††, the Tuning Panel Window can also be opened from the File Manager Window by
using the following procedure.

1. Log on online, open the Programs folder, and then open the High Scan Programs folder in the PLC
folder where the sample programs are saved in the File Manager Window.

2. Right-click the H02 Drawing in the High Scan Programs folder and select Open - Tuning Panel from
the pop-up menu that is displayed.

Engineering Manager will start and the following Tuning Panel Window will be displayed.

System Startup and Sample Programs

4-45
 4 System Startup and Sample Programs
4.4.2 Operation Check 1: Manual Operation

4.4.2 Operation Check 1: Manual Operation

( 1 ) Program Outline
This section describes how to execute JOG and STEP operations for Servomotor 1 or 2 (axis 1 or 2) using a ladder
program such as the one shown below.

Parent Drawing

H Drawing Child Drawings

SEE H01 Drawing

Name H01
• SERVO ON
• Alarm Reset
• Parameter settings

END

SEE H02 Drawing

Name H02 Grandchild Drawings

SEE H02.01 Drawing

Name H02.01
• Axis 1 JOG
• Axis 1 STEP

END

SEE H02.02 Drawing

Name H02.02
• Axis 2 JOG
• Axis 2 STEP

END END END

High-speed scan

ΠRefer to 4.4.2 ( 4 ) Sample Program Details on page 4-49 for details of each program (drawing).
ΠA simple device is used in this example to describe the MP2300 system startup.
ΠThis device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel. Include a
proper emergency stop circuit in actual devices.

4-46
 4.4 Checking Sample Program Operation

( 2 ) H02 Drawing Tuning Panel

Display the H02 Drawing Tuning Panel as shown in 4.4.1 How to Open the Tuning Panel Window on page 4-44.
Model system operation can be controlled by writing the current values for common operation and Manual
Operation and Setting from the Tuning Panel.

System Startup and Sample Programs

4-47
 4 System Startup and Sample Programs
4.4.2 Operation Check 1: Manual Operation

( 3 ) Procedure
Use the following procedure to confirm operation.

Servo ON

Start JOG or STEP operation.

Confirm operation.

The following table gives an outline of the operation when the Tuning Panel window is used.

Current Value
Data Name Operation Outline
Operation
Current value OFF →
The Servomotor will turn ON and the Servo will be clamped.
ON
Servo ON PB
Current value ON →
Servo turned OFF.
OFF
Current value OFF →
Axis 1 rotates forward.
ON
Axis 1 Forward Jog
Current value ON →
Axis 1 stops.
OFF
Current value OFF →
Axis 1 rotates in reverse direction.
ON
Axis 1 Reverse Jog
Current value ON →
Axis 1 stops.
OFF
Current value OFF →
Axis 2 rotates forward.
ON
Axis 2 Forward Jog
Current value ON →
Axis 2 stops.
OFF
Current value OFF →
Axis 2 rotates in reverse direction.
ON
Axis 2 Reverse Jog
Current value ON →
Axis 2 stops.
OFF
Current value OFF → Axis 1 starts rotating forward for the moving amount set under Axis 1 STEP
ON moving amount.
Axis 1 Forward Step
Current value ON →
STEP operation stops. Always stop after executing stepping.
OFF
Current value OFF → Axis 1 starts rotating in reverse for the moving amount set under Axis 1 STEP
ON moving amount.
Axis 1 Reverse Step
Current value ON →
STEP operation stops. Always stop after executing stepping.
OFF
Current value OFF → Axis 2 starts rotating forward for the moving amount set under Axis 2 STEP
ON moving amount.
Axis 2 Forward Step
Current value ON →
STEP operation stops. Always stop after executing stepping.
OFF
Current value OFF → Axis 2 starts rotating in reverse for the moving amount set under Axis 2 STEP
ON moving amount.
Axis 2 Reverse Step
Current value ON →
STEP operation stops. Always stop after executing stepping.
OFF
Axis 1 STEP
Enter any value. Sets the STEP moving amount for axis 1.
Moving Amount
Axis 2 STEP
Enter any value. Sets the STEP moving amount for axis 2.
Moving Amount

ΠIt is necessary to create routines within the actual application program in order to monitor and control the registers
corresponding to the signals and data listed in the table above.

4-48
 4.4 Checking Sample Program Operation

( 4 ) Sample Program Details

[ a ] H Drawing
The H parent drawing controls the overall sample program.
P00101 H Main Program: High-speed Main Program
High-speed main program

Servo ON and Alarm reset

Servo ON, alarm reset
0000 SEE
0000
NL-1 Name H01
JOG and STEP
JOG, STEP
0001 SEE
0001
NL-1 Name H02
Positioning
Positioning
0002 SEE
0002
NL-1 Name H04
Phase Control
Electronic cam
0003 SEE
0003
NL-1 Name H06

0004 END
0004
NL-1

[ b ] H01 Drawing
The H01 child drawing turns ON the Servo, resets alarms, and sets common parameters.
P00102 H01 Main Program: Axis Common Settings
########## Action Common Settings ##########
########## Motion Command Detection ##########
Axis 1 motion command 0 detection
Axis 1 motion command 0
MB300010
0000 =
0000
NL-1 SourceA IW8008
SourceB 00000

Axis 2 motion command 0 detection

Axis 2 motion command 0
MB300018
0001 =
0002
NL-1 SourceA IW8088
SourceB 00000

System Startup and Sample Programs

########## Servo ON Command ##########
Axis 1 Servo ON
Servo ON PB Axis 1 SVC_RDY Axis 1 SV_ON
MB300000 IB80000 OB80000
0002
0004
NL-1
Axis 1 SYS_BUSY
IB80002

Axis 2 Servo ON
Servo ON PB Axis 2 SVC_RDY Axis 2 SV_ON
MB300000 IB80800 OB80800
0003
0007
NL-1
Axis 2 SYS_BUSY
IB80802

########## Alarm Reset ##########

Axis 1 alarm reset
Alarm reset PB Axis 1 ALM_RST
MB300001 OB8000F
0004
0010
NL-1 Axis 2 alarm reset 4
Alarm reset PB Axis 2 ALM_RST
MB300001 OB8080F
0005
0012
NL-1

4-49
 4 System Startup and Sample Programs
4.4.2 Operation Check 1: Manual Operation

########## Speed Unit and Acceleration/Deceleration Unit Selection ##########

Bits 0 to 3: Speed Unit Selection (0: Reference unit/s; 1: Reference unit/min.; 2: Percentage)
Bits 4 to 7: Acceleration/Deceleration Unit Selection (0: Reference unit/s; 1: ms)
Axis 1 Function Settings 1 (unit)

Axis 1 Function Settings 1 work

0006 AND
0014
NL-1 SourceA OW8003

SourceB H0F00

Dest DW00010

Axis 1 Function Settings 1

0007 OR
0015
NL-1 SourceA DW00010

SourceB H0011

Dest OW8003

Axis 2 Function Settings 1 (Unit)

Axis 2 Function Settings 1 work

0008 AND
0016
NL-1 SourceA OW8083

SourceB H0F00

Dest DW00012

Axis 2 Function Settings 1

0009 OR
0017
NL-1 SourceA DW00012

SourceB H0011

Dest OW8083

##########Linear Acceleration/Deceleration Setting##########

Axis 1 and 2 linear acceleration/deceleration setting

MPM running
MB30020 Linear acceleration/deceleration setting

0010 EXPRESSION
0018
NL-1 OL8036= 100;
OL8038= 100;
OL80B6= 100;
OL80B8= 100;

0011 END
0020
NL-1

[ c ] H02 Drawing
The H02 child drawing controls JOG and STEP operation.

Main Program: Manual Operation Main Processing

P00105 H02
##########Manual Operation Main Processing##########

0000 SEE
0000
NL-1 Name H02. 01

0001 SEE
0001
NL-1 Name H02. 02

0002 END
0002
NL-1

4-50
 4.4 Checking Sample Program Operation

[ d ] H02.01 Drawing
The H02.01 grandchild drawing controls JOG and STEP operation for axis 1.
##########Axis 1 Manual operation (JOG and STEP)##########
##########JOG##########
Axis 1 JOG
Axis 1 forward jog Axis 1 reverse jog Axis 1 SV_ON Axis 1 jog command
DB000010 DB000011 IB80001 DB000000
0000
0000
NL-1 Axis 1 forward jog Axis 1 reverse jog
DB000010 DB000011

Axis 1 jog command WORK Axis 1 motion command 0 Axis 1 jog start
DB000000 DB000050 MB300010 DB000001
0001
0006
NL-1
Axis 1 jog command WORK Axis 1 jog stop
DB000000 DB000051 DB000002
0002
0010
NL-1 Axis 1 jog start
DB000001 Axis 1 speed command setting
0003 STORE
0013
NL-1 Source 0000001000

Dest OL8010

Axis 1 jog start

DB000001 Axis 1 motion command
0004 STORE
0015 Source 00007
NL-1
Dest OW8008

Axis 1 jog stop

DB000002 Axis 1 motion command
0005 STORE
0017
NL-1 Source 00000

Dest OW8008

##########STEP##########
Axis 1 STEP
Axis 1 forward step Axis 1 reverse step Axis 1 SV_ON Axis 1 step command
DB000012 DB000013 IB80001 DB000008
0006
0019
NL-1
Axis 1 forward step Axis 1 reverse step
DB000012 DB000013

Axis 1 step command WORK Axis 1 motion command 0 Axis 1 step start
DB000008 DB000058 MB300010 DB000009
0007
0025
NL-1
Axis 1 step command WORK Axis 1 step stop
DB000008 DB000059 DB00000A
0008
0029
NL-1
Axis 1 step start
DB00009 Axis 1 step speed and moving amount

System Startup and Sample Programs

0009 EXPRESSION
0032
NL-1 OL8010=1000;
OL8044=DL00010;

Axis 1 step start

DB000009 Axis 1 motion command
0010 STORE
0034 Source 00008
NL-1
Dest OW8008

Axis 1 step stop

DB00000A Axis 1 motion command
00011 STORE
0036
NL-1 Source 00000

Dest OW8008

##########Reverse Rotation Selection##########

Axs 1 jog command Axis 1 reverse jog Axis 1 reverse step
DB000000 DB000011 OB80092
0012
0038
NL-1
Axis 1 jog command
DB000008
Axis 1 reverse step
DB000013
4
0013
0043 END
NL-1

4-51
 4 System Startup and Sample Programs
4.4.2 Operation Check 1: Manual Operation

[ e ] H02.02 Drawing
The H02.02 grandchild drawing controls JOG and STEP operation for axis 2.

##########JOG########## ##########Axis 2 Manual operation (JOG and STEP)##########

Axis 2 JOG
Axis 2 forward jog Axis 2 reverse jog Axis 2 SV_ON Axis 2 jog command
DB000010 DB000011 IB80801 DB000000
0000
0000
NL-1 Axis 2 forward jog Axis 2 reverse jog
DB000010 DB000011

Axis 2 jog command WORK Axis 2 motion command 0 Axis 2 jog start
DB000000 DB000050 MB300018 DB000001
0001
0006
NL-1
Axis 2 jog command WORK Axis 2 jog stop
DB000000 DB000051 DB000002
0002
0010
NL-1
Axis 2 jog start
DB000001 Axis 2 speed command setting
0003 STORE
0013
NL-1 Source 0000001000

Dest OL8090

Axis 2 jog step

DB000001 Axis 2 motion command

0004 STORE
0015 Source 00007
NL-1
Dest OW8088

Axis 2 jog step

DB000002 Axis 2 motion command
0005 STORE
0017 Source 00000
NL-1
Dest OW8088

##########STEP##########
Axis 2 STEP
Axis 2 forward step Axis 2 reverse step Axis 2 SV_ON Axis 2 step command
DB000012 DB000013 IB80801 DB000008
0006
0019
NL-1
Axis 2 forward step Axis 2 reverse step
DB000012 DB000013

Axis 2 step command WORK Axis 2 motion command 0 Axis 2 step start
DB000008 DB000058 DB300018 DB000009
0007
0025
NL-1
Axis 2 step command WORK Axis 2 step stop
DB000008 DB000059 DB00000A
0008
0029
NL-1
Axis 2 step start
DB000009 Axis 2 step speed and moving amount
0009 EXPRESSION
0032
NL-1 OL8090=1000;
OL80C4=DL00010;

Axis 2 motion command

0010 STORE
0034 Source 00008
NL-1
Dest OW8088

Axis 2 step stop

DB00000A Axis 2 motion command
00011 STORE
0036
NL-1 Source 00000

Dest OW8088

##########Reverse Rotation Selection##########

Axis 2 jog command Axis 2 reverse jog Axis 2 reverse
DB000000 DB000011 DB80892
0012
0038
Axis 2 step command Axis 2 reverse step
DB000008 DB000013

0013
0043 END
NL-1

4-52
 4.4 Checking Sample Program Operation

4.4.3 Operation Check 2: Position Control

( 1 ) Operation Outline
In this example, an X-Y plotter like the one shown in the figure is operated by ladder and motion programs.

Servomotor

X-Y plotter

( 2 ) Program Outline
A ladder program (H04 Drawing) and three prepared sample programs (MPM001, MPM002, and MPM003) are used
to check the operation, as shown in the figure.
Programs MPM001 to MPM003 perform the following operations.
• MPM001: Zero point return using Servomotor phase-C
• MPM002: Axis 2 positioning and interpolation (with interval timer)
• MPM003: Axis 2 positioning and interpolation (without interval timer)
Motion programs are written in text format, and the listed commands and operations are executed in listed order.

System Startup and Sample Programs

Parent Drawing Child Drawings Motion Programs

H Drawing H04 Drawing MPM003

Motion
MPM002
program
startup MPM001
SEE MSEE
Name H04 Program No. 001 0W803C=3;
Data DA00020 0W80BC=3;
VEL[X]100[Y]100;
END END ACC[X]100[Y]100;
࡮
࡮

High-speed scan

ΠRefer to 4.4.3 ( 5 ) Sample Program Details on page 4-56 for details of each program. 4
ΠA simple device is used in this example to describe the MP2300 system startup.
ΠThis device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel. Include a
proper emergency stop circuit in actual devices.

4-53
 4 System Startup and Sample Programs
4.4.3 Operation Check 2: Position Control

( 3 ) H04 Drawing Tuning Panel

Display the H04 Drawing Tuning Panel as shown in 4.4.1 How to Open the Tuning Panel Window on page 4-44.
Model system operation can be controlled by writing the current values for Common operation and Positioning
operation and settings from the Tuning Panel.

4-54
 4.4 Checking Sample Program Operation

( 4 ) Procedure
Use the following procedure to operate the Tuning Panel and check operation.

1. Servo ON
Change the Servo ON PB current value from OFF to ON.
The Servomotor will turn ON and the Servo will be clamped.

2. Motion program No. setting

Enter a value from 1 to 3 as the current value for the Motion Program No. setting to specify the motion program
to be executed.
001 (=PMP001): Program for executing zero point return using Servomotor phase-C. When this
program is executed, X axis (axis 1) and Y axis (axis 2) rotate a set distance once
a phase-C pulse has been input, and then return home.
002 (= PMP002): Repeats the following two operations with an interval time.
1.) Moves to target position 1 in incremental mode, performs linear interpolation to
target position 2, and then repeats this operation 5 times.
2.) In absolute mode, performs counterclockwise circular interpolation from current
position to home (0,0) (once).
003 (= PMP003): Repeats the same operation as PMP002, but without an interval time.
ΠNo programs have been created for numbers 004 and higher. An MPM alarm will occur if 004 or higher
numbers are entered and operation is started.

3. Set Target Position 1 and Target Position 2

Enter any value for the following settings. These settings determine the target position for positioning when
Motion Program No. 2 and No. 3 are executed.
1st target position (X axis)
1st target position (Y axis)
2nd target position (X axis)
2nd target position (Y axis)

4. Positioning, start
Change the current value for Positioning, start from OFF to ON.
The program will be executed and the model system will operate according to the motion program set in step 2.

System Startup and Sample Programs

Once the operation has been checked, enter OFF and stop the system.
When a motion program starts, the current value for MPM running will change to ON. Also, when the Servo axis
rotates, all Current Values will change.

ΠIf an error occurs during motion program execution, the current value for MPM alarm in the Tuning Panel will change
to ON. Use the following procedure to clear alarms.
1. Set the current value for Positioning, abort to ON then OFF.
2. Set the current value for Alarm reset PB to ON then OFF.
ΠIt is necessary to create routines within the actual application program in order to monitor and control the registers
corresponding to the signals and data listed in the table above.
ΠThe register numbers that correspond to the signals used in this sample program will be the register numbers
displayed under REG-No. next to DWG at the right of the Tuning Panel window.

4-55
 4 System Startup and Sample Programs
4.4.3 Operation Check 2: Position Control

( 5 ) Sample Program Details

[ a ] H04 Drawing
The H04 child drawing contains the ladder program for managing and controlling MPM motion programs.
########## Positioning Main Processing
位置決め動作ﾒｲﾝ処理　　##########
########## ﾓｰｼｮﾝﾌﾟﾛｸﾞﾗﾑ起動ｼｰｹﾝｽ
##########Motion 　##########
Program Startup Sequence##########
Start
動作開始 WORK Axis 1 Motion Command 0
1軸目ﾓｰｼｮﾝｺﾏﾝﾄﾞ0 Axis 2 Motion Command 0
2軸目ﾓｰｼｮﾝｺﾏﾝﾄﾞ0 Start Request
開始要求
DB000010 DB000050 MB300010 MB300018 DB000210
0000
0000
NL-1

Hold
一時停止 Hold Request
一時停止要求
DB000011 DB000211
0001
0005
NL-1

Abort
動作解除 Abort
解除要求 request
DB000012 DB000212
0002
0007
NL-1

Alarm reset PB
ｱﾗｰﾑﾘｾｯﾄPB Alarm reset request
ｱﾗｰﾑﾘｾｯﾄ要求
MB300001 DB000215
0003
0009
NL-1

MPM number
MPM番号
0004 STORE
0011 Source DW00030
NL-1
Dest DW00025

MPM Interpolation overdrive

MPM補間ｵｰﾊﾞライド
0005 STORE
0012
NL-1 Source 10000

Dest DW00022

$ON COIL
SB000004 Travel data setting
移動ﾃﾞｰﾀ設定
0006 EXPRESSION
0013
NL-1 ML30100= DL10;
ML30102= DL12;
ML30110= DL14;
ML30112= DL16;
ML30114= 3000000;

$ON COIL
SB000004 MPM*** execution
MPM***実行
0007 MSEE
0015
NL-1 Program DW00025
Dest DA00020

MPM running MPM running

MPM運転中 MPM運転中
DB000200 MB300020
0008
0017
NL-1

MPM alarm MPM alarm

MPMｱﾗｰﾑ発生中
MPMｱﾗｰﾑ発生中
DB000208 MB300028
0009
0019
NL-1

0010 END
0021
NL-1

4-56
 4.4 Checking Sample Program Operation

[ b ] Motion Program MPM001

The MPM001 motion program uses the Servomotor phase-C pulse to perform home return.

00001 "MPM001";
00002 OW803C=3; "X axis home return method selection (3: Phase C)"
00003 OW80BC=3; "Y axis home return type selection (3: Phase C)"
00004 VEL [X]1000 [Y]1000; "Travel speed setting for positioning command"
00005 ACC[X]100[Y]100; "Acceleration time setting"
00006 DCC[X]100[Y]100; "Deceleration time setting"
00007 OW803E=100; "X axis approach speed (mm/min)"
00008 OW8040=50; "X axis creep speed (mm/min)"
00009 OL8042=10000; "X axis final travel distance (0.001 mm)"
00010 OW80BE=100; "Y axis approach speed (mm/min)"
00011 OW80C0=50; "Y axis creep speed (mm/min)"
00012 OL80C2=10000; "Y axis final travel speed (0.001 mm)"
00013 ZRN[X]00[Y]00; "Home return command"
00014 END;

( 6 ) Motion Programs MPM002 and MPM003

Motion programs MPM002 and MPM003 perform positioning, linear interpolation, and circular interpolation for axis
2.
MPM002 inserts a timer command between each travel command to indicate operation divisions. MPM003
continuously executes travel commands, without the timer commands of MPM002, as shown in the following figure.

00001 "MPM002";
00002 "Data Setting";
00003 VEL [X]1000 [Y]1000; "Travel speed setting for positioning command"
00004 FMX T50000000; "Composite speed upper limit setting for interpolation command"
00005 IAC T500; "Acceleration time setting for interpolation command"
00006 IDC T500; "Deceleration time setting for interpolation command"
00007 PLN [X][Y]; "Plane specification for circular interpolation command"
00008 INC; "Increment position command setting"
00009 TIM T100;
00010 "Repeat Operation"

System Startup and Sample Programs

00011 DW10 =0;
00012 WHILE DW10 <5; "No. repeats = 5"
00013 MOV [X]ML30100 [Y]ML30102 ; "Positioning command"
00014 TIM T100;
00015 MVS [X]ML30110 [Y]ML30112 FML30114; "Linear interpolation command"
00016 TIM T100;
00017 ABS; "Absolute positioning command setting"
00018 MCC [X]0 [Y]0 R1000.0 FML30114; "Circular interpolation command"
00019 TIM T100;
00020 DW10 =DW10 +1;
00021 WEND;
00022 "End Repeat Operation";
00023 END;
4

4-57
 4 System Startup and Sample Programs
4.4.4 Operation Check 3: Phase Control - Electronic Shaft

4.4.4 Operation Check 3: Phase Control - Electronic Shaft

( 1 ) Machine Outline
As shown in the following figure, the Servomotor performs the same operation as rolls No. 1 and No. 2 connected to
the line shaft. No phase matching, however, is used.

Existing Type New Type

Controller Line shaft drive motor

Line shaft

MP2300
Gear
Driver
Clutch

Differential gear SERVO-

Phase matcher PACK

Servo-
motor
Motor

Operating
section

No. 1 Roll No. 2 Roll

( 2 ) Program Overview
Use the ladder program (H06.01 Drawing) to check the above operation. The two axes synchronize to a virtual master
axis according to the entered speed settings, and axis 1 and axis 2 rotate in exactly the same way.

Parent Drawing Child Drawings Grandchild Drawings

H Drawing H06 Drawing H06.01 Drawing

Position control
Electronic shaft
SEE SEE
• Axis 1
Name H06 Name H06.01
• Axis 2

END END END

High-speed scan

ΠRefer to 4.4.4 ( 5 ) Sample Program Details on page 4-60 for details of H06.01 Drawing.
ΠA simple device is used in this example to describe the MP2300 system startup.
ΠThis device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel. Include a
proper emergency stop circuit in actual devices.

4-58
 4.4 Checking Sample Program Operation

( 3 ) H06 Drawing Tuning Panel

Display the H06 Drawing Tuning Panel as shown in 4.4.1 How to Open the Tuning Panel Window on page 4-44.
Model system operation can be controlled by writing the current values for Common operation and Phase control
(electric shaft) from the Tuning Panel.

( 4 ) Procedure
Use the following procedure to operate the Tuning Panel and check operation.

1. Servo ON
Change the Servo ON PB current value from OFF to ON.
The Servomotor will turn ON and the Servo will be clamped.

2. Electronic Shaft Start

Change the Electric shaft start current value from OFF to ON.
The mode will change to the phase control (electronic shaft) mode. Enter OFF to exit position control (electric
shaft) mode.

3. Enter Speed Settings

Enter any value within the setting range (0 to 30000) as the current value of Speed setting (motor rated speed

System Startup and Sample Programs

30,000 mm/min).
This operation synchronizes the speed for both axes to the speed of the virtual master axis and operation starts.
Change the Electric shaft start current value from ON to OFF when the check operation has been completed.
ΠIt is necessary to create routines within the actual application program in order to monitor and control the registers
corresponding to the signals and data listed in the table above.
ΠThe register numbers that correspond to the signals used in this sample program will be the register numbers
displayed under REG-No. next to DWG at the right of the Tuning Panel window.

4-59
 4 System Startup and Sample Programs
4.4.4 Operation Check 3: Phase Control - Electronic Shaft

( 5 ) Sample Program Details

[ a ] H06.01 Drawing
The H6.01 grandchild drawing shows the ladder program for controlling phase control (electronic shaft) operation.
########## Phase Control 1 (Electronic Shaft) ##########
########## Electronic Shaft Operation Command ##########
Electronic shaft startup PB Axis 1 SV_ON Axis 2 SV_ON Electronic shaft operation command
DB000010 IB80001 IB80801 DB000000
0000
0000
NL-1
Electronic shaft
operation command WORK Axis 1 motion command 0 Axis 1 motion command 0 Electronic shaft start
DB000000 DB000050 DB000010 DB000018 DB000001
0001
0004
NL-1
Electronic shaft
operation command Zero speed WORK Electronic shaft stop
DB000000 DB000003 DB000050 DB000002
0002
0009
NL-1

########## Motion Command Issued ##########

Motion command 25 (phase control) setting
Electronic shaft start
DB000001 Axis 1 motion command
0003 STORE
0013
NL-1 Source 00025

Dest OW8008

Electronic shaft start

DB000001 Axis 2 motion command
0004 STORE
0015 Source 00025
NL-1
Dest OW8088

4-60
 4.4 Checking Sample Program Operation

Motion command 0 (NOP) setting

Electronic shaft stop
DB000002 Axis 1 motion command
0005 STORE
0017
NL-1 Source 00000

Dest OW8008

Electronic shaft stop

DB000002 Axis 2 motion command
0006 STORE
0019 Source 00000
NL-1
Dest OW8088

S-curve Acceleration/deceleration Setting

S-curve accelerator/decelerator input

0007 EXPRESSION
0021
NL-1 DB000200 =true;
DB000201 =true;
DB00022 =30000.0;
DB00024 =0.1;
DB00026 =0.1;
DB00030 =0.01;
DB00032 =0.01;
Electronic Shaft Operation Speed Setting Switching Sequence
A double-length integer register is used for speed reference unit. Therefore, a real number is used for the linear accelerator/decelerator 2 (SLAU: S-curve accelerator/decelerator) instruction.
Electronic shaft speed setting
Electronic shaft operation command
S-curve accelerator/decelerator input
DB000000
0008 STORE
0022
NL-1 Source DL00010

Dest DF00012

Electronic shaft
operation command
DB000000 S-curve accelerator/decelerator input
0009 STORE
0024
NL-1 Source 0.000000E+000
Dest DF00012

S-curve accelerator/decelerator gear output

0010 SLAU
0026
NL-1 Input DF00012
Parameter DA00020
Output DF00040

Axis 1 and Axis 2 Speed Command Settings

Electronic Shaft Operation Command
DB000000 Axis 1 and axis 2 speed command settings
0011 EXPRESION
0027
NL-1 Zero speed OL8010 = DF00040;
DB000003 OL8090 = DF00040*-1;

Zero speed Zero speed

DB00020A DB000003

System Startup and Sample Programs

0012
0030
NL-1

##########Monitor for Deviation between Axes##########

0013 ADD
0032
NL-1 SourceA IL8016
SourceB IL8096
Dest DL00090

0014 END
0033
NL-1

4-61
 4 System Startup and Sample Programs
4.4.5 Operation Check 4: Phase Control - Electronic Cam

4.4.5 Operation Check 4: Phase Control - Electronic Cam

( 1 ) Machine Outline
As shown in the following figure, the Servomotor performs the same operation as the mechanical cam synchronized to
a roller connected to the line shaft. No phase matching is used.

Existing Type New Type

Controller Line shaft drive motor

Line shaft
MP2300
Gea
Driver
Clutch
Differential
gear
SERVO-
Phase matcher
PACK
Transmission

Cam Servo-
motor
Motor

Ball
screw
Operating section

( 2 ) Program Overview
Use the ladder program (H06.02 Drawing) to check the above operation.
The two axes rotate synchronized with the input speed setting. Axis 1 is the roll axis (Master axis) and axis 2 is the cam
axis (Slave axis, which moves in COS cam pattern against Master axis).
Cam pattern data is created using a ladder program (L06 Drawing).

Parent Drawing Child Drawings Grandchild Drawings

H Drawing H06 Drawing H06.02 Drawing

Phase control
SEE SEE Electronic shaft
Name H06 Name H06.02 • Axis 1
Electronic cam
• Axis 2

END END END

High-speed scan

ΠRefer to 4.4.5 ( 5 ) Sample Program Details on page 4-64 for details of H06.01 Drawing.
ΠA simple device is used in this example to describe the MP2300 system startup. Caution is required because actual
applications will be different.
ΠThis device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel. Include a
proper emergency stop circuit in actual applications.

4-62
 4.4 Checking Sample Program Operation

( 3 ) H06 Drawing Tuning Panel

Display the H06 Drawing Tuning Panel as shown in 4.4.1 How to Open the Tuning Panel Window on page 4-44.
Model system operation can be controlled by writing the current values for Common operation and Phase control
(electric shaft) from the Tuning Panel.

( 4 ) Procedure

1. Servo ON
Change the Servo ON PB current value from OFF to ON.
The Servomotor will turn ON and the Servo will be clamped.

2. Enter Cam Data

Enter any value within the setting range to Cam axis: amplitude setting (double amplitude) and Cam axis: main
axis moving amount per cycle. These settings create the cam pattern.
• Cam axis: amplitude setting (double amplitude), Setting range: 0 to 999.999
• Cam axis: main axis moving per cycle, Setting range: 0 to 50000.000
Cam pattern data is not changed when Electric cam start is set to ON.

3. Start Electronic Cam Operation

Change the Electric cam start current value from OFF to ON.

System Startup and Sample Programs

Axis 2 will change to phase control (electric cam) mode. Enter OFF to exit phase control (electric cam) mode.

4. Enter Main Axis Speed Settings

Enter any value within the setting range (−30000 to 30000) as the current value for Main axis speed setting.
This operation sets the master axis speed and starts operation.
Change the Electric cam start current value from ON to OFF when the check operation has been completed.
ΠIt is necessary to create routines within the actual application program in order to monitor and control the registers
corresponding to the signals and data listed in the table above.
ΠThe register numbers that correspond to the signals used in this sample program will be the register numbers
displayed under REG-No. next to DWG at the right of the Tuning Panel window.

4-63
 4 System Startup and Sample Programs
4.4.5 Operation Check 4: Phase Control - Electronic Cam

( 5 ) Sample Program Details

[ a ] H06.02 Drawing
The H06.02 grandchild drawing controls phase control (electronic cam) operation.
P00121 H06.02 Main Program: Phase Control 2 (Electronic Cam)
########## Phase Control 2 (Electronic Cam) ##########
########## Description ##########
Axis 1: Master axis = Phase control (electronic shaft)
Axis 2: Slave axis = Phase control (electronic cam)
########## Phase Control Operation Command ##########
Startup PB Axis 1 SV_ON Axis 2 SV_ON Operation command
DB000010 IB80001 IB80801 DB000000
0000
0000
NL-1
Operation command WORK Axis 1 motion command 0 Axis 1 motion command 0 Electronic cam start
DB000000 DB000050 MB300010 MB300018 DB000001
0001
0004
NL-1
Operation command Zero speed WORK Electronic cam stop
DB000000 DB000003 DB000051 DB000002
0002
0009
NL-1
########## Motion Command Issue ##########
Motion command 25 (phase control) setting
Electronic cam start
DB000001 Axis 1 motion command
0003 STORE
0013
NL-1 Source 00025

Dest OW8008

Electronic cam start

DB000001 Axis 2 motion command
0004 STORE
0015 Source 00025
NL-1
Dest OW8088

Motion command 0 (NOP) setting

Electronic cam stop
DB000002 Axis 1 motion command
0005 STORE
0017
NL-1 Source 00000

Dest OW8008

Electronic cam stop

DB000002 Axis 2 motion command
0006 STORE
0019 Source 00000
NL-1
Dest OW8088

########## Slave Axis Phase Generation Operation Disabled (Electronic Cam Mode) ##########
Operation command Axis 2 phase generation disabled
DB000000 OB80851
0007
0021
NL-1
Zero speed Cam operation command
DB000003 MB300008

########## Master Axis Speed Command Generation ##########

Master axis linear acceleration/deceleration parameter setting
Linear acceleration/deceleration parameter setting

0008 EXPRESSION
0025
NL-1 DB000200 =true;
DB000201 =true;
DF00022 =30000.0;
DF00024 =10.0;
DF00026 =10.0;

Master axis speed setting

Operation command
DB000000 Linear accelerator/decelerator input

0009 STORE
0026
NL-1 Source DL00010
Dest DF00012

4-64
 4.4 Checking Sample Program Operation

P00122 H06.02
Main Program: Phase Control 2 (Electronic Cam)
Operation command
DB000000 Linear accelerator/decelerator input
0010 STORE
0028
NL-1 Source 0.000000E+000

Dest DF00012

Linear accelerator/decelerator input

0011 LAU
0030
NL-1 Input DF00012
Parameter DA00020
Output DF00040

Operation command
DB000000 Axis 1 speed command setting
0012 STORE
0031
NL-1 Zero speed Source DF00040
DB000003
Dest OL8010

Zero speed Zero speed

DB00020A DB000003
0013
0034
NL-1

########## Slave Axis Control Circuit ##########

########## Electronic Cam Phase Generated ##########
Cam operation command Electronic cam phase
MB300008
0014 STORE
0036 Source 00000
NL-1
Dest DL00066

Master axis position FB (this scan)

0015 STORE
0038
NL-1 Source IL8016

Dest DL00060

Incremental value for master axis per scan

0016 SUBX
0039 SourceA DL00060
NL-1
SourceB DL00062
Dest DL00064

Master axis position FB (previous scan)

0017 STORE
0040
NL-1 Source DL00060

Dest DL00062

System Startup and Sample Programs

Addition of master axis increment

Electronic cam phase

0018 ADDX
0041
NL-1 SourceA DL00064
SourceB DL00066
Dest DL00066

Cycle detection
0019 EXPRESSION
0042
NL-1 DB000008 = DL00066>=ML30202;
DB000009 = DL00066<0;

4-65
 4 System Startup and Sample Programs
4.4.5 Operation Check 4: Phase Control - Electronic Cam

P00123 H06.02 Main Program Phase

メインプログラム Control 2 (Electronic Shaft)
位置制御２（電子ｶﾑ）処理

Detection in forward
direction
正方向検出
DB000008 Electronic cam phase
電子ｶﾑ位相
0020 SUBX
0043
NL-1 SourceA DL00066

SourceB ML30202

Dest 　DL00066

Detection in negative
direction
負方向検出
DB000009 Electronic cam phase
電子ｶﾑ位相
0021 ADDX
0045
NL-1 SourceA DL00066

SourceB ML30202

Dest 　DL00066

Electronic cam phase

電子ｶﾑ位相
Electronic cam phase
電子ｶﾑ位相
0022 STORE
0047
NL-1 Source DL00066

Dest DL00068

Slave axisｶﾑ変位生成
ｽﾚｰﾌﾞ軸 cam displacement generation

$ON COIL
SB000004 Slave axis
ｽﾚｰﾌﾞ軸 cam displacement
ｶﾑ変位　
0023 FGN
0048
NL-1 　 Input　 DL00068

Parameter MA31000
　Output　DL00070

Camｶﾑ運転指令中
operation command
MB300008 Axis
2軸2 位相補正設定
phase compensation setting

0024 STORE
0050
NL-1 Source DL00070

Dest OL80A8

Camｶﾑ運転指令中
operation command
MB300008 Axis
2軸2 位相補正設定
phase compensation setting

0025 STORE
0052 Source
NL-1 Source 0000000000
DL0000000000

Dest OL80A8

##########Slave Axis Command

########## ｽﾚｰﾌﾞ軸 Speed Generation##########
指令速度発生　##########
Incremental Value for Slave Axis per Scan
ｽﾚｰﾌﾞ軸1ｽｷｬﾝ増分値
0026 SUBX
0054
NL-1 SourceA DL00070

SourceB DL00072

Dest 　DL00074

Slave axis cam displacement (previous scan)

ｽﾚｰﾌﾞ軸ｶﾑ変位(前回）
0027 STORE
0055
NL-1 Source DL00070

Dest DL00072

Cam ｶﾑ運転指令中
operation command
MB300008 Cam speed calculation and setting
ｶﾑ速度演算&設定
0028 EXPRESSION
0056
NL-1 DL00076 =DL00074*10000/SW0004
DL00078 = DL00076*60/1000;
OL8090 =DL00078*10000/10000;

0029 END
0058
NL-1

4-66
 4.4 Checking Sample Program Operation

[ b ] L Drawing
The L parent drawing manages the low-speed scan that controls the overall sample program.
P00125 L Main Program: Low-speed
メインプログラム 低速ﾒｲﾝﾌﾟﾛｸﾞﾗﾑMain Program
##########Low-speed Main Program
低速ﾒｲﾝﾌﾟﾛｸﾞﾗﾑ　　##########

##########Electronic
########## Cam Table Data 　##########
電子ｶﾑﾃｰﾌﾞﾙﾃﾞｰﾀ生成 Generation##########

0000 SEE
0000
NL-1 Name L06

0001 END
0001
NL-1

[ c ] L06 Drawing
The L06 child drawing creates cam pattern data for phase control (electronic cam).

P00126 L06 Main Program: Electronic Cam Table Data Generation

##########Electronic Cam Table Data Generation##########
##########Cam Table Data Generation (Leading Data)##########
Cam operation command
MB300008 Cam table (leading data)
0000 EXPRESSION
0000
NL-1 DL00010 =ML30200;
DL00012 =ML30202;
ML30210 =DL00010;
ML30212 =DL00012;
MW31000 =361;
MW31001 =0;
DF00030 =0;

##########Cam Table Generation (following data)##########

Cam displacement calculation

0001 FOR
0002
NL-1 Variable I

Init 00000

Max 00360

Step 00001

Phase (deg.)
0002 STORE
0003
NL-1 Source I

Dest DF00030

System Startup and Sample Programs

Displacement calculation work
0003 COS
0004
NL-1 Source DF00030

Dest DF00032

Cam displacement calculation and table setting

0004 EXPRESSION
0005
NL-1 J =I*4;
ML31002j =DF00030*DL00012/360.
DF00034 =DL00010/2*(1-DF00032)
ML31004j =DF00034;

0005 END_FOR
0006
NL-1

0006 END
0007
NL-1

4-67
 4 System Startup and Sample Programs
4.5.1 Starting the System for First Time

4.5 System Startup Using Self-Configuration

System startup time can be reduced by using self-configuration.
This section describes system startup using self-configuration, in the following three circumstances.
• Starting the system for first time
• Adding an electronic device (e.g., SERVOPACK or Distributed I/O Module)
• Replacing electronic devices

4.5.1 Starting the System for First Time

Use the following procedure to startup a new system.

1. Wire and Connect Electronic Devices.

Correctly wire and connect all electronic devices to be used.

2. Make Switch Settings for MECHATROLINK Slaves.

Set the MECHATROLINK communication specifications using the DIP switch and the station address on the
rotary switch on each MECHATROLINK slaves.
Example SERVOPACK Settings (SGDS-†††1††)

SW1 Name Setting Contents Default

OFF 4 Mbps
Bit 1 Baud rate ON
ON 10 Mbps
No. of transmission OFF 17
Bit 2 ON
bytes ON 32 SW2 (default setting)
Station address =
OFF
40H+SW1
Bit 3 Station address OFF
Station address =
ON
50H+SW1
Reserved (Reserved by SW1 (default setting)
Bit 4 OFF － OFF
the system.)
ΠRefer to each slaves manual for information on the setting details.

3. Start Up MECHATROLINK Slaves.

Turn ON the power to the MECHATROLINK slaves and check that the electronic devices start up normally.
ΠIf using a new Absolute Encoder, the Absolute Encoder will need to be initialized. Refer to C Initializing the
Absolute Encoder on page A-13 for details.
ΠThe servo adjustment can be performed either in this step or after the self-configuration.

4. Set the Switches on MP2300/Optional Module

Set the switches of SW1 on MP2300 as shown below.

STOP
SUP
INIT
CNFG
MON
TEST
SW1

OFF ON

Make switch settings for communication and station address on each Optional Module mounted on the MP2300
as required.

4-68
 4.5 System Startup Using Self-Configuration

5. Execute Self-configuration.
Check that all MECHATROLINK slaves have started up normally, then turn ON the power to the MP2300 to
start self-configuration.
The LED indicators on the MP2300 Basic Module change as shown below.
RDY RUN RDY RUN RDY RUN
ALM ERR ALM ERR ALM ERR
TX BAT TX BAT TX BAT
: Lit : Not lit : Blinking

When self-configuration is executed, the MP2300 will detect connected MECHATROLINK slaves, make I/O
register allocations for them, and automatically set motion parameters to enable minimum operation.

ΠSelf-configuration is designed to immediately enable operation to the Servo. Therefore, the SERVOPACK
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.: SIEPC88070033)) is disabled. When actually operating
machinery, overtravel must be enabled each SERVOPACK.

6. Make Parameter Settings to Match the Machinery.

Start MPE720, then set and save fixed parameters relating to reference units (fixed parameters 4, 5, 6, 8, and 9).
Adjust the servo gains, etc. if servo tuning was not performed in step 3.
Œ Refer to 4.2.1 ( 2 ) Starting MPE720 Ver 6.†† To Transfer the Sample Program to the MP2300 on page 4-14,
4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control on page 4-17 (when using
MPE720 Ver 6.††), 4.3.1 Starting MPE720 Ver 5.†† and Creating Folders on page 4-24 and 4.3.2 Reading
Sample Programs and Setting and Saving Parameters on page 4-28 (when using MPE720 Ver 5.††) for the
procedure from starting MPE720 to setting and saving fixed parameters.
ΠRefer to D.1 Fixed Parameter List on page A-19 for the fixed parameter list, and Machine Controller MP2000
Series Motion Module Built-in SVB/SVB-01 User’s Manual (Manual No. : SIEPC88070033) for details on fixed
parameters and for information on setting parameters for machinery.
ΠRefer to each SERVOPACK manual for information on the Servo adjustment.

7. Make Servo Adjustment and Save SERVOPACK Parameters.

Adjust the SERVOPACK gain and other parameters for each SERVOPACK and save the SERVOPACK
parameters for each axis to the MP2300.
a) Select the axis in the SVB Definition Window (refer to 4.2.2 Setting Motion Fixed Parameters and Adjusting

System Startup and Sample Programs

the Settings for Servo Control on page 4-17 or 4.3.2 ( 4 ) Set and Save Motion Fixed Parameters on page 4-
36) , then click the SERVOPACK Tab to display the SERVOPACK Tab Page.

4-69
 4 System Startup and Sample Programs
4.5.1 Starting the System for First Time

b) Select Edit - Copy Current Value.

ΠThe data in the Input Data column in the SERVOPACK data saved to the MP2300 and the data in the Current
Value column is the data set to the SERVOPACK.
ΠRefer to B Current Values and Set Values (Input Data) in the SVB Definition Window on page A-5 for
information on the relationship between Current Value and Input Data.
c) Select File - Save to save the SERVOPACK settings for the axis to the MP2300.

8. Save MP2300 Data to Flash Memory.

Return to the MPE720 File Manager Window and save to flash memory.
ΠRefer to 4.2.3 ( 1 ) Saving to Flash Memory on page 4-21 or 4.3.2 ( 6 ) Saving to Flash Memory on page 4-40
for information on how to save to flash memory.

9. Save Ladder Programs and Restart MP2300

Transfer the ladder program to the MP2300 and save to flash memory, and then turn the power from OFF to ON
to restart the MP2300.
ΠRefer to 4.3.2 ( 3 ) Transfer Individual Programs on page 4-34 for information on transferring ladder programs.

This completes the system startup procedure.

ΠAlways save to flash memory when applications have been changed, e.g., the ladder program changed or
parameters set. The added information will be lost if not saved to flash memory and the power is turned OFF.
If the information is lost, load the application remaining on the hard disk of the personal computer to the
MP2300 and save to flash memory.
ΠIt is recommended that applications are backed up at appropriate times. Applications can be backed up as
follows:
MPE720 Ver 6.†† : Select Online - Read from Controller in the main window.
MPE720 Ver 5.†† : Log on online and select Transfer - All Files - From Controller to MPE720.

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 4.5 System Startup Using Self-Configuration

4.5.2 System Startup when Adding Electronic Devices

Use the following procedure to start the system when adding SERVOPACKs, Optional Modules, and other electronic
devices.

1. Back Up Applications.
Before adding the electronic devices, create a backup of the application.
ΠFor information on how to create a backup, refer to 4.2.3 ( 2 ) Transferring Data from the MP2300 to Your Com-
puter on page 4-22 (MPE720 Ver 6.††) or 4.3.2 ( 7 ) Dumping All Data on page 4-41 (MPE720 Ver 5.††).

2. Turn OFF the MP2300.

Once the application has been backed up, log off from the MP2300 or disconnect the communication, and turn
OFF the MP2300 power.

3. Start the Electronic Device to Be Added.

Make the DIP and rotary switch settings for the device to be added, then turn ON the power to that device only.
Check that it starts up normally. Once normal startup has been confirmed, turn OFF the power supply.

4. Connect the Electronic Device.

Connect the electronic device to the MP2300 and turn ON the power to all the MECHATROLINK slaves.

5. Execute Self-configuration.
Turn ON the power to the MP2300, connect to the MP2300 using MPE720, then select Order - Self Configure
All Modules to execute self-configuration for the added Optional Module or the SERVOPACK connected SVB
Module.

System Startup and Sample Programs

ΠRefer to 5.4.3 ( 2 ) Self Configuration of Each Module on page 5-34 for information on self-configuration of
MP2300 Modules.
ΠIf Self Configure All Modules is executed when MP2300 is selected, all the modules will be self-configured.
ΠWith the self-configuration function, existing definitions for SERVOPACKs are not refreshed and existing
parameters are saved. However, SERVOPACKs need to be started up normally for self-configuration to be
used..

ΠIf I/O addresses are changed for an existing application using MPE720 after the initial self-configuration has
been executed, the I/O addresses are updated when self-configuration is subsequently executed. If SVR is
set to disabled, the setting will return to enabled. It is recommended that settings are checked again, 4
including settings for existing electronic devices, after self-configuration has been executed.

Refer to steps 6 to 9 under 4.5.1 Starting the System for First Time on page 4-68 for details of the rest of this procedure
(steps 6 to 9).

4-71
 4 System Startup and Sample Programs
4.5.2 System Startup when Adding Electronic Devices

6. Make Parameter Settings to Match Machinery.

7. Save SERVOPACK Parameters.

8. Save MP2300 Data to Flash Memory.

9. Save Ladder Programs and Restart MP2300.

This completes the system startup procedure when electronic devices have been added.

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 4.5 System Startup Using Self-Configuration

4.5.3 System Startup when Replacing Electronic Devices

Use the following procedure to start the system when replacing SERVOPACKs, Optional Modules, and other
electronic devices due to malfunctions and other causes.

1. Back Up Applications.
Before replacing the electronic devices, create a backup of the application using MPE720.
Œ Refer to 4.3.2 ( 2 ) Loading the Sample Programs on page 4-32 (MPE720 Ver 6.††) or 4.3.2 ( 7 ) Dumping All
Data on page 4-41 (MPE720 Ver 5.††) for information on how to create a backup.

2. Turn OFF the MP2300.

Log off from the MP2300 or disconnect the communication and turn OFF the MP2300 power.

3. Start the Electronic Device to Be Added.

Make the DIP and rotary switch and other settings for the new electronic device.
For MECHATROLINK slaves, make the switch settings, turn ON the power to the slave, and check that it starts
up normally. Once normal startup has been confirmed, turn OFF the power supply.

4. Replace the Electronic Device.

Remove the electronic device to be replaced, connect the new device to the MP2300, and turn ON the power to
all MECHATROLINK slaves.

5. Turn ON the MP2300.

Turn ON the MP2300 power.

6. Save SERVOPACK Parameters.

If a SERVOPACK has been replaced, use the following procedure to write the SERVOPACK parameters saved to
the MP2300 to the new SERVOPACK.
a) Select the axis, then select the SERVOPACK Tab Page on the SVB Definition Window (refer to 4.2.2 Set-
ting Motion Fixed Parameters and Adjusting the Settings for Servo Control on page 4-17 or 4.3.2 ( 4 ) Set and
Save Motion Fixed Parameters on page 4-36) to display the SERVOPACK Tab Page.

System Startup and Sample Programs

b) Click File - Save to write the SERVOPACK settings to the SERVOPACK.

ΠThe MP2300 SERVOPACK settings data is written to all SERVOPACKs when Save is executed, and the
settings data is also written in the MP2300 Current Value data column.

4-73
 4 System Startup and Sample Programs
4.5.3 System Startup when Replacing Electronic Devices

7. Turn ON the MP2300 and SERVOPACKs

Turn ON (OFF to ON) the power to the MP2300 and SERVOPACKs and then enable the parameters written to
the SERVOPACKs.

This completes the system startup procedure when electric devices have been replaced.

4-74
 5
Outline of Motion Control Systems
This chapter describes the basic operation of MP2300 Motion Control Systems and provides an out-
line of user programs and registers.

5.1 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.1.3 Startup Sequence Operation Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.1.4 LED Indicator Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2 User Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.2.1 Ladder Drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.2 Execution Control of Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.2.3 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.2.4 Motion Programs and MSEE and S Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.2.5 Example of Ladder Programs for Motion Program Control - - - - - - - - - - - - - - - - - - - - 5-18
5.2.6 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20

5.3 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21

5.3.1 Types of Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.2 Data Types and Register Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
5.3.3 Using i and j Subscripts - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
5.3.4 Register Specification Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27

5.4 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28

5.4.1 Self-configuration Processing Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
Outline of Motion Control Systems
5.4.2 Execution Procedure for Self-configuration Using the DIP Switch - - - - - - - - - - - - - - - 5-30
5.4.3 Execution Procedure for Self-configuration Using MPE720 - - - - - - - - - - - - - - - - - - - 5-32
5.4.4 Definition Data Refreshed by Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36

5.5 Precautions When Using the MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.5.1 Precautions when Setting or Changing User Definition Files - - - - - - - - - - - - - - - - - - 5-38
5.5.2 Precautions when Setting or Changing Module Configuration Definition Files - - - - - - 5-39
5.5.3 Setting and Changing the Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40

5-1
 5 Outline of Motion Control Systems
5.1.1 DIP Switch Settings

5.1 Startup Sequence and Basic Operation

This section describes the MP2300 startup sequence and basic operation together with the DIP switch settings, self-
diagnosis at startup, and LED indicator patterns.

5.1.1 DIP Switch Settings

Set the DIP switch on the Basic Module to control operations of the startup sequence. The six switches are provided on
the DIP switch on the Basic Module as shown in the figure below. The following table lists the functions of six
switches.

STOP
SUP 1 2 3 4 5 6
INIT
CNFG
MON
SW1
TEST
OFF‫ޓޓޓ‬
ON

Switch Default
No. Status Operating Mode Remarks
Name Setting
ON User program stops Set to ON to stop user program operation. Effective only at
1 STOP OFF
OFF User program operation power ON.
ON System use
2 SUP OFF Always set to OFF.
OFF Normal operation
ON Memory clear Set to ON to clear memory.
3 INIT OFF Programs stored in flash memory will be run when Memory
OFF Normal operation Clear is set to OFF.
ON Configuration mode
4 CNFG OFF Set to ON for self-configuration of connected devices.
OFF Normal operation
ON System use
5 MON OFF Always set to OFF.
OFF Normal operation
ON System use
6 TEST OFF Always set to OFF.
OFF Normal operation

5-2
 5.1 Startup Sequence and Basic Operation

5.1.2 Startup Sequence

The startup sequence for the MP2300 from the moment when the power has been turned ON is shown in the
following flowchart.
Power ON

Startup
self-diagnostics (1)

Judges the
setting of switch 4 (INIT)
Memory clear
of DIP switch SW1

FLASH

FLASH → RAM
Copy

Judges the setting

of switch 3 (CNFG)
of DIP switch SW1 Normal operation

Configuration mode

Self-configuration
execution (2)

Operation stops (4)

Judges the ON
setting of switch 6 (STOP)
of DIP switch SW1

OFF

Watchdog timer User program stops

start
Operation starts (3)

Run LED indicator lit

DWG.A executed
(Ladder program)

RDY LED indicator lit

Outline of Motion Control Systems

Interrupt Ladder program

signal Low-speed
High-speed Background
scan scan

Input Input Online self-diagnostics

DWG.I (5)
executed
DWG.H DWG.L
Completed executed executed
after one cycle.
Output Output

High Order of priority Low 5

* Refer to 5.1.3 Startup Sequence Operation Details on the next page for details on (1) to (5).

5-3
 5 Outline of Motion Control Systems
5.1.3 Startup Sequence Operation Details

5.1.3 Startup Sequence Operation Details

( 1 ) Self-diagnosis at Startup
Self-diagnosis is performed on the following items after the power is turned ON.
• Read/write diagnosis of memory (RAM)
• System program (ROM) diagnosis
• Main processor (CPU) function diagnosis
• Floating Point Unit (FPU) function diagnosis
If diagnosis results in an error, the ALM and ERR LED indicators will blink red for the specified number of times.
Refer to 5.1.4 LED Indicator Details on page 5-5.

( 2 ) Self-configuration
Self-configuration automatically recognizes the connected Optional Modules, and automatically creates a definitions
file. For details, refer to 5.4 Self-configuration on page 5-28.
The RUN LED indicator will blink green during execution of self-configuration.

( 3 ) Operation Start
When the STOP switch is set to OFF (RUN) or changes from ON (STOP) to OFF (RUN), the CPU starts the watchdog
timer and then executes DWG.A in the ladder program. Refer to the startup processing drawing and 5.2.2 Execution
Control of Drawings on page 5-7.
First scan processing is executed once DWG.A has been completed and the high-speed or low-speed scan time has
elapsed. System I/O are executed from the first scan.

( 4 ) Operation Stop
MP2300 stops motion control operation when the STOP switch is ON (STOP) and in the following circumstances.

Cause Restart method

Power supply turned OFF
Turn ON the power again.
Power interruption
Check the LED indicator for the cause of the error and
Fatal error
then turn the power OFF then ON.
STOP executed from MPE720 Execute RUN from MPE720 .

( 5 ) Online Self-diagnosis
Self-diagnosis is performed on the following items when the user logs on online.
• System program (ROM) diagnosis
• Main processor (CPU) function diagnosis
• Floating Point Unit (FPU) function diagnosis
If diagnosis results in an error, the ALM and ERR LED indicators will blink red for the specified number of times.
Refer to 5.1.4 LED Indicator Details on page 5-5.

5-4
 5.1 Startup Sequence and Basic Operation

5.1.4 LED Indicator Details

The MP2300 performs a variety of diagnostics at startup. If an error is found, the ERR LED indicator blinks red. The
number of times the indicators blink differs depending on the error details, so error details can be determined from
counting the number of blinks.The following table shows details of MP2300 LED indicator.
ΠMPE720 cannot be operated when the indicators are blinking.
ΠFor information on errors and countermeasures, refer to 6.3.3 LED Indicators.

LED Indicator Name

Type RDY FUN ALM ERR Indicator Details Remarks
BAT
(Green) (Green) (Red) (Red)
Not lit Not lit Lit Lit Not lit Hardware reset status
Not lit Not lit Not lit Not lit Not lit Initializing −
Not lit Lit Not lit Not lit Not lit Executing DWG.A
Normal

User program stops when the DIP

User program stopped
Lit Not lit Not lit Not lit Not lit switch or MPE720 is used to
(Offline stop mode)
execute the STOP operation.
User program executing normally
Lit Lit Not lit Not lit Not lit −
(Online operation mode)
The ERR LED indicator is lit red
Not lit Not lit Not lit Lit Not lit Major damage has occurred
when the CPU is down.
(Software error)
No. of blinks
3: Address error (read) exception
4: Address error (write) exception
5: FPU exception
6: Illegal general command error
7: Illegal slot command error The ERR LED indicator will blink
Not lit Not lit Not lit Blinking Not lit 8: General FPU inhibited error red when an exception error has
9: Slot FPU inhibited error occurred.
Error

10: TLB duplicated bit error

11: LTB mistake (read)
12: LTB mistake (write)
13: LTB protection violation (read)
14: LTB protection violation (write)
15: Initial page write error
(Hardware errors)
No. of blinks
The ALM and ERR LED indicators
2: RAM diagnosis error
Not lit Not lit Blinking Blinking Not lit will blink red if there is a self-
3: ROM diagnosis error
diagnosis failure.
4: CPU function diagnosis error
5: FPU function diagnosis error
The BAT LED indicator will be lit
− − − − Lit Battery alarm
when the battery voltage drops. Outline of Motion Control Systems
Alarm

The ALM LED indicator will be lit

Operation error
Lit Not lit Lit Not lit Not lit red when an operation or I/O error is
I/O error
detected.

5-5
 5 Outline of Motion Control Systems
5.2.1 Ladder Drawings (DWG)

5.2 User Programs

User programs for executing machine control using the MP2300 include ladder programs and motion programs. This
section describes the basic operation and other information about user programs.
ΠFor programming details, refer to the following manuals.
Machine Controller MP900/MP2000 Series User’s Manual Ladder Programming (SIEZ-C887-1.2)
Machine Controller MP900/MP2000 Series User’s Manual Motion Programming (SIEZ-C887-1.3)
Machine Controller MP900/MP2000 Series New Ladder Editor Programming Manual (SIEZ-C887-13.1)
Machine Controller MP900/MP2000 Series New Ladder Editor User’s Manual (SIEZ-C887-13.2)

5.2.1 Ladder Drawings (DWG)

Ladder programs are managed in units of ladder drawings, which are identified by drawing numbers. These drawings
form the basis of user programs.

( 1 ) Types of Drawings
Ladder drawings include parent drawings, child drawings, grandchild drawings, and operation error processing draw-
ings. In addition to drawings, there are functions that can be freely accessed from each drawing.
• Parent Drawings
Parent drawings are automatically executed by the system program when the execution conditions, outlined in
the table below, are met.
• Child Drawings
Child drawings are accessed using a SEE command from a parent drawing.
• Grandchild Drawings
Grandchild drawings are accessed using a SEE command from a child drawing.
• Operation Error Processing Drawings
Operation error processing drawings are automatically executed by the system program when an operation
error occurs.
• Functions
Functions are accessed and executed from parent, child, and grandchild drawings using the FSTART command.

( 2 ) Drawing Types and Order of Priority

Drawings are classified by their first letter (A, I, H, or L) based on the processing purpose. The following table outlines
the order of priority and execution conditions for these drawings.

Type of Parent Max. No. of

Function Priority Execution Conditions
Drawing Drawings
DWG.A Power ON
Startup processing 1 64
(Drawing A) (Executed once only, when power turned ON)
DWG.I External interrupt (executed by Option Module
Interrupt processing 2 64
(Drawing I) DI interrupt or counter match interrupt)
DWG.H High-speed scan Scheduled cycle startup
3 200
(Drawing H) processing (Executed each high-speed scan)
DWG.L Scheduled cycle startup (Executed each low-
Low-speed scan 4 500
(Drawing L) speed scan)

5-6
 5.2 User Programs

The following table provides details of the number of drawings for each drawing.

Number of Drawings
Drawing
DWG.A DWG.I DWG.H DWG.L
Parent Drawings 1 (A) 1 (I) 1 (H) 1 (L)
Operation Error
1 (A00) 1 (I00) 1 (H00) 1 (L00)
Processing Drawings
Child Drawings
Total: 62 max. Total: 62 max. Total: 198 max. Total: 498 max.
Grandchild Drawings

5.2.2 Execution Control of Drawings

( 1 ) Execution Control
The following table shows when each drawing is executed based on the order of priority.

Power ON

DWG.A (initial
processing drawing)

Each high-speed scan Each low-speed scan Operation error Interrupt signal

Input all Input all DWG.X00* (Operation DWG.I (Interrupt

error processing processing drawing)
Output all Output all drawing)
*: X=A, I, H, or L
DWG.H (High-speed DWG.L (Low-speed
scan processing scan processing Continuation of Continuation of
drawing) drawing) processing before processing before
error occurred interruption occurred

( 2 ) Execution Schedule for Scan Processing Drawings

The scan processing drawings are not executed simultaneously. As shown in the following figure, the execution of each
drawing is scheduled based on the order of priority and time sharing.
Low-speed scan

High-speed scan High-speed scan High-speed scan High-speed scan

Outline of Motion Control Systems

DWG.H

DWG.L

Background*

: Executing

* Background processing is used to execute internal system processing, e.g., communication processing.
5
Low-speed scan processing is executed in spare processing time of the high-speed scan. Set the time of the high-speed
scan to approximately double the total execution time for DWG.H.

5-7
 5 Outline of Motion Control Systems
5.2.2 Execution Control of Drawings

( 3 ) Hierarchical Structure of Drawings

Each processing program is made up of parent drawings, child drawings, and grandchild drawings. Parent drawings
cannot call child drawings from a different type of drawing and child drawings cannot call grandchild drawings from a
different type of drawing. Also, parent drawings cannot directly call grandchild drawings. Child drawings are always
called from parent drawings and grandchild drawings are always called from child drawings. This is the hierarchical
structure of drawings.
As shown in the following figure, each processing program is created from a hierarchy of parent, child, and grandchild
drawings.

Parent Child Grandchild User Functions

Drawings Drawings Drawings
DWG.X DWG.X01 DWG.X01.01

DWG.X01.02 FUNC-001

࡮ ࡮
࡮ ࡮
FUNC-006
࡮
࡮
DWG.Xnn DWG.X01.03 FUNC-032
࡮
࡮
FUNC-064

Note: X means A, I, H, or L.

The type of drawing and the parent-child-grandchild relationship can be determined from the descriptors after
“DWG.”

DWG Description: DWG.X YY . ZZ

Grandchild drawing number (01 to 99)

Child drawing number (01 to 99)

Parent drawing type (01 to 99)

: DWG.X 00

Operation error drawing (01 to 99)

5-8
 5.2 User Programs

( 4 ) Drawing Execution Processing Method

The execution processing of hierarchical drawings are performed by calling lower-level drawings from higher-level
drawings.
The following figure shows the execution processing for drawings, using DWG.A as an example.

System programs are started

according to execution
conditions.

Parent Drawings Child Drawings Grandchild Drawings

DWG.A DWG.A01 DWG.A01.01

SEE A01 SEE A01.01 Functions

FUNC-001
FUNC-001

DEND

DWG.A01.02
DEND

SEE A01.02
FUNC-001

DEND DEND

SEE A02 DWG.A02 System starts

automatically.
DWG.A00
Operation
error

DEND DEND DEND

ΠFunctions can be called from any drawing. Functions can also be called from other functions.
ΠWhen an operation error occurs, the operation error processing drawing for that drawing will be started.

Outline of Motion Control Systems

5-9
 5 Outline of Motion Control Systems
5.2.3 Motion Programs

5.2.3 Motion Programs

( 1 ) Outline
Motion programs are programs written in a text-based language called motion language. Up to 256 motion programs
can be created separate from ladder drawings.
The following table shows the two types of motion programs.

Specification
Type Features No. of Programs
Method
MPM†††
Main Program Accessed from DWG.H
(††† ＝ 1 to 256) Up to 256 programs (including main and
MPS††† sub programs) can be created.
Subprogram Can be called from main programs
（††† ＝ 1 to 256）

Œ Specify a different MPM and MPS program number (†††) between 1 and 256 for each program.
ΠThe MP2300 can execute up to 16 motion programs simultaneously. An alarm (no system work error*) will occur if
17 or more programs are executed simultaneously.
* No system work error: Bit E of the leading word in the MSEE work registers
There are two methods for specifying motion programs: direct specification of the program number or indirect specifi-
cation by specifying the register number where the program number is stored.

MPM001

ABS;
Motion program call command
MOV[X] _ [Y] _

MVS[X] _ [Y] _ F

IOW MB0001

MOV[X] _ [Y] _
.
.
MPM No.
.
Ladder program Motion program

Fig. 5.1 Calling Motion Programs Using Direct Specification

MPM003

ABS;
Motion program call command
0 3 MOV[X] _ [Y] _
Setting device MVS[X] _ [Y] _ F

IOW MB0001
Stored in
register MOV[X] _ [Y] _
MW00200. .
.
∗ MW00200 =3 Register No. .
Ladder program Motion program

MPM No. 㧩MW00200 =3

Fig. 5.2 Calling Motion Programs Using Indirect Specification

ΠFor the meaning of register numbers and how to interpret them, refer to 5.3 Registers on page 5-21.

5-10
 5.2 User Programs

( 2 ) Groups
A group of axes with related operations can be treated as one group by motion programs and programs can be executed
for each group. This allows one MP2300 to independently control multiple machines using group operation. Group
operation can be single group operation or multiple group operation.
Definitions for axes to be grouped together are made under Group Definitions. For details on group definitions, refer to
Machine Controller MP900/MP2000 Series User’s Manual MPE720 Software for Programming Device
(SIEPC88070005).
(a) Single Group Operation (b) Multiple Group Operation
MP2300 MP2300

SGDS

SGDS

SGDS

SGDS

SGDS
SGDS

SGDS

SGDS

SGDS

SGDS

xxx xxx

X1 Y1 Z1 A1 B1 X1 Y1 Z1 A1 B1

( 3 ) Motion Program Execution Example

Motion programs are always called from H drawings using the MSEE command (motion program call command).
Motion programs can be called from any parent, child, or grandchild drawing in an H drawing.
The following figure shows an example of motion program execution.
System programs are
started according to
execution conditions.

Parent Drawings Child Drawings Grandchild Drawings Motion Programs

DWG.H DWG.H01 DWG.H01.01 MPM001
SEE SEE H01.01 VEL [a1]5000 [b1]..
H01 FMX T10000000;
MSEE IAC T25;
IDC T30;
MPM001
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
DEND .
END

MPM002
MSEE
MPM002

DEND END
Outline of Motion Control Systems
Subroutine
MPM003
MSEE MPS101
MPM003
MSEE
MPS101

DEND END RET

H drawing ladder commands are executed in hierarchical order i.e., parent drawings, child drawings, then grandchild
drawings each high-speed scan cycle.
Motion programs are also called each scan cycle, but unlike ladder programs, all motion programs cannot be executed
in one scan. For this reason, motion programs are executed and controlled by special system’s motion management
function.
Œ Ladder program MSEE commands cannot call motion program subroutines (MPS†††). Subroutines can be called 5
only from motion programs (MPM††† and MPS†††).
ΠThe same motion program or same subroutine can be called only once in one scan.

5-11
 5 Outline of Motion Control Systems
5.2.4 Motion Programs and MSEE and S Registers

5.2.4 Motion Programs and MSEE and S Registers

Motion program status, control signal, interpolation override, and system work number data is saved in four MSEE
registers (4 words) with a DA†††† (†: hexadecimal number) leading address. This data is called every time the
MSEE command is executed in an H drawing. Motion program execution information can be monitored in the S regis-
ters.
The following figure shows the method for executing motion programs. MSEE register details and S register descrip-
tions are also provided below from (1) onwards.

External ladder control

signal MSEE
• Operation start work registers
• Pause address
• Stop, etc. DA Status
DA+1 Control signal
DA+2 Interpolation override
DWG.H DA+3 System work number
(: hexadecimal number)
Ladder program for Execution control using
motion program control motion management function
Calling MSEE work
MPM001
registers
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
Motion
program No.
IDC T30;
. MOV [a1] 300. [b1]..
. MSEE work registers MVS [a1] 200. [b1]..
. leading address
. .
. .
. .
.
. .
DEND END

Motion program
ΠFor the meaning of register numbers and how to interpret them, refer to 5.3 Registers on page 5-21.

( 1 ) Motion Program Status Bits (DA†††††+0)

The leading word (DA†††††+0) in the MSEE work registers contains the motion program status bits for monitor-
ing execution status of the motion program.
The following table shows details of status bit.

Bit No. Status

0 Program running
1 Program paused
2 Program stopped by stop request (used by system)
3 (Used by system)
4 Single program block operation stopped
8 Program alarm
9 Stopped by brake point
B In debug mode (EWS debugging operation)
D Start request signal history
E No system work error
F Main program number exceeded error

ΠAlarm details are saved in the S registers.

5-12
 5.2 User Programs

( 2 ) Motion Program Control Signals (DA†††††+1)

Program control signals (e.g., program operation start requests and program stop requests) need to be entered to exe-
cute the motion program called from DWG.H using the MSEE command. The second word of the MSEE work regis-
ters (DA†††††+1) is the motion program control signal.
The following types of signals for controlling motion programs are available.

Bit No. Signal Name Signal Type

0 Program operation start request Differential or NO contact input
1 Program pause request NO contact
2 Program stop request NO contact
3 Program single block mode selection NO contact
4 Program single block start request Differential or NO contact input
5 Alarm reset request NO contact
6 Program continuous operation start request Differential or NO contact input
8 Skip 1 information NO contact
9 Skip 2 information NO contact
NO contact
OFF: The system will use the automatically obtained system work
D System work number setting
number. The system work number may be different each time.
ON: The work with the set system work number will be used.
NO contact
E Interpolation override setting OFF: Interpolation override 100% fixed
ON: Conforms to set interpolation override

These signals can perform run, stop, hold, and other controls for motion programs by entering from the ladder program
to the work register specified by the MSEE command +1.
Use signals conforming to the above signal types when writing ladder programs.
ΠMotion programs are executed if the program operation start request signal is ON when the power is turned ON
(e.g., when a start request signal is left in M register).

■ Timing Chart for Motion Program Control Signals

The following figure shows an example of a timing chart for motion program control signals.
Program Operation Start Request

Control signal: Operation start request

Status: Operating

Distribution Outline of Motion Control Systems

Pause Request

Control signal: Operation start request

Control signal: Pause request

Status: Operating One scan

Status: Paused

Distribution
5

5-13
 5 Outline of Motion Control Systems
5.2.4 Motion Programs and MSEE and S Registers

Stop Request

Control signal: Operation start

request
Control signal: Stop request

Control signal: Alarm clear

Status: Operating

Status: Stopped
One scan

Status: Alarm
One scan

Distribution (MVS)

Distribution (MOV)

ΠAn alarm will occur if the stop request is turned ON during axis operation using a motion command.

( 3 ) Interpolation Override (DA†††††+2)

The override when executing interpolation travel commands (setting; unit: 1 = 0.01%) is set in the third word of the
MSEE work registers (DA†††††+2).
This interpolation override is enabled only when the motion program control signal bit E (interpolation override set-
ting) is ON.

( 4 ) System Work Number (DA†††††+3)

The system work number n (setting range: 1 to 16) used when executing motion programs is set by the fourth word of
the MSEE work registers (DA†††††+3).
This system work number is enabled only when the motion program control signal bit D (system work number setting)
is ON. The status bit, bit E (No system work error), will turn ON if the work number setting is outside the setting range
or the specified system work is in use.

5-14
 5.2 User Programs

( 5 ) Monitoring Motion Program Execution Information Using S Registers

The S registers (SW03200 to SW04191) can be used to monitor motion program execution information.
■ Register Areas for Motion Program Execution Information
Motion program execution information Executing program number
SW03200 SW03200
Executing program number Program number used by work 1
(No. of main program currently SW03201 Program number used by work 2
executing) 16W
SW03216 SW03202 Program number used by work 3
Reserved by the system. 16W
SW03232 SW03203 Program number used by work 4
Executing Program Bit
(Executing when corresponding SW03204 Program number used by work 5
bit is ON) 16W
SW03205 Program number used by work 6
SW03248
Reserved by the system. 16W
SW03206 Program number used by work 7
SW03264
Program information used
58W SW03207 Program number used by work 8
by work 1
SW03222 SW03208 Program number used by work 9
Program information used by
58W
work 2 SW03209 Program number used by work 10
SW03380 Program information used by SW03210 Program number used by work 11
58W
work 3
SW03211 Program number used by work 12
SW03438
Program information used by
58W SW03212 Program number used by work 13
work 4
SW03496 SW03213 Program number used by work 14
Program information used by
58W
work 5 SW03214 Program number used by work 15
SW03554 SW03215
Program information used by Program number used by work 16
58W
work 6
SW03612
Program information used by 58W
work 7
SW03670
Program information used by
58W Executing program bit
work 8
SW03728 SW03232 MP016 (Bit15) to MP001 (Bit0)
Program information used by 58W
work 9 SW03233 MP032 (Bit15) to MP017 (Bit0)
SW03786
Program information used by SW03234 MP048 (Bit15) to MP033 (Bit0)
58W
work 10
SW03235 MP054 (Bit15) to MP049 (Bit0)
SW03844
Program information used by
58W SW03236 MP080 (Bit15) to MP055 (Bit0)
work 11
SW03902 SW03237 MP096 (Bit15) to MP081 (Bit0)
Program information used by
work 12
58W
SW03238 MP112 (Bit15) to MP097 (Bit0) Outline of Motion Control Systems
SW03960
Program information used by SW03239 MP128 (Bit15) to MP113 (Bit0)
58W
work 13
SW03240 MP144 (Bit15) to MP129 (Bit0)
SW04018
Program information used by 58W
work 14 SW03241 MP160 (Bit15) to MP145 (Bit0)

SW04076 SW03242 MP176 (Bit15) to MP161 (Bit0)

Program information used by 58W
work 15 SW03243 MP192 (Bit15) to MP177 (Bit0)
SW04134
Program information used by 58W SW03244 MP208 (Bit15) to MP193 (Bit0)
work 16
SW03245 MP224 (Bit15) to MP209 (Bit0)
SW04192
SW03246 MP240 (Bit15) to MP225 (Bit0)
Reserved by the system. 928W
SW03247 MP256 (Bit15) to MP241 (Bit0)
5
SW05120
Reserved by the system. 64W Note:  indicates M or S.

5-15
 5 Outline of Motion Control Systems
5.2.4 Motion Programs and MSEE and S Registers

■ Details of Program Information Used by Work n

Program information used by work n

+0
Program status
+1
Program control signal Executing program number
+2
Parallel 0 information 3W Executing block number
+5
Parallel 1 information 3W Error code

+8
Parallel 2 information 3W

+11 3W
Parallel 3 information
+14
Parallel 4 information 3W
+17
Parallel 5 information 3W

+20
Parallel 6 information 3W

+23
Parallel 7 information 3W

+26
Logical axis #1 program current position 2W
+28 Logical axis #2 program current position 2W
+30
Logical axis #3 program current position 2W
+32
Logical axis #4 program current position 2W
+34
Logical axis #5 program current position 2W
+36 Logical axis #6 program current position 2W
+38 Logical axis #7 program current position 2W
+40 Logical axis #8 program current position 2W
+42 Logical axis #9 program current position 2W
+44
Logical axis #10 program current position 2W
+46
Logical axis #11 program current position 2W
+48
Logical axis #12 program current position 2W
+50
Logical axis #13 program current position 2W
+52
Logical axis #14 program current position 2W
+54
Logical axis #15 program current position 2W
+56
Logical axis #16 program current position 2W

The monitoring method differs depending on the setting for bit D of the motion program control signal (system work
number setting).

5-16
 5.2 User Programs

[ a ] When Bit D of Motion Program Control Signal (System Work Number Setting) is ON
The execution information is reported to the “Program information used by work n” registers (SW03264 to SW04133).
For example, when the system work number is 1, the motion program execution information can be monitored using
SW03246 to SW03321 “Program information used by work 1.”

[ b ] When Bit D of Motion Program Control Signal (System Work Number Setting) is OFF
The system automatically determines the system work to be used. This means that the work being used can be checked
under “Executing program number” (SW03200 to SW03215).
For example, if the motion program to be monitored is MPM001, and SW03202 is 001, the number of the work being
used is 3. This means that the execution information for motion program MPM001 can be monitored using “Program
information used by work 3” (SW03380 to SW03437).

Outline of Motion Control Systems

5-17
 5 Outline of Motion Control Systems
5.2.5 Example of Ladder Programs for Motion Program Control

5.2.5 Example of Ladder Programs for Motion Program Control

The following figure shows the minimum ladder programming required for controlling motion programs.

Servo ON

Start program operation

Pause program

Stop program

Reset alarm

Clear alarm

The following table shows the details of the above ladder program.

Step No. Program Details

The servo ON signal (IB00100) sets the Servo ON motion settings parameter (OB80000) and
1
turns ON the Servo.
The signals connected to the MP2300 external input signals are stored as the motion program
control signals.
IW0000 (external input signal) → DW00001 (Second word of MSEE work registers)
2 to 10 • Start program operation
• Pause program
• Stop program
• Reset alarm
Calls motion program MPM001
MSEE MPM001 DA00000
11 (1) (2)
(1) Motion program number
(2) Leading MSEE work register address
Sets motion settings parameter Alarm Clear (OB0000F) using the alarm reset signal (IB00005)
12
and clears the alarm.

5-18
 5.2 User Programs

If the above ladder program is used to enter external input signals connected to the MP2300 (IB00000 to IB00005) to
DW00001 (second word of MSEE work registers) as the motion program control signals, motion program operations
such as run, pause, and stop can be performed using the system’s motion management function.

The following tables show an example of the minimum external input signals required to create the above ladder
program.

External
Signal External Signal Name Bit No. Motion Program Control Signal
Address
IB00000: Start program operation 0: Program operation start request
IB00001: Pause program 1: Program pause request
IB00002: Stop program 2: Program stop request
IB00005: Reset the alarm. 5: Alarm reset request

Outline of Motion Control Systems

5-19
 5 Outline of Motion Control Systems
5.2.6 Functions

5.2.6 Functions
Functions are executed by calling them from parent, child, or grandchild drawings using the FSTART command.
Functions can be called from any drawing, and the same function can be called at the same time from different types of
drawings and from different levels of drawings. Another completed functions can also be called from functions.
Using functions has the following advantages.
• Easier creation of user program components
• Easier writing and maintenance of user programs
Functions include standard system functions that are already in the system and user functions that are defined by the
user.

( 1 ) Standard System Functions

The transmission and other functions listed below are already created as standard system functions. Standard system
functions cannot be changed by users.

Type Name Symbol Contents

Counter COUNTER Incremental/decremental counter
First in/first out FINFOUT First in/first out
System functions

Trace function TRACE Data trace execution control

Data trace read DTRC-RD Reads data from data trace memory to user memory
Inverter trace read function ITRC-RD Reads trace data from inverter trace memory to user memory
Message send MSG-SND Sends messages to external communication devices
Message receive MSG-RCV Receives messages from external communication devices

( 2 ) User Functions
The functions (programs) and the function definitions can be changed (programmed) freely by users.
The maximum number of user functions that can be defined is 500 drawings.
ΠRefer to the following manuals for information on defining functions.
Machine Controller MP900/MP2000 Series User’s Manual Ladder Programming (SIEZ-C887-1.2)
Machine Controller MP900/MP2000 Series User’s Manual Motion Programming (SIEZ-C887-1.3)
Machine Controller MP900/MP2000 Series New Ladder Editor Programming Manual (SIEZ-C887-13.1)
Machine Controller MP900/MP2000 Series New Ladder Editor User’s Manual (SIEZ-C887-13.2)

5-20
 5.3 Registers

5.3 Registers
This section describes the types of registers used in MP2300 user programs (mainly ladder programs) and how to use
them.

5.3.1 Types of Registers

( 1 ) DWG Registers
Registers used by ladder programs (ladder drawings; DWG). Each drawing can use the registers outlined in the follow-
ing table.
Type Name Specification Method Range Details Characteristics
Registers provided by the system. SW00000 to
SB, SW, SL, SFnnnnn SW00000 to
S System registers SW00049 are cleared to all zeros when the
(SAnnnnn) SW08191
system starts.
MB, MW, ML,
MW00000 to Registers shared by all drawings. Used, e.g., as
M Data registers MFnnnnn
MW65534 an interface between drawings.
(MAnnnnn) Common to all
IB, IW, IL, IFhhhh IW0000 to drawings
I Input registers Registers used for input data.
(IAhhhh) IW7FFF
OB, OW, OL, OFhhhh OW0000 to
O Output registers Registers used for output data.
(OAhhhh) OW7FFF
Constants CB, CW, CL, CFnnnnn CW00000 to
C Registers that can only be called from programs.
registers (CAnnnnn) CW16383
Call-only registers Can be called only by
#B, #W, #L, #Fnnnnn #W00000 to
# # registers corresponding drawing. The usage range is set
(#Annnnn) #W16383
by the user using MPE720.
Unique to each
Internal registers unique to each drawing. Can be drawing
DB, DW, DL,
DW00000 to used only by corresponding drawing.
D* D registers DFnnnnn
DW16383 The usage range is set by the user using
(DAnnnnn)
MPE720.
Πn: Decimal number; h: Hexadecimal number
ΠB, W, L, F, and A: Data type (B: Bit, W: Integer, L: Double-length integer, F: Real number, A: Address. Refer to 5.3.2
Data Types and Register Specifications on page 5-24.)
* Up to 32 D registers (32 words, DW0000 to DW0031) can be used when creating drawings, but this can be changed
in the MPE720 Drawings Properties Window. Refer to the Machine Controller MP900/MP2000 Series User’s Manual
MPE720 Software for Programming Device (SIEPC88070005) for details.

ΠS and M register data has a battery backup to ensure the data is held even if the MP2300 power is turned
OFF and ON. Other register data is saved to flash memory, so when the MP2300 power is turned OFF to
ON, data saved to flash memory is read and data not saved to flash memory is lost. Outline of Motion Control Systems
It is recommended, therefore, that data to be held regardless of whether or not the power is turned OFF to
ON should be written to M registers if possible.

5-21
 5 Outline of Motion Control Systems
5.3.1 Types of Registers

( 2 ) Function Registers
The following table shows the registers that can be used with each function.
Type Name Specification Method Range Details Characteristics
Input to functions
Bit input: XB000000 to XB00000F
Function input XW00000 to
X XB, XW, XL, XFnnnnn Integer input: XW00001 to XW00016
registers XW00016
Double-length integer input: XL00001 to
XL00015
Output from functions
Bit output: YB000000 to YB00000F
Function output YW00000 to
Y YB, YW, YL, YFnnnnn Integer output: YW00001 to YW00016
registers YW00016
Double-length integer output: YL00001
to YL00015
Internal registers unique to each function
Internal function ZW0000 to
Z ZB, ZW, ZL, ZFnnnnn Can be used for function internal
registers ZW00063 Unique to each
processing.
function
External registers with the address input
External function AW0000 to value as the base address.
A AB, AW, AL, AFhhhh
registers AW32767 For linking with S, M, I, O, #, and
DAnnnnn.
Call-only registers
#B, #W, #L, #Fnnnnn #W00000 to Can be called only from the relevant
＃ # registers
(#Annnnn) #W16383 function. The usage range is set by the user
using MPE720.
Internal registers unique to each function.
DB, DW, DL, DFnnnnn DW00000 to Can be called only the relevant function.
D D registers
(DAnnnnn) DW16383 The usage range is set by the user using
MPE720.
SB, SW, SL, SFnnnnn
S System registers
(SAnnnnn)
MB, MW, ML,
M Data registers MFnnnnn
(MAnnnnn) Same as DWG registers
These registers are shared by drawings and functions. Pay attention to how
IB, IW, IL, IFhhhh
I Input registers these registers are to be used when calling the same function from a drawing of
(IAhhhh)
a different priority level.
OB, OW, OL, OFhhhh
O Output registers
(OAhhhh)
CB, CW, CL, CFhhhh
C Constants registers
(CAnnnn)
Πn: Decimal number; h: Hexadecimal number
ΠB, W, L, F, and A: Data type (B: Bit, W: Integer, L: Double-length integer, F: Real number, A: Address. Refer to 5.3.2
Data Types and Register Specifications on page 5-24.)
ΠSA, MA, IA, OA, DA, #A, and CA registers can be used within functions.

5-22
 5.3 Registers

( 3 ) Register Ranges in Programs

The following figure shows DWG programs, function programs, and register call ranges.

Common DWG registers

DWG H (drawing)

Program System registers

(SB, SW, SL, SFnnnnn)
(1)
1000 steps max.
(2)
Data registers
DWG registers (MB, MW, ML, MFnnnnn)

Constant data, 16384 words max.

(#B, #W, #L, #Fnnnnn)
Individual data, 16384 words max.
(DB, DW, DL, DFnnnnn)

FUNC-000 (function)
Input registers
(IB, IW, IL, IFnnnnn)
Program
(4)
Function external
1000 steps max.
registers
(AB, AW, AL, AFnnnnn)
(3)
(1)
Function individual registers Output registers
(OB, OW, OL, OFnnnnn)
Function input registers, 17 words
(XB, XW, XL, XFnnnnn)
Function output registers, 17 words
(YB, YW, YL, YFnnnnn)
Function internal registers, 64 words Constants registers
(ZB, ZW, ZL, ZFnnnnn) (CB, CW, CL, CFnnnnn)
Constant data, 16384 words max.
(#B, #W, #L, #Fnnnnn)
Individual data, 16384 words max.
(DB, DW, DL, DFnnnnn)
Outline of Motion Control Systems

(1): Registers that are common to all drawings can be called from any drawing or function.
(2): Registers that are unique to each drawing can be called only from within the drawing.
(3): Registers that are unique to each function can be called only from within the function.
(4): Registers that are common to all drawings and registers that are unique to each
drawing can be called from functions using the external function registers.

5-23
 5 Outline of Motion Control Systems
5.3.2 Data Types and Register Specifications

5.3.2 Data Types and Register Specifications

There are five kinds of data: Bit, integer, double-length integer, real number, and address data. Each is used differently
depending on the application. Address data, however, is used only inside functions when specifying pointers. The
following table shows the types of data.

Type Data types Numeric Value Range Remarks

B Bit 0，1 Used by relay circuits.
−32768 to +32767 Used for numeric value operations. The values in
W Integer
(8000H) (7FFFH) parentheses ( ) indicate use with logical operations.
Double-length −2147483648 to +2147483647 Used for numeric value operations. The values in
L
integer (80000000H) (7FFFFFFFH) parentheses ( ) are for use with logical operations.
F Real number ± (1.175E-38 to 3.402E+38), 0 Used for numeric value operations.
A Address 0 to 32767 Used only when specifying pointers.

A digit to indicate the bit (6) is added to

the register number (00100).

Data Types and Register

Specifications
[ MB001006 ] Bit type
Integer type
F E D C B A 9 8 7 6 5 4 3 2 1 0
[ MW00100 ]
[ ML00100 ]
[ MF00100 ]
[ MW00101 ]

[ MW00102 ]
[ ML00102 ]
[ MF00102 ]
[ MW00103 ]

Double-length and real

[ MB00103A ] Bit type
number type

Each register number A digit to indicate the bit (A) is added to The words for the given register number
is one word. the register number (00103). (00102) and the next number (00103) are
included. Therefore, every second number
is used.

5-24
 5.3 Registers

Pointer Specification

Register area
Address in

̖
memory

[ MA00100 ]

Indicates registers with consecutive

multiple addresses with MA00100

̖
as the leading address

Outline of Motion Control Systems

5-25
 5 Outline of Motion Control Systems
5.3.3 Using i and j Subscripts

5.3.3 Using i and j Subscripts

There are two special register modifiers, i and j, that can be used with relay and register numbers. The functions of i
and j are exactly the same. They are used for handling register numbers as variables.
Examples of each register data type are used to explain the use of i and j.

( 1 ) Bit Registers with Subscripts

These are the same as when i or j values

are added to relay numbers.
Equivalent For example, when i = 2, MB000000i is
the same as MB000002. And when j =
27, MB000000j is the same as
MB00001B.

( 2 ) Integer Registers with Subscripts

These are the same as when i or j values

are added to register numbers.
For example, when i = 3, MW00010i is
Equivalent
the same as MW00013. And when j =
30, MW00001j is the same as
MW00031.

( 3 ) Double-length Integers and Real Numbers with Subscripts

Double-length Integer Type Upper word Lower word These are the same as when i or j values are added
MW00001 MW00000 to register numbers. For example, when j = 1,
ML00000j when j = 0: ML00000 ML00000j is the same as ML00001. And when j =
MW00002 MW00001 1, MF00000j is the same as MF00001. For double-
ML00000j when j = 1: ML00001 length integers and real numbers, the word thet
indicates a register is the lower word. Caution is
Real Number Type Upper word Lower word required because this means that ML00001 and
MW00001 MW00000 MF00001 will be different when j = 0 and when j
MF00000j when j = 0: MF00000
=1 because the upper and lower words will differ
MW00002 MW00001 as shown in the following example.
MF00000j when j = 1: MF00001

Example Program Using Subscripts

The program shown to the left finds the total of

100 registers from MW00100 to MW00199, using
subscript j, and writes the total to MW00200.

5-26
 5.3 Registers

5.3.4 Register Specification Methods

Registers can be specified directly by register number or by symbol (register name) specification. A combination of
both of these register specification methods can be used in ladder programs.
When using the symbol specification method, the relationship between symbols and register numbers must be defined.
The following table shows the register specification methods.

Specification
Specification Example by Data Type
Method
Bit register: MB00100AX
Integer register: MW00100X
Register
Double-length integer register: ML00100X
number direct
Real number register: MF00100X
specification
Address register: MA00100X
X: When specifying subscripts, subscript i or j is added after the register number.
Bit register: RESET1-A.X
Integer register: STIME-H.X
Double-length integer registers: POS-REF.X
Real number registers: IN-DEF.X
Symbol
Address registers: PID-DATA.X
specification
↓
8 alphanumeric characters max.
X: When specifying subscripts, a period (.) is added after the symbol (8
alphanumeric characters max.) and then a subscript i or j is added.

Direct Specification of
Register Number

Register No.: V T No. Bit No. Subscript

Subscript i or j can be specified

When T = B (bit register) (hexadecimal: 0
to F)
Register number allocated for V
(decimal/hexadecimal)
Data type allocated by V (B, W, L, F, or A)
Register type
(DWG: S, M, I, O, C, #, or D)
(Function: S, M, I, O, C, #, D, X, Y, Z, or A)

Outline of Motion Control Systems

Symbol
Specification

Symbol: Symbol name Subscript

Subscript i or j can be specified

Required if using subscripts
Name for registers: 8 characters max.
X XXXXXXX
Alphanumeric characters or symbols
English characters or symbols
(Symbol names cannot start with numerals.)

5-27
 5 Outline of Motion Control Systems

5.4 Self-configuration
When the self-configuration function is implemented, the Machine Controller recognizes the mounted optional
modules, and automatically creates the Module Configuration Definition, Module Details Definition files of each
optional module. The self-configuration function greatly reduces the system startup time.
The following figure shows how the self-configuration function works.
<Execution of Self-configuration> The information is automatically written to the
Module Configuration Definition.

MP2300 SVB-01 218IF LIO-02

Detects details of mounted

optional modules

MECHATROLINK-II
The information is automatically written to the
Module Details Definition of optional modules.

The information is automatically written to the

MECHATROLINK Transmission Definition.

IO2310

Detects details of
slave devices

SGDS M

SGDH
NS115 M

Detects details of motion parameters

(SERVOPACKs, stepper motors)

The information is automatically written

to the SVB Definition.

Self-configuration can be executed by switch of Basic Modules, or by MPE720.

ΠRefer to 5.4.2 Execution Procedure for Self-configuration Using the DIP Switch and 5.4.3 Execution Procedure for
Self-configuration Using MPE720 for the procedure to execute the self-configuration.

5-28
 5.4 Self-configuration

5.4.1 Self-configuration Processing Procedure

Self-configuration collects MECHATROLINK transmission definition data and slave data using the following
procedure.
In the MP2300, the communication method is determined when the slave is detected, after which communication
method switching and slave detection are not performed. When not even a single slave station is detected,
MECHATROLINK-I communication continues.

Start self-configuration

Search for connected Connected device

devices using
MECHATROLINK-II 32-
byte Mode

No connected
device

Connected
Search for connected device
devices using
MECHATROLINK-II 17-
byte Mode

No connected device

No connected
device Search for connected
devices using
MECHATROLINK-I

Connected device

• Station data settings*

• Fixed parameter settings*
• Setting parameter settings*
• Save SERVOPACK parameters*

End self-configuration Outline of Motion Control Systems

ΠSlaves detection is performed for each communication in the following order: SERVOPACK, I/O, inverter.
ΠNo connection is detected for stations with disconnected cables, for which a communication error has
occurred, from which no response is received, or with the same station number as another station.
* Refer to 4.5 System Startup Using Self-Configuration and 4.1.5 MP2300 Self-configuration for information on
station data settings, fixed parameters settings, setting parameter settings, and saving SERVOPACK
parameters.

5-29
 5 Outline of Motion Control Systems
5.4.2 Execution Procedure for Self-configuration Using the DIP Switch

5.4.2 Execution Procedure for Self-configuration Using the DIP Switch

Self-configuration can be executed from the Basic Module DIP switch.

( 1 ) Executing Self-configuration for the First Time after Connecting Devices

Turn ON the power to the MP2300 and then use the procedure described below. With this operation, self-configuration
will be executed for all modules and all new definition files will be created. In addition, ladder drawings, functions, and
all registers will be cleared.
In the following procedure, it is assumed that the power supply to all Σ-III SERVOPACKs are already turned ON.

1. Turn OFF the power supply.

Turn OFF the 24-VDC power supply to the MP2300.

STOP
SUP 2. Set the DIP switch.
INIT Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300
CNFG
MON Basic Module to ON.
TEST
SW1

OFF ON 3. Turn ON the power supply.

Turn ON the 24-VDC power supply to the MP2300.

4. Check the LED indicators.

Check that the LED indicators on the MP2300 Basic Module change as
follows.
RDY RUN RDY RUN RDY RUN
ALM ERR ALM ERR ALM ERR
TX BAT TX BAT TX BAT

: Lit : Unlit : Blinking

STOP
SUP 5. Reset the DIP siwtch.
INIT
CNFG Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300
MON Basic Module to OFF.
TEST
SW1

OFF ON

5-30
 5.4 Self-configuration

( 2 ) Self-configuration after Adding Devices Such as SERVOPACKs

For self-configurations after having added network devices such as SERVOPACKs, leave the switch INIT to OFF in
step (2) of the above procedure, then perform the rest of the steps.
ΠFor network devices with existing definitions files, correctly connect and turn ON the power to the devices when
executing self-configuration.

ΠIf register allocations have been changed manually since the last time self-configuration was executed, the
register allocations will return to the default settings when self-configuration is executed again. If the SVR is
set to disabled (UNDEFINED), the setting will return to enabled. To keep the changed register allocations,
do not use self-configuration, but manually make the register allocations for added devices and refresh the
definitions file.

„ Power Restart and RAM data Clear

If the INIT switch on the DIP switch on the Basic Module is ON and the power is turned ON, RAM data will be cleared.
Also, flash memory data will be read and RAM data will be overwritten when the INIT switch is OFF and the power is turned
ON. In either case, the RAM data will be cleared by turning the power ON. Therefore, always save data to the MP2300 flash
memory before turning OFF the power when writing or editing programs.
For information on how to save data to flash memory, refer to 4.2.3 ( 1 ) Saving to Flash Memory on page 4-21 (MPE720 Ver
6.††) or 4.3.2 ( 6 ) Saving to Flash Memory on page 4-40 (MPE720 Ver 5.††).
„ Turning OFF Power After Executing Self-configuration
Do not turn OFF the 24-VDC power supply to the MP2300 after executing self-configuration until the definitions data has been
saved to flash memory in the MP2300. If the power is turned OFF somehow before the data is saved to flash memory, execute
self-configuration again.

Outline of Motion Control Systems

5-31
 5 Outline of Motion Control Systems
5.4.3 Execution Procedure for Self-configuration Using MPE720

5.4.3 Execution Procedure for Self-configuration Using MPE720

Executing self-configuration from the MPE20 allows not only self-configuration for all the Modules but also self-con-
figuration for individual Modules.

( 1 ) Self-configuration for All the Modules

Select Self Configure All Modules when executing the self-configuration for the first time after connecting devices.
ΠAfter having added or deleted Modules or devices, use the procedure described in (2) Self-configuration of Each
Module to detect the configuration. Executing Self Configure All Modules will overwrite the parameters that have
been set.

1. Start the Engineering Manager of MPE720.

■ MPE720 Ver 6.††

Start MPE720, and then open the target project file. Select Setup - Module configuration from the Launcher. Or,
double-click Module configuration in the System sub programs.

The Engineering Manager Window will open and the Module Configuration Window will appear.

■ MPE720 Ver 5.††

In the File Manager Window, double-click the Controller folder and double-click the Definition folder. Five
definition files will appear under the Definition folder. Double-click Module Configuration.

The Engineering Manager Window will open and the Module Configuration Window will appear.

5-32
 5.4 Self-configuration

2. Select Order - Self Configure All Modules from the main menu to execute self-configuration.

The RUN LED indicator will blink and a message indicating that the module configuration definitions are being
created will be dispayed. Once self-configuration has been completed, the message will disappear and the RUN
LED indicator will return to its original state.

3. Select File - Save & Save to FLASH to save the definitions data to the flash memory.

4. Right-click the No. 3 colum in the Module Details area and click MECHATROLINK on the pop-menu
that appears.

Outline of Motion Control Systems

The MECHATROLINK Window will appear.

5-33
 5 Outline of Motion Control Systems
5.4.3 Execution Procedure for Self-configuration Using MPE720

5. Select the Link Assignment Tab Page to display the devices currently connected to the Motion Board
(SERVOPACK SGDS on this window) and the station numbers for those devices.

After confirming the devices, click × to close the MECHATROLINK Window.

( 2 ) Self Configuration of Each Module

If devices are added, self-configuration can be executed separately for the Module (port) that has been changed.

1. Start the Engineering Manager of MPE720.

■ MPE720 Ver 6.††

Start MPE720, and then open the target project file. Select Setup - Module configuration from the Launcher. Or,
double-click Module configuration in the System sub programs.

The Engineering Manager Window will open and the Module Configuration Window will appear.

■ MPE720 Ver 5.††

Double-click the Controller folder and the Definition folder in the File Manager Window to display five defini-
tion files under the Definition folder. Double-click Module Configuration.

5-34
 5.4 Self-configuration

The Engineering Manager Window will start and the Module Configuration Window will appear.

2. Right-click the Module for which devices have been added and select Module Self Configuration
from the pop menu to execute self-configuration.

The RUN LED indicator will blink and a message indicating that the module configuration definitions are being
created will be dispayed. Once self-configuration has been completed, the message will disappear and the RUN
LED indicator will return to its original state.
ΠWhen MP2300 is selected as an individual module, executing Module Self Congifutation will configure all the
modules.

3. Select File - Save & Save to Flash from the main menu. A confirmation message will appear. Click
the Yes Button to save the module configuration definitions.

Outline of Motion Control Systems

5-35
 5 Outline of Motion Control Systems
5.4.4 Definition Data Refreshed by Self-configuration

5.4.4 Definition Data Refreshed by Self-configuration

The MP2300 Basic Module definition data refreshed when self-configuration is executed are shown below.

( 1 ) I/O Allocations
Item Allocation
Digital input (DI 18 points) IW0000
Digital output (DO 4 points) OW0001
Leading I/O registers: IW0010/OW0010
Ending I/O registers: IW040F/OW040F
MECHATROLINK
(Input registers: IW0010 to IW040F
Output registers: OW0010 to OW040F)

( 2 ) MECHATROLINK Transmission Definition Data

The following table shows the MECHATROLINK transmission definitions that are automatically set based on the
detected communication method and number of slaves.

MECHATROLINK-ΙΙ MECHATROLINK-ΙΙ
Communication type MECHATROLINK-Ι
(32-byte) (17-byte)
Transmission speed 10 Mbps 10 Mbps 4 Mbps
Transmission bytes
32 17 17
(transfer bytes)
Communication cycle 1 ms* 2 ms* 1 ms 2 ms
Maximum number of
* * 14 15 14
slave stations
Number of retry stations * * 1 0 –
SigmaWin Not supported Not supported –

Œ The communication cycle and number of retry stations in MECHATROLINK-ΙΙ 32-byte Mode change according to
the highest station number of the detected slaves as shown in the following table.

Highest Slave Station Communication

Number of Retry Station
Number Cycle (ms)
1 to 8 1 1
9 1 0
10 to 16 2 5
Determined by the following
17 to 21 2 equation.
21 - (Highest station number)

„ Slave Devices Not Recognized by Self-configuration

The following slave devices (I/O modules) are recognized as wildcard I/O (***** I/O) because they do not have a model code.
Make allocations again for these devices in the Module Configuration Window of the MPE720.
• JEPMC-IO350
• JAMSC-120DAI53330
• JAMSC-120DAI73330
• JAMSC-120DAO83330
• JAMSC-120DRA83030
Servos with special specifications and that cannot be automatically recognized are recognized as wildcard Servos
(*****SERVO). Make allocations again for these Servos in the Module Configuration Window of the MPE720.

5-36
 5.4 Self-configuration

( 3 ) Motion Parameters
When self-configuration is executed, the motion parameters are set from SERVOPACK data. Some of the parameters
are written to the SERVOPACK’s RAM.
For details of this data, refer to 11.6.5 Parameters Updated during Self-configuration in the Machine Controller
MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual (Manual No.:SIEPC80070033).

( 4 ) SERVOPACK Parameters
When self-configuration is executed, SERVOPACK parameters are written to the SERVOPACK’s EEPROM or RAM.
These settings, however, are not written to the set values for the SERVOPACK parameters saved in the MP2300 and
SVB-01 Module.
For details of the data that is written, refer to 11.6.5 Parameters Updated during Self-configuration in the Machine
Controller MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual (Manual No.:SIEPC80070033).
ΠTo save the SERVOPACK parameters to the MP2300 Basic Module, MPE720 must be used. For details, refer to
4.3.2 ( 5 ) Making Servo Adjustments and Saving SERVOPACK Parameters on page 4-38.

Outline of Motion Control Systems

5-37
 5 Outline of Motion Control Systems
5.5.1 Precautions when Setting or Changing User Definition Files

5.5 Precautions When Using the MP2300

This section describes precautions for setting or changing user definition files and for setting the scan times.

5.5.1 Precautions when Setting or Changing User Definition Files

User definition files (system settings, scan time settings, and module configuration definitions) must be saved to flash
memory (Save & Save to Flash).
Use the MPE720 to set or change these user definition files. Be sure to save the results to flash memory. If data is not
saved to flash memory, the settings and changes will be lost when the power supply to the MP2300 is turned OFF and
ON.
<When Using MPE720 Ver 6.††>
System Setting (Select File - Environment Setting - Setup - System Setting from the menu bar.)

Scan Time Setting (Select File - Environment Setting - Setup - Scan Time Setting from the menu bar.)

5-38
 5.5 Precautions When Using the MP2300

<When Using MPE720 Ver 5.††>

User Definition Files

5.5.2 Precautions when Setting or Changing Module Configuration Definition Files

Observe the following precautions when setting or changing module configuration definition files.
• Always check to make sure that the mounted Module is the one that is defined.
• Be sure to save any new settings or changes to flash memory.
• After the settings or changes have been completed, turn the power supply to the MP2300 OFF and ON.

Outline of Motion Control Systems

Fig. 5.3 Module Configuration Definition Window

5-39
 5 Outline of Motion Control Systems
5.5.3 Setting and Changing the Scan Time

5.5.3 Setting and Changing the Scan Time

( 1 ) Precautions When Setting or Changing the Scan Time

Scan time can be set or changed in the following window.
<When Using MPE720 Ver 6.††>
Scan Time Setting (Select File - Environment Setting - Setup - Scan Time Setting from the menu bar.)

<When Using MPE720 Ver 5.††>

Scan Time Setting (Double-click Scan Time Setting in the Definition Folder in the File Manager Window.)

Observe the following precautions when setting or changing the scan time.
• Set the set values of the scan time for both the high-speed (H) and low-speed (L) scans to at least the maximum time
required to execute the scans. We recommend setting the set values of the scan time using the formula (set value −
maximum time to execute scan) ≥ (0.2 × set values of the scan time), i.e., setting the set values of the scan time to at
least 1.25 times the maximum times required to execute the scans.
ΠIf the scan time is set too close to the maximum execution time for the scan, the refresh time for the screen on
the MPE720 will be very slow and communication timeouts may occur. If the maximum execution time exceeds
the scan time set value, a watchdog timer timeout error will occur and the MP2300 system will stop.
• Set the set values of the high-speed (H) and low-speed (L) scan time to an integral multiple of the
MECHATROLINK communication cycle (1 or 2 ms) set in the MP2300. Always check the set values of the scan
time after changing the MECHATROLINK communication cycle.
• Do not change the scan time set value while the Servo is ON. Never change the setting while the axis is moving
(while the motor is running). Otherwise an error may occur during motor operation (e.g., high-speed rotation).
• When the scan time is set or changed, be sure to save the data to flash memory.

5-40
 5.5 Precautions When Using the MP2300

( 2 ) Scan Time Set Value Examples

■ 0.8-ms Maximum Scan Time and 1-ms Communication Cycle (MECHATROLINK-ΙΙ Only)
High-speed (or low-speed) scan set value ≥ 1.25 × 0.8 (= 1 ms)
High-speed (or low-speed) scan set value = 1 ms, 2 ms, 3 ms, etc. (an integral multiple of at least 1 ms)

■ 1.4-ms Maximum Scan Time and 1-ms Communication Cycle (MECHATROLINK-ΙΙ Only)
High-speed (or low-speed) scan set value ≥ 1.25 × 1.4 (= 1.75 ms)
High-speed (or low-speed) scan set value = 2 ms, 3 ms, etc. (an integral multiple of at least 2 ms)

■ 0.8-ms Maximum Scan Time and 2-ms Communication Cycle (MECHATROLINK-Ι or

MECHATROLINK-ΙΙ)
High-speed (or low-speed) scan set value ≥ 1.25 × 0.8 (= 1 ms)
High-speed (or low-speed) scan set value = 1 ms, 2 ms, 4 ms, etc. (an integral multiple of 2 ms at 1 ms and 2 ms or
higher)

■ 1.4-ms Maximum Scan Time and 2-ms Communication Cycle (MECHATROLINK-Ι or

MECHATROLINK-ΙΙ)
High-speed (or low-speed) scan set value ≥ 1.25 × 1.4 (= 1.75 ms)
High-speed (or low-speed) scan set value = 2 ms, 4 ms, etc. (an integral multiple of 2 ms at 2 ms or higher)

Outline of Motion Control Systems

5-41
 6
Maintenance and Inspection

This chapter explains daily and regular inspection items to ensure that the MP2300 can always
be used at its best conditions.

6.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3

6.2 Replacing the Basic Module Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.2.1 Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.3 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5

6.3.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
6.3.2 MP2300 Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
6.3.3 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.4 Troubleshooting System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.4.1 Outline of System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.4.2 Accessing System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.4.3 Troubleshooting When ERR is Lit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.4.4 Troubleshooting When ALM is Lit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.4.5 System Register Configuration and Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14

6.5 Motion Program Alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24

6.5.1 Motion Program Alarm Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.5.2 Motion Program Alarm Code List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24

6.6 List of Causes for Command Error Occurrence - - - - - - - - - - - - - - - - - - - 6-26

Maintenance and Inspection

6.7 Troubleshooting Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30

6.7.1 Overview of Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
6.7.2 Motion Error Details and Corrections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
6.7.3 Servo Driver Status and Servo Driver Error Codes - - - - - - - - - - - - - - - - - - - - - - - - - 6-36

6-1
 6 Maintenance and Inspection
6.1.1 Daily Inspections

6.1 Inspection Items

This section summarizes daily and regular inspection items that must be performed by the customer.

6.1.1 Daily Inspections

The following table lists the daily inspection items.
No. Inspection Item Inspection Details Criteria Action
Check the mounting screws for
Installation conditions of The screws and covers must be
1 looseness. Check whether the Retighten the screws.
Module, etc. secured correctly.
covers are all in place.
Check the terminal screws for
The screws must be tight. Retighten the screws.
looseness.
Check the connectors for
2 Connection conditions The connectors must be tight. Retighten the connector set screws.
looseness.
Check the gap between crimp There must be an appropriate
Correct as necessary.
terminals. gap between the terminals.
The indicator must be lit. (It is
Check whether the indicator is
RDY abnormal if the indicator is not
lit.
lit.)
Check whether the indicator is lit The indicator must be lit. (It is
RUN while the system is in RUN abnormal if the indicator is not
state. lit.) Refer to 6.3.3 LED Indicators on
The indicator must be not lit. (It page 6-7.
Check whether the indicator is
ERR is abnormal if the indicator is
not lit.
LED lit.)
3
Indicators The indicator must be not lit. (It
Check whether the indicator is
ALM is abnormal if the indicator is
not lit.
lit.)
The indicator must be lit. (It is
Check whether the indicator
TX abnormal if the indicator is not
lights during communication.
lit.)
The indicator must be not lit.
Check whether the indicator is
BAT (The battery voltage is too low if Replace the battery.
not lit.
the indicator is lit.)

6-2
 6.1 Inspection Items

6.1.2 Regular Inspections

This section explains inspection items that must be performed once or twice every six months to one year.
Inspections must also be performed when the equipment is relocated or modified or when the wiring is changed.

PROHIBITED
• Do not replace the built-in fuse.
If the customer replaces the built-in fuse, the MP2300 may malfunction or break down.
Contact your Yaskawa representative.

Inspection Item Inspection Details Criteria Action

Ambient temperature Check the temperature and 0°C to 55°C If the MP2300 is used
Operating Ambient humidity humidity with a thermometer 30% to 95% inside a panel, treat the
environment and hygrometer, respectively. There must be no corrosive temperature inside the panel
Atmosphere Check for corrosive gases. as the ambient temperature.
gases.
Power supply Measure the voltage between Change the power supply as
PS Module 19.2 to 28.8 VDC
voltage check 24-VDC terminals. necessary.
Looseness and excess The Module must be secured
Attempt to move the Module. Retighten the screws.
play properly.
Installation
conditions The Module must be free
Dust and other foreign
Visually check. from dust and other foreign Clean.
matter
matter.
Check the terminal Check by retightening the
The screws must be tight. Retighten.
screws for looseness. screws.
Connection Gap between crimp There must be an appropriate
Visually check. Correct.
conditions terminals gap between the terminals
Looseness of Retighten the connector set
Visually check. The screws must be tight.
connectors screws.
Check the BAT indicator on
The BAT indicator must be If the BAT indicator is lit,
Battery the front panel of the Basic
not lit. replace the battery.
Module.

Maintenance and Inspection

6-3
 6 Maintenance and Inspection
6.2.1 Procedure

6.2 Replacing the Basic Module Battery

The Basic Module has one replaceable built-in battery. This battery is used to back up data to prevent the data
stored in the memory from being lost when power is interrupted (e.g., when the power supply to the Basic
Module is turned OFF).
The built-in battery can retain the contents of the memory until the total time of power interruptions reaches one year.
The warranty period of the battery is five years from the date of purchase. These values, however, differ according to
the operating conditions, including the ambient temperature.
If the BAT indicator on the Basic Module lights, replace the battery with a replacement battery (JZSP-BA01) within
two weeks. Any delay in battery replacement will result in the data stored in the memory being lost.
The appearance of the battery is illustrated below.

LiTHIUM

Red lead Black lead

Fig. 6.1 JZSP-BA01 (Battery with Cable)

ΠThis battery is not commercially available. Contact your Yaskawa representative.

6.2.1 Procedure

CAUTION
ΠThere is danger of electric shock if the battery is not replace correctly. Furthermore, machine malfunction may
occur, the operator may be injured, or the machine may be damaged. Allow only a qualified technician trained
in safety procedures to replace the battery.
ΠWhen replacing the battery, always do so with power supplied to the Basic Module. If power to the Basic
Module is turned OFF when the battery is replaced, data stored in the memory in the Module may be lost.
ΠDo not touch the battery electrodes. The battery may be destroyed by the static electricity.

1. Save the data stored in the Motion Board to your computer using the MPE720.
• MPE720 Ver 5.††: Right-click the Controller Folder, and select Transfer-All Files-From Controller to MPE720.
• MPE720 Ver 6.††: Open the Project File, and select Online - Transfer - Read from Controller.
This data is used to restore any data accidently lost during battery replacement.

2. Check that the RDY indicator on the MP2300 Basic Module is lit.

3. Open the battery cover on the unit front surface.

4. Remove the connector on the end of lead of the built-in battery from the connector on the MP2300
Basic Module. Then, remove the built-in battery from the battery holder.

5. Insert securely the connector on the end of the lead of the replacement battery into the connector on
the MP2300. Then, insert the replacement battery into the battery holder.

6. Check if the BAT indicator on the MP2300 is unlit.

7. Close the battery cover. This completes replacing the battery.

6-4
 6.3 Troubleshooting

6.3 Troubleshooting
This section describes the basic troubleshooting methods and provides a list of errors.

6.3.1 Basic Flow of Troubleshooting

When problems occur, it is important to quickly find the cause of the problems and get the system running again as
soon as possible. The basic flow of troubleshooting is illustrated below.

Step 1 Visually confirm the following items.

ΠMachine movement (or status if stopped)
ΠPower supply
ΠI/O device status
ΠWiring status
ΠIndicator status (LED indicators on each Module)
ΠSwitch settings (e.g., DIP switches)
ΠParameter settings and program contents

Monitor the system to see if the problem changes for

Step 2
the following operations.
ΠSwitching the Controller to STOP status
ΠResetting alarms
ΠTurning the power supply OFF and ON

Determine the location of the cause from the results

Step 3
of steps 1 and 2.
ΠController or external?
ΠSequence control or motion control?
ΠSoftware or hardware?

Maintenance and Inspection

6-5
 6 Maintenance and Inspection
6.3.2 MP2300 Error Check Flowchart

6.3.2 MP2300 Error Check Flowchart

Find the correction to the problem using the following flowchart if the cause of the problem is thought to be the
MP2300 or SERVOPACK.

START

Is an ERR, ALM, or BAT LED lit on the YES

Basic Module front panel? See 6.3.3 LED Indicators.

NO

NO
Is a motion program being used?

YES

Check the MSEE instructions in the ladder program

to see the contents of the 1st word (status flag) of
work registers of all motion programs that are
used.(*1)

Is there any motion program whose NO

status flag bit 8 is ON ?㩷(a)
YES

Check the contents of the 2nd word (control

signal)(*2) of the MSEE work register of the
motion program that is applied to (a).

NO
Is bit D of the control signal ON?

YES
Check all the main program numbers
Check the contents of the 4th word (system in execution 㩿SW03200 to SW03215䋩
(∗4)
work number)(*3) of the MSEE work register of 㩷to learn the system work number
the motion program that is applied to (a) to that stores the motion program applied
learn the system work number. to (a).

Display the following registers of the

Display the contents of the alarm code㩷in motion monitoring parameter of the axis
hexadecimal (HEX) on the register list by being used to learn the error details.
using the system work number(∗5) 䊶 Warning (IL02)
䊶 Alarm (IL04)
䊶 Command error completed status
㩷㩷㩷㩷㩷㩿IW09 Bit3㪀
Check the alarm code to find the cause.
䊶 Servo driver status (IW2C)
䊶 Servo driver alarm code䋨IW2D䋩
See 6.5.2 Motion Program Alarm Code
See 6.7.2 Motion Error Details and
List.
Corrections.

* 1. Under each MSEE instruction in ladder programs, the motion program number that is used and the MSEE work leading
register number are displayed.
When bit 8 (status flag: See 5.2.4 ( 1 ) Motion Program Status Bits (DA†††††+0)) of the 1st word of the MSEE
work leading register is ON, a motion program alarm is occurring. (For information on how to read the register list,
refer to 6.4.2 Accessing System Registers.
<Example> In the figures below, when the MSEE instruction shown on the left is executed in a ladder program,
DW00000 is the MSEE work leading register number. Therefore, if bit 8 of DW00000 is ON, it means that a motion
program alarm is occurring.
When the motion program number is indicated by a register number as shown on the right, check the corresponding
register to learn the motion program number.

* 2. For details on control signals, refer to 5.2.4 ( 2 ) Motion Program Control Signals (DA†††††+1).
* 3. For details on system work number, refer to 5.2.4 ( 4 ) System Work Number (DA†††††+3).

6-6
 6.3 Troubleshooting

* 4. For information on the relationship between the registers from SW03200 to SW03215 and system work numbers,
refer to 6.4.5 ( 9 ) Motion Program Execution Information.
* 5. An alarm code of a motion program can be obtained from the program information used by work (58 words). Get the
system work number first and then the alarm codes, referring to 6.4.5 ( 9 ) Motion Program Execution Information.
The alarm code is written in each set of parallel information. If no parallel execution instruction such as PFORK,
JOINTO, and PJOINT is used, the alarm code is stored in the parallel 0 information.

6.3.3 LED Indicators

( 1 ) LED Indicators
The status of the LED indicators on the front of the MP2300 Basic Module can be used to
determine the error status and meaning.
RDY RUN
The locations in the program that need to be corrected can be determined by using the LED
ERR ALM
indicator status to determine the general nature of the error, using the contents of system (S)
TRX BAT
registers to check drawings and function numbers causing the error, and knowing the meaning
of operation errors.

( 2 ) LED Indicator Meanings

The following table shows how to use the LED indicators to determine the operating status of the MP2300, as well as
relevant error information when the LED indicator status indicates an error.
LED Indicator
Classification Indicator Details Countermeasures
RDY RUN ALM ERR BAT
Not lit Not lit Lit Lit Not lit Hardware reset status Usually the CPU will start within
Not lit Not lit Not lit Not lit Not lit Initialization 10 seconds. If this status continues for
more than 10 seconds, either a
program error or hardware failure has
Not lit Lit Not lit Not lit Not lit Drawing A (DWG.A) being executed. occurred. Refer to 6.4 Troubleshoot-
ing System Errors on page 6-9 and
correct any system errors.
Normal This status occurs
operation
• When the stop operation is executed
User program stopped. from the MPE720
Lit Not lit Not lit Not lit Not lit
(Offline Stop Mode) • When the STOP switch is turned
ON
This status does not indicate an error.
User program being executed
Lit Lit Not lit Not lit Not lit This is the normal status.
normally.

Maintenance and Inspection

6-7
 6 Maintenance and Inspection
6.3.3 LED Indicators

(cont’d)
LED Indicator
Classification Indicator Details Countermeasures
RDY RUN ALM ERR BAT
Refer to 6.4.3 Troubleshooting When
Not lit Not lit Not lit Lit Not lit A serious error has occurred.
ERR is Lit on page 6-12.
Refer to 6.4.4 Troubleshooting When
No lit Not lit Lit Not lit Not lit A serious error has occurred.
ALM is Lit on page 6-13.
Software Error
Number of LED blinks indicates error
type.
3: Address error (read) exception
4: Address error (write) exception
5: FPU exception
6: Illegal general command
exception
7: Illegal slot command exception
Not lit Not lit Not lit Blinking Not lit 8: General FPU inhibited exception
Errors 9: Slot FPU inhibited exception
10: TLB multibit exception
11: LTB error (read) exception A hardware error has occurred.
12: LTB error (write) exception Replace the Module.
13: LTB protection volation (read)
exception
14: LTB protection volation (write)
exception
15: Initial page write exception
Hardware Error
Number of LED blinks indicates error
type.
Not lit Not lit Blinking Blinking Not lit 2: RAM diagnostic error
3: ROM diagnostic error
4: CPU function diagnostic error
5: FPU function diagnostic error
− − − − Lit Battery alarm Replace the memory storage battery.
Warnings Operation error Refer to 6.4.4 Troubleshooting When
Lit Lit Lit Not lit Not lit
I/O error ALM is Lit on page 6-13.

6-8
 6.4 Troubleshooting System Errors

6.4 Troubleshooting System Errors

This section provides troubleshooting information for system errors.

6.4.1 Outline of System Registers

The LED indicators on the front of the Basic Module can be used to determine MP2300 operating status and error
status. To obtain more detailed information on errors, the system (S) registers can be used. A detailed check of the
contents of system registers can be used to determine the location of the error and take the corrective measures.
The following table shows the overall structure of the system registers. Refer to the sections given on the right for
details.

SW00000 System Service Register

SW00030 System Status → 6.4.5 ( 1 ) System Status on page 6-14
SW00050 System Error Status → 6.4.5 ( 2 ) System Error Status on page 6-15
6.4.5 ( 3 ) Ladder Program User Operation Error Status on
SW00080 User Operation Error Status →
page 6-16
SW00090 System Service Execution Status → 6.4.5 ( 4 ) System Service Execution Status on page 6-19
6.4.5 ( 3 ) Ladder Program User Operation Error Status on
SW00110 User Operation Error Status Details →
page 6-16
SW00190 Alarm Counter and Alarm Clear → 6.4.5 ( 5 ) Alarm Counter and Alarm Clear on page 6-19
SW00200 System I/O Error Status → 6.4.5 ( 6 ) System I/O Error Status on page 6-19
SW00500 Reserved by the system.
SW00698 Interrupt Status
SW00800 Module Information → 6.4.5 ( 8 ) MP2300 Module Information on page 6-22
SW01312 Reserved by the system.
SW02048 Reserved by the system.
SW03200 Motion Program Information → 6.5 Motion Program Alarms on page 6-24
SW05200
Reserved by the system.
to SW08191

Maintenance and Inspection

6-9
 6 Maintenance and Inspection
6.4.2 Accessing System Registers

6.4.2 Accessing System Registers

To access the contents of system registers, start the MPE720 Programming Tool and use the Register List or Quick Ref-
erence function.
The method to display a register list differs depending on the MPE720 version number, Ver 6.†† or Ver 5.††. The
method for each version is described below.

( 1 ) Displaying a Register List (MPE720 Ver 6.††)

Use the following procedure to display a register list.

1. Open the Register List Sub-window from the MPE720 Ver 6.†† Main Window.
The Register List 1 Tab is provided by default in the sub-window displayed on the bottom of the screen.

2. Enter the leading register number of the system register “SW†††††” to be accessed in the
Register input field. The contents of the system register will be displayed starting from the leading reg-
ister number.

ΠThe data type is set by default to decimal. Place the cursor anywhere on the list, and then right-click. Select
Hex (hexadecimal) from the pop-up menu that will appear. The data will then be displayed in hexadecimal.

( 2 ) Displaying a Register List (MPE720 Ver 5.††)

Use the following procedure to display the MPE720 Ver 5.†† register list.

1. Select File − Open − Tool − Register List from the MPE720 Ver 5.†† main menu of Engineering
Manager Window to open the Register List Window.

ΠRefer to 4.3.2 ( 4 ) Set and Save Motion Fixed Parameters on page 4-36 for details on how to display the Engi-
neering Manager Window.

6-10
 6.4 Troubleshooting System Errors

2. Select View Mode − HEX from the main menu to change the view mode to hexadecimal.

3. Input the register number of the first system register to be accessed for Register, input the register
number of the last system register to be accessed for /D, and click anywhere in the list. The contents of
the specified range of register numbers will be displayed.

( 3 ) Displaying a Register List with the Quick Reference (MPE720 Ver 5.††)
Register lists can also be accessed with the Quick Reference.

1. Select View − Quick Reference from the main menu of MPE720 Engineering Manager Window.

The Quick Reference will be displayed at the bottom of the Engineering Manager Window.
ΠRefer to 4.3.2 ( 4 ) Set and Save Motion Fixed Parameters on page 4-36 for details on how to display the
Engineering Manager Window.

2. Click the Register List Tab to switch to the register list.

Maintenance and Inspection

3. Input the register number of the first system register to be accessed for Register, input the register
number of the last system register to be accessed for /D, and click anywhere in the list. The contents of
the specified range of register numbers will be displayed.

6-11
 6 Maintenance and Inspection
6.4.3 Troubleshooting When ERR is Lit

6.4.3 Troubleshooting When ERR is Lit

When the ERR lamp of the LED indicators on the front panel of MP2300 lights up, occurrence of a serious failure,
hardware failure or user program error is likely. Stop the MP2300 by setting the DIP switch No. 6 (STOP) of SW1 to
ON, and then investigate the cause using the following flowchart.

START

Check SW00050

NO
SW00050 = 0001H? Replace the Module.
(Hardware failure)
YES
(Watchdog timer timeout)

Check SW00055 YES

(Hardware failure)

NO Check the scan time setting Is the set scan NO

SW00055 = 0000?
(System error)
 time correct?
YES
(User program error)
NO ࡮Check SW00055 to learn the
SW00055 = 0008H? Increase the scan
(The faulty program is drawing type, H, L, I, or A.
time.
YES a drawing.) ࡮Check SW00056 to learn the
(The faulty program is a function) drawing number.

Check to see that SW00056 = 8000H.

Check the drawing that may be the
cause.
If no error is found in the drawing,
Check SW00057 to learn the type of check the set scan time.

drawing (H, L, I, A, or function) that
references the function.

NO (The reference source is a function)

SW00057 = 0008H?

YES (The reference source is a drawing)

Check SW00058 to learn the number of

the drawing that references the function.

Open the drawing that is the reference

source by using the MPE720 ladder Check SW00059 to learn the step
editor.
number that references the function.

Check SW00059 to learn the step

number that references the function. Check all functions to see if there is
a function that is referenced in the
step number, because the function from
Find the function name that is written which the step number is referenced
in the step number. could not be specified.

Check the contents of the function, and correct the error.

(Check to see if there is an error such as infinite loop that may cause a watchdog timer
timeout.)
If no error is found in the function, check the set scan time


ΠFor details on the system registers from SW00050 to SW00059, refer to 6.4.5 ( 2 ) System Error Status.
ΠRefer to 5.5.3 ( 1 ) Precautions When Setting or Changing the Scan Time for precautions when setting the scan
time.

6-12
 6.4 Troubleshooting System Errors

6.4.4 Troubleshooting When ALM is Lit

When the ALM lamp (or RDY, RUN, and ALM lamps) of the LED indicators on the front panel of MP2300 lights up,
occurrence of a serious failure (hardware failure, user operation error, or I/O error) is likely. Stop the MP2300 by set-
ting the DIP switch No. 6 (STOP) of SW1 to ON, and investigate the cause using to the following flowchart.

START

Check SW00041(∗1)

NO NO
SW00041 bit 8 = 1? SW00041 bit 9 = 1? Replace the Module.
(Hardware failure)
YES (User operation error) YES
(I/O error)
a) Check the registers from SW00080VQ
SW00088 to find the drawing type in Check the I/O error status
which the error count increased.(∗2) (SW00200 to SW00247) to
find the error and correct
it.(∗4)
b) Check the following register of the
drawing type specified in a) to learn the
error code(∗3)
DWG.A : SW00111
DWG.I : SW00127
DWG.H : SW00143
DWG.L : SW00175

Check the following register of the drawing

type specified in a) to learn the error DWG
number(∗3)
DWG.A : SW00122
DWG.I : SW00138
DWG.H : SW00154
DWG.L : SW00186

NO (Operation error inside drawing)

Is the drawing number 8000H?

YES (Operation error inside function)

Check the following register of the Open the faulty drawing by

drawing type specified in a) to learn
using the MPE720 ladder editor.
the reference source drawing number (∗3)
DWG.A : SW00123
DWG.I : SW00139
DWG.H : SW00155 Check the drawing to find the cause of
DWG.L : SW00187 the error code found in b), and correct the
error.

Open the reference source drawing

by using the MPE720 ladder editor.

Check the following register of the drawing

type specified in a) to find the step number
of the reference source drawing number (∗3)
Maintenance and Inspection

DWG.A : SW00124
DWG.I : SW00140
DWG.H : SW00156
DWG.L : SW00188

Check the functions written in the step

number to find the cause of the error code
found in b) and correct the error.

* 1. For details on SW00041, refer to 6.4.5 ( 2 ) System Error Status.

* 2. For details on the system registers from SW00080 to SW00088, refer to 6.4.5 ( 3 ) [ a ] Ladder Program User Oper-
ation Error Status 1.
* 3. For details on the system registers from SW00110 to SW00188, refer to 6.4.5 ( 3 ) [ b ] Ladder Program User Oper- 6
ation Error Status 2.
* 4. For details on the system registers from SW00200 to SW00247, refer to 6.4.5 ( 6 ) System I/O Error Status.

6-13
 6 Maintenance and Inspection
6.4.5 System Register Configuration and Error Status

6.4.5 System Register Configuration and Error Status

( 1 ) System Status
System operating status and error status is stored in registers SW00040 to SW00048. Checking of system status details
are used to determine whether hardware or software is the cause of an error.

Name Register No. Description

SW00030
Reserved by
to –
the system.
SW00039
0: Failure
SB000400 READY
1: Normal
SB000401 RUN 0: Stopped, 1: Running
SB000402 ALARM 0: Normal, 1: Alarm
SB000403 ERROR 0: Normal, 1: Error
SB000404 Reserved by the system.
SB000405 Reserved by the system.
CPU Status SW00040 SB000406 FLASH 1: Flash operation
SB000407 WEN 0: Write-disabled, 1: Write-enabled
SB000408
to Reserved by the system.
SB00040D
SB00040E Operation Stop Request 0: RUN selection, 1: STOP selection
0: STOP
SB00040F Run Switch Status at Power ON
1: RUN
1: WDGE, undefined command
SB000410 Serious Failure
See SW00050 for details.
SB000411 Reserved by the system.
SB000412 Reserved by the system.
SB000413 Exception Error
CPU Error SB000414
SW00041 to Reserved by the system.
Status
SB000417
SB000418 User operation error 1: User operation error
SB000419 I/O Error 1: I/O error
SB00041A
to Reserved by the system.
SB00041F
H Scan Over
SW00044 –
Counter
L Scan Over
SW00046 –
Counter
SB000470
Reserved by
SW00047 to Reserved by the system.
the system.
SB00047F
SB000480 TEST
SB000481 MON
SB000482 CNFG
DIP switch alarms
SB000483 INIT
0: ON, 1: OFF
Hardware SB000484 SUP
Configuration SW00048 SB000485 STOP
Status
SB000486 －
SB000487 Battery Alarm
SB000488
to Reserved by the system.
SB00048F

6-14
 6.4 Troubleshooting System Errors

(cont’d)
Name Register No. Description
SW000490
Reserved by
SW00049 to Reserved by the system.
the system.
SW00049F

( 2 ) System Error Status

System error status is stored in registers SW00050 to SW00060.
Name Register No. Description
0001H Watchdog timer over error
0041H ROM diagnosis error
0042H RAM diagnosis error
0043H CPU diagnosis error
0044H FPU diagnosis error
00E0H Address read execption error
SW00050 0100H Address write execption error
32-bit Error Code
0120H FPU exception error
0180H Illegal general command error
01A0H Illegal slot command error
01E0H User break after command execution
0800H General FPU inhibited exception error
0820H Slot FPU inhibited exception error
SW00051 For system error analysis
32-bit Addresses SW00052
For system error analysis
Generating Error SW00053
Ladder Program 0000H: System 0002H: DWG.I
SW00054 0005H: DWG.L
Error Task 0001H: DWG.A 0003H: DWG.H
0002H: DWG.I
Ladder Program 0000H: System 0008H: Function
SW00055 0003H: DWG.H
Type 0001H: DWG.A 000FH: Motion program
0005H: DWG.L
Ladder program parent drawing: FFFFH
Ladder Program Ladder program function: 8000H
Error Drawing SW00056 Ladder program child drawing: ††00H（H††: Child drawing number）
Number Ladder program grandchild drawing: ††yyH（Hyy: Grandchild drawing number）
Motion program: F0††H (H††: Program number)
Type of drawing that calls the ladder program function in which an error occurred.
Ladder Program 0001H: DWG.A 0008H: Ladder program function
Function Calling SW00057 0002H: DWG.I 000FH: Motion program
Drawing Type 0003H: DWG.H 0010H: Reserved by system.
0005H: DWG.L 0011H: Reserved by system.
Number of drawing that calls the ladder program function in which an error occurred.
Ladder Program
Parent drawing: FFFFH Child drawing: ††00H（H††: Child drawing number）
Maintenance and Inspection

Function Calling SW00058

Function: 0100H Grandchild drawing: ††yyH（Hyy: Grandchild drawing
Drawing Number
number）
Ladder Program STEP number of the drawing that calls the ladder program function in which an error
Function Calling SW00059 occurred.
Drawing Number 0 when there is an error in the drawing.

6-15
 6 Maintenance and Inspection
6.4.5 System Register Configuration and Error Status

Name Register No. Description

SW00060 and
Reserved by the system.
SW00061
SW00062 to
Name of Task Generating Error
SW00065
SW00066 and
Reserved by the system.
SW00067
SW00068 Year Generated
SW00069 Month Generated
Error Data SW00070 Day of Week Generated
SW00071 Day of Month Generated
SW00072 Hour Generated
SW00073 Minutes Generated
SW00074 Seconds Generated
SW00075 Milliseconds Generated (Not used.)
SW00076 to
Reserved by the system.
SW00079

( 3 ) Ladder Program User Operation Error Status

Error information for user operation errors in ladder programs is stored in registers SW00080 to SW00089 (Error Sta-
tus 1) and SW00110 to SW00189 (Error Status 2).

[ a ] Ladder Program User Operation Error Status 1

Name Register No. Description

DWG.A Error Count Error SW00080
Code SW00081
DWG.I Error Count Error SW00082
Code SW00083
Operation error code:
DWG.H Error Count Error SW00084 See Ladder Program User Operation Error Codes 1.
Code SW00085
SW00086 Error code when an index error occurs:
Reserved by the system. See Ladder Program User Operation Error Codes 2.
SW00087
DWG.L Error Count Error SW00088
Code SW00089

6-16
 6.4 Troubleshooting System Errors

[ b ] Ladder Program User Operation Error Status 2

Register No.
Name Remarks
DWG.A DWG.I DWG.H DWG.L
Error Count SW00110 SW00126 SW00142 SW00174
Error Code SW00111 SW00127 SW00143 SW00175 <Error Drawing Number>
Parent drawing: FFFFH
SW00112 SW00128 SW00144 SW00176
Error A Register Child drawing: ††00H（H††: Child
SW00113 SW00129 SW00145 SW00177 drawing number）
Modification A SW00114 SW00130 SW00146 SW00178 Grandchild drawing: ††yyH （Hyy:
Register SW00115 SW00131 SW00147 SW00179 Grandchild drawing number）
SW00116 SW00132 SW00148 SW00180 Function: 0100H
Error F Register Motion program: F0††H (H††:
SW00117 SW00133 SW00149 SW00181
Program number)
Modification F SW00118 SW00134 SW00150 SW00182
Register SW00119 SW00135 SW00151 SW00183
<Reference Source Drawing Number>
Address Generating SW00120 SW00136 SW00152 SW00184
Number of the drawing reference source in
Error SW00121 SW00137 SW00153 SW00185 which an error occurred.
Error Drawing Number SW00122 SW00138 SW00154 SW00186
Reference Source
SW00123 SW00139 SW00155 SW00187 <Reference Source DWG Step Number>
Drawing Number
Step number of the drawing reference
Reference Source
SW00124 SW00140 SW00156 SW00188 source in which an error occurred.
DWG Step Number
0 when there is an error in the parent
Reserved by the drawing.
SW00125 SW00141 SW00157 SW00189
system.

Maintenance and Inspection

6-17
 6 Maintenance and Inspection
6.4.5 System Register Configuration and Error Status

[ c ] Ladder Program User Operation Error Codes 1

Error
Error Contents User* System Default Value
Code
0001H Integer operation - underflow Yes −32768［−32768］
0002H Integer operation - overflow Yes 32767［32767］
0003H Integer operation - division error Yes The A register remains the same.
Integer 0009H Double-length integer operation - underflow Yes −2147483648［−2147483648］
Operations 000AH Double-length integer operation - overflow Yes 2147483647［2147483647］
000BH Double-length integer operation - division error Yes The A register remains the same.
Operation error drawing - integer operation error († = 1
010†H No Default indicated above.
to B)
0010H Integer storage - non-numeric error Yes Store not executed. [00000]
0011H Integer storage - underflow Yes Store not executed. [−32768]
0012H Integer storage - overflow Yes Store not executed. [+32767]
0021H Real number storage - underflow Yes Store not executed. [−1.0E+38]
0022H Real number storage - overflow Yes Store not executed. [1.0E+38]
Operation not executed.
0023H Real number operation - division-by-zero error Yes
The F register remains the same.
0030H Real number operation - invalid operation (non-numeric) No Operation not executed.
0031H Real number operation - exponent underflow No 0.0
0032H Real number operation - exponent overflow No Maximum value
Real 0033H Real number operation - division error (non-numeric 0/0) No Operation not executed.
Number 0034H Real number storage - exponent underflow No Stores 0.0.
Operation
0035H Real number operation - stack error
Standard System Functions
No Interrupt operation and output = 0.0
Real number operation errors
0040H: SQRT 0041H: SIN 0042H: COS 0043H: TAN
0040H 0044H: ASIN 0045H: ACOS 0046H: ATAN 0047H: EXP
0048H: LN 0049H: LOG 004AH: DZA 004BH: DZB
to
004CH: LIM 004DH: PI 004EH: PD 004FH: PID

0059H 0050H: LAG 0051H: LLAG 0052H: FGN 0053H: IFGN

0054H: LAU 0055H: SLAU 0056H: REM 0057H: RCHK
0058H: BSRCH 0059H: SQRT
1000H or 2000H is added for an index error.

* Yes: Can be set to value other than system default from the user program.
No: The system default cannot be changed from the user program.

[ d ] Ladder Program User Operation Error Codes 2

Error Code Error Contents User System Default

Execute again when corresponding to
1000H Index error within drawing × i,j = 0.
Integer - Real The i and j registers remain the same.
Number
Operations Execute again when corresponding to
2000H Index error within function × i,j = 0.
The i and j registers remain the same.
Integer system functions Operation stopped and output = input.
×
†060H Index error The A register remains the same.
Integer to †06DH: PI †06DH: PD †06FH: PID †070H: LAG
Operation †077H
(† = 1,2) †071H: LLAG †072H: FGN †073H: IFGN †074H: LAU
†075H: SLAU †076H: FGN †077H: IFGN

6-18
 6.4 Troubleshooting System Errors

( 4 ) System Service Execution Status

[ a ] Data Trace Execution Status

Name Register No. Remarks

SW00090 to
Reserved by the system.
SW00097
Bit 0 to 3 = Group 1 to 4
Existence Of Data Trace Definition SW00098
Definition exists = 1, No definition = 0
Bit 0 to 3 = Group 1 to 4
Data Trace Execution Status SW00099
Trace stopped = 1, Trace executing = 0

[ b ] Latest Data Trace Record Numbers

Name Register No. Remarks

Data Trace Group 1 SW00100 Latest record number
Data Trace Group 2 SW00101 Latest record number
Data Trace Group 3 SW00102 Latest record number
Data Trace Group 4 SW00103 Latest record number

( 5 ) Alarm Counter and Alarm Clear

Name Register No. Remarks
Number of Alarm Occurrences SW00190 The number of alarm occurrences.
Number of Alarm History Records SW00191 The number of alarms in the alarm history.
1: Alarm cleared
Clear Alarms SW00192 2: The number of alarm occurrences and alarm
history cleared

( 6 ) System I/O Error Status

Name Register No. Remarks
I/O Error Count SW00200 Number of I/O errors
Input Error Count SW00201 Number of input errors
Latest input error address (OW†††† register
Input Error Address SW00202
number)
Output Error Count SW00203 Number of output errors
Latest output error address (OW†††† register
Output Error Address SW00204
number)
SW00205
Reserved by the system. SW00206 (Not used.)
SW00207
Slot 0 error status
SW00208 to
Maintenance and Inspection

(Differs depending on the installed module or error

SW00215
code.)
SW00216 to
Reserved by the system.
SW00223
Slot 1 error status
SW00224 to
(Differs depending on the installed module or error
I/O Error Status SW00231
code.)
Slot 2 error status
SW00232 to
(Differs depending on the installed module or error
SW00239
code.)
Slot 3 error status
SW00240 to
SW00247
(Differs depending on the installed module or error 6
code.)

6-19
 6 Maintenance and Inspection
6.4.5 System Register Configuration and Error Status

( 7 ) Details on I/O Error Status

When a system I/O error occurs, the error status will be written in the system register.
The registers allocated for each error status when an I/O Module (LIO-01/02), SVB-01 Module, and Communication
Module (260IF-01) are mounted in slots 1, 2, and 3 of the MP2300 Machine Controller respectively are described
below.

[ a ] MP2300 Machine Controller Basic Module Error Status

Name Register No. Remarks

SW00208 to
Slot 0 Error Status (Depends on themounted module and error code.)
SW00215
SW00216 to
Reserved by the system (Depends on the mounted module and error code.)
SW00223
SW00224 to
Slot 1 Error Status (Depends on the mounted module and error code.)
SW00231
SW00232 to
Slot 2 Error Status (Depends on the mounted module and error code.)
SW00239
SW00240 to
Slot 3 Error Status (Depends on the mounted module and error code.)
SW00247

■ Register Allocation: Slot 0 (Reserved for Basic Module)

(Bit No.) F ̖̖̖̖̖̖̖̖̖̖̖̖̖̖87 ̖̖̖̖̖̖̖̖̖̖̖̖̖̖0

SW00208 Error code (I/O error = 2) Subslot No. (= 2)
SW00209 Error code (Station error = 1) Subslot No. (= 3)

SW00210 ST#15 ̖̖̖̖ ST#2 ST#1 Not used

SW00211 Not used ST#30 ̖̖̖̖ ST#17 ST#16

SW00212 Not used ̖̖̖̖ Not used

SW00213 Not used ̖̖̖̖ Not used

SW00214 Not used ̖̖̖̖ Not used

SW00215 Not used ̖̖̖̖ Not used

[ b ] LIO-01/LIO-02 Module Error Status (Slot 1)

(Bit No.) F ̖̖̖̖̖̖̖̖̖̖̖̖̖̖87 ̖̖̖̖̖̖̖̖̖̖̖̖̖̖0

SW00224 Error code (I/O error = 2) Subslot No. (= 1)
SW00225 Error code (I/O error = 2) Subslot No. (= 2)

SW00226 Not used ̖̖̖̖ Not used

SW00227 Not used ̖̖̖̖ Not used

SW00228 Not used ̖̖̖̖ Not used

SW00229 Not used ̖̖̖̖ Not used

SW00230 Not used ̖̖̖̖ Not used

SW00231 Not used ̖̖̖̖ Not used

6-20
 6.4 Troubleshooting System Errors

[ c ] SVB-01 Module Error Status (Slot 2)

(Bit No.) F ̖̖̖̖̖̖̖̖̖̖̖̖̖̖87 ̖̖̖̖̖̖̖̖̖̖̖̖̖̖0

SW00232 Error code (Station error = 1) Subslot No. (= 1)

SW00233 ST#15 ̖̖̖̖ ST#2 ST#1 Not used

SW00234 Not used ST#30 ̖̖̖̖ ST#17 ST#16

SW00235 Not used ̖̖̖̖ Not used

SW00236 Not used ̖̖̖̖ Not used

SW00237 Not used ̖̖̖̖ Not used

SW00238 Not used ̖̖̖̖ Not used

SW00239 Not used ̖̖̖̖ Not used

ΠThe above error status is meant to check I/O errors when an I/O Module is connected. Errors when SERVOPACKs
and/or MECHATROLINK-ΙΙ inverters are connected will not be written. Use the monitoring parameter to check errors
when SERVOPACKs and/or MECHATROLINK-ΙΙ inverters are connected.

[ d ] 260IF-01 Module Error Status (Slot 3)

(Bit No.) F ̖̖̖̖̖̖̖̖̖̖̖̖̖̖87 ̖̖̖̖̖̖̖̖̖̖̖̖̖̖0

SW00240 Error code (Station error = 1) Subslot No. (= 2)

SW00241 ST#15 ̖̖̖̖ ST#0

SW00242 ST#31 ̖̖̖̖ ST#16

SW00243 ST#47 ̖̖̖̖ ST#32

SW00244 ST#63 ̖̖̖̖ ST#48

<Error Status Details>

Item Code Description

0 Normal communication
ST#n Communication error at the station n (n = local station
1
number in slave mode)
Maintenance and Inspection

6-21
 6 Maintenance and Inspection
6.4.5 System Register Configuration and Error Status

( 8 ) MP2300 Module Information

Name Register No. Remarks
SW00800 Basic Module (C380H)
SW00801 Reserved by the system.
SW00802 CPU Software version (BCD)
SW00803 Number of sub-slots (0004H)
SW00804 CPU Function ID (C310H)
SW00805 CPU Function Module Status
SW00806 I/O Function Module ID (8070H)
SW00807 I/O Function Module Status
Module SW00808 SVB Function Module ID (9113H)
Information SW00809 SVB Function Module Status
SW00810 SVR Function Module ID (9210H)
SW00811 SVR Function Module Status
SW00812 to SW00815 Reserved by the system.
SW00816 to SW00823 Slot 1
SW00824 to SW00831 Slot 2
SW00832 to SW00839 Slot 3
…
SW01008 to SW01015 Reserved by the system (Slot 26)

6-22
 6.4 Troubleshooting System Errors

( 9 ) Motion Program Execution Information

Motion Program Alarm
Main
Program Parallel 0 Parallel 1 Parallel 2 Parallel 3 Parallel 4 Parallel 5 Parallel 6 Parallel 7
System Program
Information
Work No. in Offset * Offset Offset Offset Offset Offset Offset Offset
Used by Work
Execution +7 +10 +13 +16 +19 +22 +25
+4
SW03264
1 SW3200 SW03268 SW03271 SW03274 SW03277 SW03280 SW03283 SW03286 SW03289
to SW03321
SW03322
2 SW3201 SW03326 SW03329 SW03332 SW03335 SW03338 SW03341 SW03344 SW03347
to SW03379
SW03380
3 SW3202 SW03384 SW03387 SW03390 SW03393 SW03396 SW03399 SW03402 SW03405
to SW03437
SW03438
4 SW3203 SW03442 SW03445 SW03448 SW03451 SW03454 SW03457 SW03460 SW03463
to SW03495
SW03496
5 SW3204 SW03500 SW03503 SW03506 SW03509 SW03512 SW03515 SW03518 SW03521
to SW03553
SW03554
6 SW3205 SW03558 SW03561 SW03564 SW03567 SW03570 SW03573 SW03576 SW03579
to SW03611
SW03612
7 SW3206 SW03616 SW03619 SW03622 SW06325 SW03628 SW03631 SW03634 SW03637
to SW03669
SW03670
8 SW3207 SW03674 SW03677 SW03680 SW03683 SW03686 SW03689 SW03692 SW03695
to SW03727
SW03728
9 SW3208 SW03732 SW03735 SW03738 SW03741 SW03744 SW03747 SW03750 SW03753
to SW03785
SW03786
10 SW3209 SW03790 SW03793 SW03796 SW03799 SW03802 SW03805 SW03808 SW03811
to SW04843
SW03844
11 SW3210 SW03848 SW03851 SW03854 SW03857 SW03860 SW03863 SW03866 SW03869
to SW03901
SW03902
12 SW3211 SW03906 SW03909 SW03912 SW03915 SW03918 SW03921 SW03924 SW03927
to SW03959
SW03960
13 SW3212 SW03964 SW03967 SW03970 SW03973 SW03976 SW03979 SW03982 SW03985
to SW04017
SW04018
14 SW3213 SW04022 SW04025 SW04028 SW04031 SW04034 SW04037 SW04040 SW04043
to SW04075
SW04076
15 SW3214 SW04080 SW04083 SW04086 SW04089 SW04092 SW04095 SW04098 SW04101
to SW04133
SW04134
16 SW3215 SW04138 SW04141 SW04144 SW04147 SW04150 SW04153 SW04156 SW04159
to SW04191

* Offset: Offset value from the first register number of Program Information Used by Work

Maintenance and Inspection

6-23
 6 Maintenance and Inspection
6.5.1 Motion Program Alarm Configuration

6.5 Motion Program Alarms

If the result of investigation using 6.3.2 MP2300 Error Check Flowchart on page 6-6 indicates that a motion program
alarm has occurred, use the alarm code to determine the cause of the error.

6.5.1 Motion Program Alarm Configuration

Motion program alarms stored in the alarm output register (default: SW03268) are displayed as shown in the following
diagram.
Bit 15 Bit 12 Bit 8 Bit 7 Bit 0
Alarm Axis Information Alarm Code (Bit 7 is ON : Axis Alarm)
(1 to 16)

Œ Refer to the appropriate User’s Manual of Machine Controller for information on finding the alarm output register.

6.5.2 Motion Program Alarm Code List

The motion program alarm codes are listed in the following table.
ΠWhen displaying these on the register list, set the view mode to hexadecimal.

Alarm
Name Description Corrective Actions
Code
02h Division error Data divided by 0 Review the motion program.
• Designate a center coordinate instead of a
Turn number was specified instead of radius in
A circle instead of radius to perform the circular arc or
10h the circular arc or helical interpolation
radius was specified helical interpolation command.
command.
• Never specify the turn number.
Interpolation feeding Interpolation feeding speed exceeded the valid Modify the interpolation feeding speed of
11h
speed over limit range of the FMX command. the interpolation command
No interpolation feeding speed was specified.
No interpolation feeding Specify the interpolation feeding speed in
12h (once specified, this can be omitted as in the
speed specified the interpolation command.
motion program)
Range exceeded after
Indirect acceleration parameter exceeded the
13h converting acceleration Change the indirect register value.
valid range.
parameter
Circular arc length exceeded the valid range in Review the circular arc length in the
Circular arc length
14h the circular arc or helical interpolation circular arc or helical interpolation
exceeded LONG_MAX
command. command.
Vertical axis not
Vertical axis was not specified in the circular
15h specified for circular arc Use PLN command to specify the axis.
arc or helical interpolation command.
plane
Horizontal axis not
Horizontal axis was not specified in the
16h specified for circular arc Use PLN command to specify the axis.
circular arc or helical interpolation command.
plane
Too many axes were configured in the circular
Modify the axis in the circular arc or helical
17h Specified axis over limit arc (two axes) or helical (three axes)
interpolation command.
interpolation command.
Turn number exceeded the valid range in the Modify the turn number in the circular arc
18h Turn number over limit
circular arc or helical interpolation command. or helical interpolation command.
Radius exceeded Radius exceeded the valid range in the circular Review the radius in the circular arc or
19h
LONG_MAX arc or helical interpolation command. helical interpolation command.
Specify the center point properly in the
Improper center point was specified in the
1Ah Center point error circular arc or helical interpolation
circular arc or helical interpolation command.
command.
Turn OFF the program stop request for the
Running emergency Axis move command stopped due to a
1Bh motion program control signal, and turn
stop command program stop request.
ON the alarm reset request.
Linear interpolation
Moving amount exceeded the valid range in Review the moving amount in the linear
1Ch moving amount
the linear interpolation command. interpolation command.
exceeded LONG_MAX

6-24
 6.5 Motion Program Alarms

Alarm
Name Description Corrective Actions
Code
FMX command not executed in the motion Perform an FMX command. The FMX
1Dh FMX undefined program containing an interpolation command is required in each program
command. containing an interpolation command.
Designation exceeded the valid range in the Review the setting in the IAC/IDC/FMX
1Eh Address T out of range
IAC/IDC/FMX commands. command.
Designation exceeded the valid range in the
1Fh Address P out of range Review the setting in the IFP command.
IFP command.
A motion command was instructed
simultaneously at the second line in the Review the source motion program or
21h PFORK execution error
PFORK of both a source motion program and subprogram.
a subprogram.
Indirect register range Specified register address exceeds the register
22h Review the motion program.
error size range.
Axis moving amount with decimal point for
Moving amount out of
23h an axis move command exceeded the possible Review the axis moving amount.
range
range.
Use of logical axis Multiple motion commands instructed against
80h Review the motion program.
prohibited the same axis at the same time.
Designation exceeded • Modify a fixed parameter “Maximum
Moving distance designation exceeded
81h POSMAX in the infinite infinite length axis counter”
POSMAX in the infinite length axis.
length axis • Review the motion program.
Axis moving distance Axis moving distance designation exceeded
82h Review the motion program.
exceeded LONG_MAX the valid range.
Check whether another program gave a
Duplicated motion Multiple commands ware executed against a
84h command to the same axis at the same time.
command single axis.
If so, review the program.
• Remove the alarm cause from the
destination axis.
A motion command response different from • If the servo is not turned ON, turn ON the
Motion command
85h that instructed by the motion command is servo.
response error
reported from a motion module. • Check whether another program gave a
command to the same axis at the same
time. If so, review the program.
VEL setting data out of An instruction in the VEL command exceeded
87h Review the VEL command.
range the valid range.
INP setting data out of An instruction in the INP command exceeded
88h Review the INP command.
range the valid range.
ACC/SCC/DCC setting An instruction in the ACC/SCC/DCC
89h Review the ACC/SCC/DCC command.
data out of range command exceeded the valid range.
No time specified in the
8Ah T designation in the MVT command was zero. Review the MVT command.
MVT command
A motion command which cannot be executed
Command execution
8Bh by the destination motion module was Review the motion program.
disabled
instructed.
Maintenance and Inspection

A motion command was executed when a Review the motion program so that a
Distribution
8Ch motion module was not in the Distribution motion command is executed in the
incompleted
Completed state. Distribution Completed state.
Motion command Motion module fell into the “Motion • Release the destination axis error.
8Dh
abnormally aborted command abnormally aborted” state. • Review the motion program.

* The axis number is stored in bits 8 to 12 for axis alarms.

6-25
 6 Maintenance and Inspection

6.6 List of Causes for Command Error Occurrence

The Command Error Completed Status (Command Error Occurence) bit (IW……09, bit 3) turns ON when the set
motion command cannot be executed or when the execution of a motion command ends error. The triggers for which
this bit turns ON depend on the motion command.
The following table describes the causes of Command Error Occurrence for each motion command.

Warning (W:) and Alarm (A:) That

Motion Command Code Cause of Command Error Occurrence
Occur at Command Error Occurrence
The positioning movement exceeds the allowable A: Excessive Positioning Moving
range. Amount
The axis is ABS infinite-length, and the zero point
Position Mode A: Zero Point Unsetting
return setting is not completed.
1 (Positioning)
In servo OFF status A: Servo OFF
(POSING)
Alarm is occurring. −
A: Servo Driver Synchronization
Asynchronous communication status
Communications Error
The positioning movement exceeds the allowable A: Excessive Positioning Moving
range. Amount
The axis is ABS infinite-length, and the zero point
A: Zero Point Unsetting
return setting is not completed.
In servo OFF status A: Servo OFF
Alarm is occurring. −
Latch Torque Positioning
2 (External positioning) A: Servo Driver Synchronization
Asynchronous communication status
(EX_POSING) Communications Error
SERVOPACK parameter writing was not A: Servo Driver Command Timeout
completed within the specified time. Error
Warning A.94 or A.95 occurred in the
W: Servo Driver Error
SERVOPACK.
The selected external signal is outside the setting
W: Set Parameter Error
range.
In machine lock status −
In servo OFF status A: Servo OFF
An alarm is occurring. −
A: Servo Driver Synchronization
Asynchronous communication status
Communications Error
SERVOPACK parameter reading or writing was A: Servo Driver Command Timeout
not completed within the specified time. Error
Warning A.94 or A.95 is occurring in the
Zero Point Return W: Servo Driver Error
3 SERVOPACK.
(ZRET)
The selected zero point return method is outside
W: Set Parameter Error
the setting range.
POT method is selected for zero point return, but
W: Set Parameter Error
the approach speed is a negative value.
NOT method is selected for zero point return, but
W: Set Parameter Error
the approach speed is a positive value.
During zero point return using DEC1 + Phase-C,
OT alarm or OT warning in zero point
ZERO signal, or Phase-C method, the OT signal in
return direction
zero point return direction was ON.

6-26
 6.6 List of Causes for Command Error Occurrence

Warning (W:) and Alarm (A:) That

Motion Command Code Cause of Command Error Occurrence
Occur at Command Error Occurrence
The commanded movement for one scan exceeds
the segment that can be commanded to the
MECHATROLINK SERVOPACK, or the speed A: Excessive Speed
Interpolation feed forward value exceeds the maximum
(INTERPOLATE) allowable speed.
4
and Last Interporation The axis is ABS infinite length, and the zero point
A: Zero Point Unsetting
5 Segment return (setting) is not completed.
(ENDOF_INTERPOLATE) In servo OFF status A: Servo OFF
An alarm is occurring. −
A: Servo Driver Synchronization
Asynchronous communication status
Communications Error
The commanded movement for one scan exceeds
the segment that can be commanded to the
MECHATROLINK SERVOPACK, or the speed A: Excessive Speed
feed forward value exceeds the maximum
Interporation Mode with allowable speed.
6 Latch Input The axis is ABS infinite length, and the zero point
(LATCH) A: Zero Point Unsetting
return (setting) is not completed.
In servo OFF status A: Servo OFF
An alarm is occurring. −
The selected latch signal is out of the setting range. W: Set Parameter Error
In machine lock status −
In servo OFF status A: Servo OFF
JOG Mode
7 An alarm is occurring. −
(FEED)
A: Servo Driver Synchronization
Asynchronous communication status
Communications Error
Positioning movement exceeds the allowable A: Excessive Positioning Moving
value. Amount
Relative Positon Mode In servo OFF status A: Servo OFF
8
(Step mode) (STEP) An alarm is occurring. −
A: Servo Driver Synchronization
Asynchronous communication status
Communications Error
An alarm is occurring. −
Set Zero Point
9 A: Servo Driver Synchronization
(ZSET) Asynchronized communication status
Communications Error
An alarm is occurring. −
A: Servo Driver Synchronization
Asynchronous communication status
Communications Error
Change Acceleration Time
10 Executed before distribution has been completed
(ACC) −
and (DEN = OFF)
Change Deceleration
11 SERVOPACK parameter writing was not
Time (DCC) A: Servo Command Timeout Error
completed within the specified time.
Warning A.94 ot A.95 occurred in the
Maintenance and Inspection

W: Servo Driver Error

SERVOPACK.
An alarm is occurring. −
A: Servo Driver Synchronization
Asynchronous communication status
Communications Error
Change Filter Time Executed before distribution has been completed
A: Filter Time Constant Change Error
12 Constant (DEN = OFF)
(SCC) SERVOPACK parameter writing was not A: Servo Driver Command Timeout
completed within the specified time. Error
Warning A.94 or A.95 occurred in the
W: Servo Driver Error
SERVOPACK.

6-27
 6 Maintenance and Inspection

Warning (W:) and Alarm (A:) That

Motion Command Code Cause of Command Error Occurrence
Occur at Command Error Occurrence
An alarm is occurring. −
A: Servo Driver Synchronization
Asynchronous communication status
Change Filter Type Communications Error
13
(CHG_FILTER) Executed before distribution has been completed
A: Filter Time Constant Change Error
(DEN = OFF).
The selected filter type is out of the setting range. W: Set Parameter Error
Change Speed Loop Gain An alarm is occurring. −
(KVS) A: Servo Driver Synchronization
14, Asynchronous communication status
Change Position Loop Communications Error
15,
Gain SERVOPACK parameter writing was not A: Servo Driver Command Timeout
and
(KPS) completed within the specified time. Error
16
Change Feed Forward
Warning A.94 or A.95 occurred in the
(KFS) W: Servo Driver Error
SERVOPACK.
An alarm is occurring. −
A: Servo Driver Synchronization
Asynchronized communication status
Communications Error
Read User Constant
17 SERVOPACK parameter reading was not A: Servo Driver Command Timeout
(PRM_RD)
and completed within the specified time. Error
Write User Constant
18 Warning A.94 or A.95 occurred in the
(PRM_WR) W: Servo Driver Error
SERVOPACK.
SERVOPACK parameter number or size is outside
W: Set Parameter Error
the setting range.
Alarm Monitor The command to the SERVOPACK was not A: Servo Driver Command Timeout
19
(ALM_MON) completed within the specified time. Error
and
Alarm History Monitor Servo driver alarm monitor number is outside
20 W: Set Parameter Error
(ALM_HIST) setting range.
Clear Alarm History The command to the SERVOPACK was not A: Servo Driver Command Timeout
21
(ALMHIST_CLR) completed within the specified time. Error
This command was used for Σ-I SERVOPACK. −
Executed while servo was ON. −
Absolute Encoder Reset A: Servo Driver Synchronization
22 Asynchronous communication status
(ABS_RST) Communications Error
The command to the SERVOPACK was not A: Servo Driver Command Timeout
completed within the specified time. Error
Commanded while connected to
−
MECHATROLINK-I.
Speed Reference
23 An alarm is occurring. −
(VELO)
A: Servo Driver Synchronization
Asynchronous communication status
Communications Error
Commanded while connected to
−
MECHATROLINK-I.
Torque/Thrust Reference
24 An alarm is occurring −
(TRQ)
A: Servo Driver Synchronization
Asynchronous communication status
Communications Error
The axis is ABS infinite length, and the zero point
A: Zero Point Unsetting
return (setting) is not completed.
Phase Reference In servo OFF status A: Servo OFF
25
(PHASE) An alarm is occurring. −
A: Servo Driver Synchronization
Asynchronous communication status
Communications Error
An alarm is occurring. −
A: Servo Driver Synchronization
Asynchronous communication status
Change Position Loop Communications Error
26 Integral Time Constant SERVOPACK parameter writing was not A: Servo Driver Command Timeout
(KIS) completed within the specified time. Error
Warning A.94 or A.95 occurred in the
W: Servo Driver Error
SERVOPACK.

6-28
 6.6 List of Causes for Command Error Occurrence

Warning (W:) and Alarm (A:) That

Motion Command Code Cause of Command Error Occurrence
Occur at Command Error Occurrence
An alarm is occurring. −
A: Servo Driver Synchronization
Asynchronous communication status
Others Communications Error
Automatic Parameter SERVOPACK parameter writing was not A: Servo Driver Command Timeout
Updating when Move completed within the specified time. Error
Command Starts * Warning A.94 or A.95 occurred in the
W: Servo Driver Error
SERVOPACK.
The distribution was not completed (DEN = OFF). −

* When Automatic Updating of Parameter was enabled for fixed parameters, and the settings of Filter Time Constant,
Acceleration Rate/Time Constant, or Deceleration Rate/Time Constant were changed at the time a move command
was set.

Maintenance and Inspection

6-29
 6 Maintenance and Inspection
6.7.1 Overview of Motion Errors

6.7 Troubleshooting Motion Errors

This section explains the details and remedies for errors that occur in motion control functions.

6.7.1 Overview of Motion Errors

Motion errors in the MP2300 include axis alarms detected for individual SERVOPACKs.
The failure location can be determined and appropriate corrections can be taken simply by checking the contents of the
Warning (IL††02) and Alarm (IL††04) monitoring parameters.
The motion alarms for the MP2300 Basic Module’s MECHATROLINK-I or MECHATROLINK-II functionality are
shown below.

Warning (IL02) Bit 1: Setting Parameter Error

Bit 2: Fixed Parameter Error

Parameter Number When Range Over Is

Generated (IW01)

Bit 0: Excessive Deviation

Bit 3: Servo Driver Error
Bit 4: Motion Command Set Error

Bit 0: Servo Driver Error

∗1
Alarm (IL04) Bit 1: Positive Direction Overtravel
Bit 2: Negative Direction Overtravel
Bit 3: Positive Direction Software Limit
Bit 4: Negative Direction Software Limit
Bit 5: Servo OFF
࡮
࡮
Bit 1E: Servo Driver Command Time-out
Error
Bit 1F: Excessive ABS Encoder Rotations

Servo Driver Status ∗2 Bit 0: Alarm

(IW2C) Bit 1: Warning
Bit 2: Command Ready
Bit 3: Servo ON
࡮
࡮
Bit D: Negative Software Limit

Servo Driver Alarm Code ∗3

(IW2D)

* 1. Refer to 6.7.2 Motion Error Details and Corrections.

* 2. Refer to 6.7.3 ( 1 ) Servo Driver Status (IW††2C) List.
* 3. Refer to 6.7.3 ( 2 ) Servo Driver Alarm Code (IW††2D).

6-30
 6.7 Troubleshooting Motion Errors

6.7.2 Motion Error Details and Corrections

The following tables show the contents of the axis alarms (IL††04) (subsection 1) and axis alarm details
(subsection 2).

( 1 ) Alarm IL††04 List

IL††04 Alarm Contents IL††04 Alarm Contents

Servo Driver Synchronization
Bit 0 Servo Driver Error Bit 10
Communications Error
Bit 1 Positive Direction Overtravel Bit 11 Servo Driver Communication Error
Bit 2 Negative Direction Overtravel Bit 12 Servo Driver Command Timeout Error
Bit 3 Positive Direction Software Limit Bit 13 Excessive ABS Encoder Rotations
Bit 4 Negative Direction Software Limit Bit 14 Reserved by the system.
Bit 5 Servo OFF Bit 15 Reserved by the system.
Bit 6 Positioning Time Over Bit 16 Not used
Bit 7 Excessive Positioning Moving Amount Bit 17 Not used
Bit 8 Excessive Speed Bit 18 Not used
Bit 9 Excessive Deviation Bit 19 Not used
Bit A Filter Type Change Error Bit 1A Not used
Bit B Filter Time Constant Change Error Bit 1B Not used
Bit C Not used Bit 1C Not used
Bit D Zero Point Unsetting Bit 1D Not used
Bit E Not used Bit 1E Motor Type Set Error
Bit F Not used Bit 1F Connected Encoder Type Error

( 2 ) Bit 0: Servo Driver Error

Detection Timing • SERVOPACK alarms are continuously monitored by the alarm management section.
• The current command will be aborted.
Processing when If a SERVOPACK error is detected during execution of a POSING command, the positioning will be
Alarm Occurs aborted and the axis will decelerate to a stop.
• The Command Error Completed Status in the Motion Command Status (IW††09,bit 3) will turn ON.
• The cause of the error depends on the type of alarm. The contents of an alarm is monitored in IW††2D.
Error and Cause Refer to the list of SERVOPACK alarms in 6.7.3 Servo Driver Status and Servo Driver Error Codes on
page 6-36 for details.
• Confirm the SERVOPACK alarm and remove the cause.
Correction
• Reset the alarm.
ΠThe above status bit will turn ON for any of the SERVOPACK alarm codes for alarms classified as SERVOPACK
alarms.
Maintenance and Inspection

( 3 ) Bit 1: Positive Direction Overtravel and Bit 2: Negative Direction Overtravel

• Overtravel is continuously monitored by the position management section during execution of a motion
Detection Timing command.
• Overtravel is detected when the overtravel signal in the direction of movement turns OFF.
• The SERVOPACK performs stop processing.
The stop method and processing after stopping depends on the SERVOPACK parameter settings.
Processing when • The Command Error Completed Status in the Motion Command Status (IW††09, bit 3) will turn ON.
Alarm Occurs • Machine Controller Processing
The command is canceled and the axis decelerates to a stop. Follow-up processing (each scan the current
position of the machine is adjusted to the reference position) is executed. 6

6-31
 6 Maintenance and Inspection
6.7.2 Motion Error Details and Corrections

One of the following is possible.

• A move command that exceeded the travel limit of the machine was executed as follows:
Error and Cause A user program command exceeded the travel limit.
The software limit was exceeded in manual operation.
• Overtravel signal malfunction.
• Check the following.
Check the overtravel signal.
Correction Check the program or manual operation.
• Then, after clearing the motion command code and resetting the alarm, use a return operation to eliminate
the overtravel status. (Commands in the overtravel direction will be disabled and an alarm will occur again
if one is executed.)

ΠFor a vertical axis, the following should be set at the SERVOPACK to avoid dropping and vibration at the
overtravel limit.
• An emergency deceleration stop
• Zero clamp status after the deceleration stop

( 4 ) Bit 3: Positive Direction Software Limit and Bit 4: Negative Direction Software Limit

• Enabled when using a motion command and detected by the position management section.
Detection Timing
• The software limits are valid after a ZRET or ZSET command has been completed.
Processing when • The axis decelerates to a stop at the software limit.
Alarm Occurs • The Command Error Completed Status in the Motion Command Status (IW††09, bit 3) will turn ON.
• A move command that exceeded a software limit of the machine was executed as follows:
Error and Cause A user program command exceeded the software limit.
The software limit was exceeded in manual operation.
• Check the program or manual operation.
Correction • Then, after clearing the motion command code and resetting the alarm, use a return operation to eliminate
the software limit status. (Commands in the direction of the software limit will be disabled and an alarm
will occur again if one is executed.)

( 5 ) Bit 5: Servo OFF

Detection Timing • Servo OFF status is detected when a move command is executed.
Processing when • The specified movement command will not be executed.
Alarm Occurs • The Command Error Completed Status in the Motion Command Status (IW††09, bit 3) will turn ON.

Error and Cause • A move command (commands for positioning, external positioning, STEP operation, JOG operation, etc.)
was executed when the SERVOPACK was Servo OFF status.

Correction • After clearing the motion command and resetting the alarm, turn the SERVOPACK to the Servo ON
status.

( 6 ) Bit 6: Positioning Time Over

Detection Timing • Positioning was not completed within the time specified in OW††26 (Positoning Completion Check
Time) after completing pulse distribution.
Processing when • The current command was ended forcibly.
Alarm Occurs • The Command Error Completed Status in the Motion Command Status (IW††0,9 bit 3) will turn ON.
One of the following is possible.
• The position loop gain and speed loop gain are not set correctly, creating poor response. Or, there is
oscillation.
Error and Cause
• The Positioning Completion Check Time (OW††26) is too short.
• The capacity of the motor is insufficient for the machine load.
• Connections are not correct between the SERVOPACK and the motor.

6-32
 6.7 Troubleshooting Motion Errors

Check the following.

• Check the SERVOPACK gain parameters.
Correction • Check connections between the SERVOPACK and the motor.
• Check the motor capacity.
• Check the Positioning Completion Check Time (OW††26).
Œ The above check is not performed if the Positioning Completion Check Timet (OW††26) is set to 0.

( 7 ) Bit 7: Excessive Positioning Moving Amount

Detection Timing • Positioning command is executed.

Processing when • The move command is not executed.
Alarm Occurs • The Command Error Completed Status in the Motion Command Status (IW††09, bit 3) will turn ON.

Error and Cause • A move command (commands for positioning, external positioning, or STEP operation) was executed that
exceeded the limit of the positioning moving amount.
Correction • Check the moving amount for the axis being positioned.

( 8 ) Bit 8: Excessive Speed

Detection Timing • A move command is executed.

Processing when • The move command is not executed.
Alarm Occurs • The Command Error Completed Status in the Motion Command Status (IW††09, bit 3) will turn ON.

Error and Cause • The speed (movement output for one scan in case of interpolation) commanded to MECHATROLINK
servo exceeds the upper limit.

Correction • Check the settings for speed reference, interpolation command movement per scan, and speed
compensation.

( 9 ) Bit 9: Excessive Deviation

Detection Timing • Always, except during speed control and torque control
Processing when • The move command is not executed.
Alarm Occurs • The Command Error Completed Status in the Motion Command Status (IW††09, bit 3) will turn ON.
One of the following is possible.
• The position loop gain and speed loop gain are not set correctly, creating poor response.
Error and Cause • The Error Count Alarm Detection (OL††22) is too small.
• The capacity of the motor is insufficient for the machine load.
• SERVOPACK failure
Check the following and correct the problem. If the problem persists, contact the maintenance department.
• Check the position loop gain and speed loop gain.
Correction
• Check the Error Count Alarm Detection (OL††22).
• Check the motor capacity.
Œ The above check is not performed if the Error Count Alarm Detection (OL††22) is set to 0.
Maintenance and Inspection

( 10 ) Bit A: Filter Type Change Error

Detection Timing • Continuously monitored by the motion command processing section.

Processing when • The Change Filter Type command will not be executed.
Alarm Occurs • The Command Error Completed Status in the Motion Command Status (IW††09, bit 3) will turn ON.

Error and Cause • An error occurs if the Change Filter Type command is executed before the specified pulse distribution has
not been completed (i.e., when IW††0C, bit 0 was OFF).

Correction • Correct the program to execute the Change Filter Type command after Distribution Completed status (i.e.,
that IW††0C, bit 0 is ON) is checked.
ΠThe command running will not stop even if the above error occurs. The stop processing from the user program is 6
needed to stop running commands when necessary.

6-33
 6 Maintenance and Inspection
6.7.2 Motion Error Details and Corrections

( 11 ) Bit B: Filter Time Constant Change Error

Detection Timing • Continuously monitored by the motion command processing section.

Processing when • The SCC (Change Filter Time Constant) command will not be executed.
Alarm Occurs • The Command Error Completed Status in the Motion Command Status (IW††09, bit 3) will turn ON.

Error and Cause • An error occurs if the SCC command is executed before the specified pulse distribution has not been
completed (i.e., when IW††0C0, bit 0 was OFF).

Correction • Correct the program to execute the SCC command after Distribution Completed status (i.e., that
IW††0C, bit 0 is ON) is checked.
ΠThe command running will not stop even if the above error occurs. The stop processing from the user program is
needed to stop running commands when necessary.

( 12 ) Bit D: Zero Point Unsetting

• Enabled only when an absolute encoder is used for an infinite length axis and detected when the next
command is set in the Motion Command (OW††08).
Detection Timing
Commands: Positioning, External Positioning, Interpolation, Interpolation with position detection
function, phase reference
Processing when • The set command will not be executed.
Alarm Occurs • The Command Error Completed Status in the Motion Command Status (IW††09, bit 3) will turn ON.
Error and Cause • A move command was set without executing the ZSET command (IW††0C, bit 5 is OFF).
Correction • After clearing the motion command and resetting the alarm, execute a Zero Point Setting operation.

( 13 ) Bit 10: Servo Driver Synchronization Communications Error

Detection Timing • Detected by the communication control section when communication are synchronized between the
Machine Controller and SERVOPACK.
Processing when
Alarm Occurs • The current command will be aborted.

Error and Cause • Data of either Machine Controller or servo was not correctly updated.
Correction • Check the MECHATROLINK cable and reset the alarm.

( 14 ) Bit 11: Servo Driver Communication Error

Detection Timing • Detected by the communication control section when communication is not synchronized between the
Machine Controller and SERVOPACK.
Processing when • The current command will be aborted.
Alarm Occurs • The SERVOPACK will be Servo OFF status.

Error and Cause • MECHATROLINK communication stopped because the cable was disconnected, there is noise
interference to the communication line or the power supply to the SERVOPACK was turned OFF.
• Check the MECHATROLINK cable and reset the alarm.
Correction • If this error occurs frequently, refer to MECHATROLINK-II Installation Manual (manual number: SIEPS
80000030) to correct wiring and eliminate noise interference.

( 15 ) Bit 12: Servo Driver Command Timeout Error

• Detected during execution of each motion commands.

Detection Timing • Detected by the MECHATROLINK communication control section when the Servo command responses
are checked for each process.
Processing when
Alarm Occurs • The current command will be aborted.

Error and Cause • The MECHATROLINK Servo command did not complete within the specified time (5 s).
Correction • Check for alarms in the SERVOPACK for MECHATROLINK communication.
ΠThe above error occurs when Module allocations of SERVOPACK for MECHATROLINK communication have been
completed and the power is not being supplied to the SERVOPACK.

6-34
 6.7 Troubleshooting Motion Errors

( 16 ) Bit 13: Excessive ABS Encoder Rotations

Detection Timing • Enabled only when an absolute encoder is used for a finite length axis, and the electronic gear used.
Detected by the position management section when power is turned ON.
Processing when • The absolute position information read from the absolute encoder when the SEN signal turned ON is
Alarm Occurs ignored.

Error and Cause • An operation error occurred when the absolute position information read from the absolute encoder is
converted from pulses to reference units at power ON.
Correction • Check the gear ratio, number of encoder pulses for other motion fixed parameters.

( 17 ) Bit 1E: Motor Type Set Error

Detection Timing • Detected when communications with the SERVOPACK are established.
Processing when Alarm
Occurs • None

• The motor type setting (rotary/linear) of the Machine Controller fixed parameter does not agree
Error and Cause with that of SERVOPACK parameter (Start Selection Pn000.3 for SGDH, Rotary/Linear for
SGDS).
Correction • Check the setting and model of the SERVOPACK.

( 18 ) Bit 1F: Connected Encoder Type Error

Detection Timing • Detected when communications with the SERVOPACK are established.
Processing when Alarm
Occurs • None

Error and Cause • The motor type setting (rotary/linear) of the Machine Controller fixed parameter does not agree
with the motor type connected to the SERVOPACK.
Correction • Check the motor.

Maintenance and Inspection

6-35
 6 Maintenance and Inspection
6.7.3 Servo Driver Status and Servo Driver Error Codes

6.7.3 Servo Driver Status and Servo Driver Error Codes

( 1 ) Servo Driver Status (IW††2C) List

The status of a SERVOPACK for MECHATROLINK communication can be monitored in Servo Driver Status moni-
toring parameter IWoo2C.
A list is provided in the following table.

Bit No. Status Description

Alarm 0: No alarm occurred.
Bit 0
(ALARM) 1: Alarm occurred.
Warning 0: No warning occurred.
Bit 1
(WARNG) 1: Warning occurred.
Command Ready 0: Command reception not possible (busy).
Bit 2
(CMDRDY) 1: Command reception possible (ready).
Servo ON 0: Servo OFF (baseblock)
Bit 3
(SVON) 1: Servo ON (baseblock cleared)
Main Power Supply ON 0: Main power OFF
Bit 4
(PON) 1: Main power ON
Machine Lock 0: Machine lock released
Bit 5
(MLOCK) 1: Machine locked
Zero Position 0: The APOS (absolute position) is not in the zero point.
Bit 6
(ZPOINT) 1: The APOS (absolute position) is in the zero point range.
0: Pulse distribution is not completed or the APOS is not in the positioning completed
Locating Complete width.
Bit 7
(PSET) 1: Pulse distribution is completed and the APOS is within the positioning completed
width.
Commanded Profile
0: Pulse distribution is being performed for positioning command.
Bit 8 Complete
1: Pulse distribution for positioning commands has been completed
(DEN)
Torque Restriction 0: A torque limit is not being applied.
Bit 9
(T_LIM) 1: A torque limit is being applied.
Latch Complete 0: Latch not completed.
Bit A
(L_CMP) 1: Latch completed.
Locating Neighborhood 0:The APOS is outside the NEAR Signal Output Width.
Bit B
(NEAR) 1: The APOS is inside the NEAR Signal Output Width.
Position Software Limit 0: The positive software limit has not been exceeded.
Bit C
(P-SOT) 1: The positive software limit has been exceeded.
Negative Software Limit 0: The negative software limit has not been exceeded.
Bit D
(N-SOT) 1: The negative software limit has been exceeded.
Bit E Reserved −
Bit F Reserved −

6-36
 6.7 Troubleshooting Motion Errors

( 2 ) Servo Driver Alarm Code (IW††2D)

When the Servo Driver Error (IL††04, bit 0) turns ON, a SERVOPACK alarm will exist. The content of the alarm can
be confirmed using the Servo Driver Alarm Code (monitoring parameter IW††2D).
The Servo alarm codes are listed in the following tables.

[ a ] Σ-I Series

Register
Name Code Meaning
Number
99 Normal
94 Parameter Setting Warning
95 MECHATROLINK Command Warning
96 MECHATROLINK Communication Error Warning
00 Absolute Value Data Error
02 Parameter Corrupted
10 Overcurrent
11 Ground Fault
40 Overvoltage
41 Undervoltage
51 Excessive Speed
71 Overload (Instantaneous)
72 Overload (Continuous)
7A Heat Sink Heating
80 Absolute Encoder Error
81 Absolute Encoder Backup Error
82 Absolute Encoder Checksum Error
Servo Driver
IW††2D 83 Absolute Encoder Battery Error
Alarm Code
84 Absolute Encoder Data Error
85 Absolute Encoder Excessive Speed
B1 Gate Array 1 Error
B2 Gate Array 2 Error
B3 Current Feedback Phase-U Error
B4 Current Feedback Phase-V Error
B5 Watchdog Detector Error
C1 Servo Run-away
C2 Encoder Phase Error Detected
C3 Encoder Phase-A or -B Disconnection
C4 Encoder Phase-C Disconnection
C5 Incremental Encoder Initial Pulses Error
D0 Position Error Exceeded
Maintenance and Inspection

E5 MECHATROLINK Sync Error

E6 MECHATROLINK Communication Error
F1 Open Phase in Power Line
F3 Momentary Power Loss

6-37
 6 Maintenance and Inspection
6.7.3 Servo Driver Status and Servo Driver Error Codes

[ b ] Σ-II Series

Register
Name Code Meaning
Number
99 Normal
90 Excessive Position Deviation Warning
91 Overload Warning
92 Regeneration Overload Warning
93 Absolute Encoder Battery Error
94 Data Setting Warning
95 Command Warning
96 Communication Warning
02 Parameter Corrupted
03 Main Circuit Detector Error
04 Parameter Setting Error
05 Combination Error
09 Divider Setting Error
0A Encoder Type Unmatch
10 Overcurrent or Heat Sink Overheat
30 Regeneration Error
32 Regeneration Overload
33 Main Circuit Wiring Error
40 Overvoltage
41 Undervoltage
51 Excessive Speed
71 Overload (Instantaneous Maximum Load)
72 Overload (Continuous Maximum Load)
73 DB Overload
Servo Driver
IW††2D 74 Inrush Resistance Overload
Alarm Code
7A Heat Sink Overheat
81 Encoder Backup Alarm
82 Encoder Checksum Alarm
83 Encoder Battery Alarm
84 Encoder Data Alarm
85 Encoder Excessive Speed
86 Encoder Overheat
B1 Speed Reference A/D Error
B2 Torque Reference A/D Error
B3 Current Sensor Error
B6 Gate Array Error
BF System Alarm
C1 Servo Run-away
C6 Full-closed Loop Phase-A or -B Disconnection
C7 Full-closed Loop Phase-C Disconnection
C8 Encoder Clear Error Multiturn Limit Setting Error
C9 Encoder Communication Error
CA Encoder Parameter Error
CB Encoder Echoback Error
CC Multiturn Limit Mismatch
D0 Excessive Position Error
D1 Excessive Error between Motor and Load
E0 No Option
E1 Option Timeout

6-38
 6.7 Troubleshooting Motion Errors

Register
Name Code Meaning
Number
E2 Option WDC Error
E5 WDT Error
E6 Communication Error
E7 Application Module Detection Failure
E9 Bus OFF Error
Servo Driver EA SERVOPACK Failure
Alarm Code IW††2D EB SERVOPACK Initial Access Error
(cont’d) (cont’d)
EC SERVOPACK WDC Error
ED Command Execution Not Completed
EF Application Module Alarm
F1 Open Phase in Power Line
F5 Motor Wire Disconnection (when control power supply is turned ON)
F6 Motor Wire Disconnection (when Servo is ON)

[ c ] Σ-III Series

Register
Name Code Meaning
Number
000 Normal
900 Excessive Position Error
901 Excessive Position Error at Servo ON
910 Overload
911 Vibration
920 Regeneration Overload
930 Absolute Encoder Battery Error
941 Parameter Change Requiring Power Recycling
94A Data Setting Warning 1 (Parameter Number)
94B Data Setting Warning 2 (Outside Data Range)
94C Data Setting Warning 3 (Calculation Error)
94D Data Setting Warning 4 (Parameter Size)
95A Command Warning 1 (Command Conditions Not Met)
95B Command Warning 2 (Unsupported Command)
95C Command Warning 3
Servo Driver
IW††2D 95D Command Warning 4
Alarm Code
95E Command Warning 5
960 MECHATROLINK Communication Warning
020 Parameter Checksum Error 1
021 Parameter Format Error 1
022 System Constant Checksum Error 1
023 Parameter Password Error 1
Maintenance and Inspection

02A Parameter Checksum Error 2

02B System Constant Checksum Error 2
030 Main Circuit Detector Error
040 Parameter Setting Error 1
04A Parameter Setting Error 2
041 Divided Pulse Output Setting Error
042 Parameter Combination Error
050 Combination Error
051 Unsupported Product Alarm
6

6-39
 6 Maintenance and Inspection
6.7.3 Servo Driver Status and Servo Driver Error Codes

Register
Name Code Meaning
Number
0B0 Servo ON Reference Invalid Alarm
100 Overcurrent or Heat Sink Overheat
300 Regeneration Error
320 Regeneration Overload
330 Main Circuit Wiring Error
400 Overvoltage
410 Undervoltage
510 Excessive Speed
511 Divided Pulse Output Excessive Speed
520 Vibration Alarm
710 Overload (Instantaneous Maximum Load)
720 Overload (Continuous Maximum Load)
730, 731 DB Overload
740 Inrush Resistance Overload
7A0 Heat Sink Overheat
810 Encoder Backup Alarm
820 Encoder Checksum Alarm
830 Encoder Battery Alarm
840 Encoder Data Alarm
850 Encoder Over Speed
860 Encoder Overheat
870 Fully-closed Serial Encoder Checksum Alarm
Servo Driver 880 Fully-closed Serial Encoder Data Alarm
IW††2D
Alarm Code 8A0 Fully-closed Serial Encoder Scale Error
(cont'd) (cont'd)
8A1 Fully-closed Serial Encoder Module Error
8A2 Fully-closed Serial Encoder Sensor Error (Incremental Value)
8A3 Fully-closed Serial Encoder Position Error (Absolute Value)
B31 Current Detection Error 1
B32 Current Detection Error 2
B33 Current Detection Error 3
B6A MECHATROLINK Communication ASIC Error 1
B6B MECHATROLINK Communication ASIC Error 2
BF0 System Alarm 0
BF1 System Alarm 1
BF2 System Alarm 2
BF3 System Alarm 3
BF4 System Alarm 4
C10 Servo Run-away
C80 Encoder Clear Error Multiturn Limit Setting Error
C90 Encoder Communication Error
C91 Encoder Communication Position Data Acceleration Error
C92 Encoder Communication Timer Error
CA0 Encoder Parameter Error
CB0 Encoder Echoback Error
CC0 Multiturn Limit Mismatch
Fully-closed Serial Conversion Unit Communication Error (Reception
CF1
Failure)

6-40
 6.7 Troubleshooting Motion Errors

Register
Name Code Meaning
Number
Fully-closed Serial Conversion Unit Communication Error (Timer
CF2
Stopped)
D00 Excessive Position Error
D01 Excessive Position Error Alarm at Servo ON
D02 Excessive Position Error Alarm for Speed Limit at Servo ON
D10 Excessive Error between Motor and Load
E00 COM Alarm 0
E01 COM Alarm 1
E02 COM Alarm 2
Servo Driver E07 COM Alarm 7
IW††2D
Alarm Code
(cont'd) E08 COM Alarm 8
(cont'd)
E09 COM Alarm 9
E40 MECHATROLINK-II Transmission Cycle Setting Error
E50 MECHATROLINK-II Sync Error
E51 MECHATROLINK-II Sync Failure
E60 MECHATROLINK-II Communication Error
E61 MECHATROLINK-II Transmission Cycle Error
EA0 DRV Alarm 0
EA1 DRV Alarm 1
EA2 DRV Alarm 2
ΠAlarm codes are normally two digits, but three-digit codes are stored in the Alarm Monitor for motion commands.

■ Σ-V Series

Register
Name Code Meaning
Number
020 Parameter Checksum Error
021 Parameter Format Error
022 System Checksum Error
023 Parameter Password Error
030 Main Circuit Detector Error
040 Parameter Setting Error
041 Divided Pulse Output Setting Error
042 Parameter Combination Error
044 Semi-closed/Fully-closed Parameter Setting Error
050 Combination Error
051 Unsupported Product Alarm
0b0 Servo ON Reference Invalid Alarm
Servo Driver Alarm 100 Overcurrent
IW††2D
Maintenance and Inspection

Code 300 Regeneration Error

320 Regeneration Overload
330 Main Circuit Wiring Error
400 Overvoltage
410 Undervoltage
510 Overspeed
511 Divided Pulse Output Overspeed
520 Vibration Alarm
521 Autotuning Alarm
710 Overload (Instantaneous Maximum Load)
6
720 Overload (Continuous Maximum Load)
730
DB Overload
731

6-41
 6 Maintenance and Inspection
6.7.3 Servo Driver Status and Servo Driver Error Codes

Register
Name Code Meaning
Number
740 Inrush Resistance Overload
7A0 Heat Sink Overheat
7AB SERVOPACK’s Built-in Fan Error
810 Encoder Backup Alarm
820 Encoder Checksum Alarm
830 Encoder Battery Alarm
840 Encoder Data Alarm
850 Encoder Overspeed
860 Encoder Overheat
891 Encoder Module Error
8A0 External Encoder Scale Error
8A1 External Encode Module Error
8A2 External Encoder Sensor Error (Incremental)
8A3 External Encoder Position Error (Absolute)
b10 Speed Reference A/D Error
b11 Speed Reference A/D Data Conversion Error
b20 Torque Reference A/D Error
b31 Current Detection Error 1
b32 Current Detection Error 2
b33 Current Detection Error 3
bF0 System Alarm 0 (Scan C Error)
bF1 System Alarm 1 (CPU Stock Memory Error)
bF2 System Alarm 2 (Program Error for Current Control Processing)
bF3 System Alarm 3 (Scan A Error)
bF4 System Alarm 4 (CPUWDT Error)
Servo Driver Alarm IW††2D C10 Overrun Protection Detection
Code (cont’d) (cont’d)
C20 Phase Detection Error*1
C21 Hall Sensor Error*1
C22 Phase Information Mismatch*1
C50 Magnetic Pole Detection Failure*1
C51 Overtravel Detection at Magnetic Pole Detection*1
C52 Magnetic Pole Detection Incomplete*1
C53 Magnetic Pole Detection Range Over
C54 Magnetic Pole Detection Error 2
C80 Encoder Clear Error (Multiturn Limit Setting Error)
C90 Encoder Communications Error
C91 Acceleration Data Error at Encoder Communications Position
C92 Encoder Communications Timer Error
CA0 Encoder Parameter Error
Cb0 Encoder Ecoback Error
CC0 Multiturn Limit Mismatch
CF1 Fully-closed Serial Conversion Unit Communications Error*1
CF2 Fully-closed Serial Conversion Unit Communications Error*1
d00 Excessive Position Error
d01 Excessive Position Error Alarm at Servo ON
d02 Excessive Position Error Alarm for Speed Limit at Servo ON
d10 Excessive Error between Motor Load and Position
EB0 Safety Function Drive Monitor Circuit Error*2
EB1 Safety Function Signal Input Timing Error
EB2 Safety Function Drive Internal Signal Error 1*2

6-42
 6.7 Troubleshooting Motion Errors

Register
Name Code Meaning
Number
EB3 Safety Function Drive Communications Error 1*2
EB4 Safety Function Drive Communications Error 2*2
EB5 Safety Function Drive Communications Error 3*2
EB6 Safety Function Drive Communications Data Error 3*2
Servo Driver Alarm IW††2D
Code (cont'd) (cont’d) EC7 Safety Option Card Stop Command Error*2
F10 Power Line Open Phase
CPF00 Digital Operator Communications Error 1
CPF01 Digital Operator Communications Error 2
−− Does not indicate an error.

* 1. When the feedback option is used.

* 2. When the safety function is used.

Maintenance and Inspection

6-43
 Appendices
A System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-2
A.1 System Service Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
A.3 Program Software Numbers and Remaining Program Memory Capacity Name - - - - - - - A-4

B Current Values and Set Values (Input Data) in the SVB Definition Window - -A-5
B.1 Operations and Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
B.2 Precautions When Saving SERVOPACK Parameters - - - - - - - - - - - - - - - - - - - - - - - - A-12

C Initializing the Absolute Encoder- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-13

C.1 Initializing Procedures for Σ-V and Σ-III Series SERVOPACKs- - - - - - - - - - - - - - - - - - A-13
C.2 Σ-II SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-15
C.3 Σ-I SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-17

D Motion Parameter Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-19

D.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-19
D.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-20
D.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-25

Appendices

App

A-1
 A System Registers Lists

A System Registers Lists

A.1 System Service Registers
( 1 ) Shared by All Drawings
Name Register No. Remarks
Reserved (Reserved for the
SB000000 (Not used)
system)
ON for only the first scan after high-speed scan is
First High-speed Scan SB000001
started.
ON for only the first scan after low-speed scan is
First Low-speed Scan SB000003
started.
Always ON SB000004 Always ON (= 1)
Reserved (Reserved for the
SB000005 to SB00000F (Not used)
system)

( 2 ) DWG.H Only
The following relays begin operation at the start of the high-speed scan.
Name Register No. Remarks

1 scan
1-scan Flicker Relay SB000010
1 scan

0.5s 0.5s
0.5-s Flicker Relay SB000011

1.0s 1.0s
1.0-s Flicker Relay SB000012

2.0s 2.0s
2.0-s Flicker Relay SB000013

0.5s 0.5s
0.5-s Sampling Relay SB000014
1 scan

1.0s 1.0s
1.0-s Sampling Relay SB000015
1 scan

2.0s 2.0s
2.0-s Sampling Relay SB000016
1 scan

60.0s 60.0s
60.0-s Sampling Relay SB000017
1 scan

1.0s
1.0 s After Start of Scan Relay SB000018

2.0s
2.0 s After Start of Scan Relay SB000019

5.0s
5.0 s After Start of Scan Relay SB00001A

A-2
 A.1 System Service Registers

( 3 ) DWG.L Only
The following relays begin operation at the start of the low-speed scan.

Name Register No. Remarks

1 scan
One-scan Flicker Relay SB000030
1 scan

0.5s 0.5s
0.5-s Flicker Relay SB000031

1.0s 1.0s
1.0-s Flicker Relay SB000032

2.0s 2.0s
2.0-s Flicker Relay SB000033

0.5s 0.5s
0.5-s Sampling Relay SB000034
1 scan

1.0s 1.0s
1.0-s Sampling Relay SB000035
1 scan

2.0s 2.0s
2.0-s Sampling Relay SB000036
1 scan

60.0s 60.0s
60.0-s Sampling Relay SB000037
1 scan

1.0s
1.0 s After Start of Scan Relay SB000038

2.0s
2.0 s After Start of Scan Relay SB000039

5.0s
Appendices

5.0 s After Start of Scan Relay SB00003A

App

A-3
 A System Registers Lists

A.2 Scan Execution Status and Calendar

Name Register No. Remarks
High-speed Scan Set Value SW00004 High-speed Scan Set Value (0.1 ms)
High-speed Scan Current Value SW00005 High-speed Scan Current Value (0.1 ms)
High-speed Scan Maximum Value SW00006 High-speed Scan Maximum Value (0.1 ms)
SW00007
Reserved by the system. to (Not used)
SW00009
Low-speed Scan Set Value SW00010 Low-speed Scan Set Value (0.1 ms)
Low-speed Scan Current Value SW00011 Low-speed Scan Current Value (0.1 ms)
Low-speed Scan Maximum Value SW00012 Low-speed Scan Maximum Value (0.1 ms)
Reserved by the system. SW00013 (Not used)
Executing Scan Current Value SW00014 Executing Scan Current Value (0.1 ms)
Calendar: Year SW00015 1999: 0099 (BCD) (Last two digits only)
Calendar: Month Day SW00016 December 31: 1231 (BCD)
Calendar: Hours Minutes SW00017 23 hours 59 minutes: 2359 (BCD)
Calendar: Seconds SW00018 59 s: 59 (BCD)
Calendar: Day of Week SW00019 0 to 6: Sun., Mon. to Sat.

A.3 Program Software Numbers and Remaining Program Memory Capacity Name
Name Register No. Remarks
System Program Software Number SW00020 S†††† (†††† is stored as BCD)
SW00021
System Number to (Not used)
SW00025
Remaining Program Memory Capacity SW00026 Bytes
Total Memory Capacity SW00028 Bytes

A-4
 B.1 Operations and Parameter Data Flow

B Current Values and Set Values (Input Data) in the SVB Definition
Window
In systems connected to MECHATROLINK, SERVOPACK parameters can be read directly from the MP2300. (Refer
to 11.6 Parameters That Are Automatically Updated in the Machine Controller MP2000 Series Built-in SVB/SVB-01
Motion Module User’s Manual (Manual No.: SIEPC88070033). This means that parameters are saved in the memory
area of both the MP2300 and the SERVOPACK. It is thus necessary to consider the relationship between the settings in
both memory areas.

B.1 Operations and Parameter Data Flow

( 1 ) Power ON
• Parameter data saved in the SERVOPACK’s EEPROM*1is copied to SERVOPACK’s RAM.
• Parameter data saved in the MP2300’s flash memory*1for all axes is copied to SDRAM*2.
Some gain-related settings are sent from the MP2300 to SERVOPACK RAM*1.

MECHATROLINK

Send Send

MPE720
System Control
SRAM Software Software
Input
Data
Flash EEP
SDRAM RAM
HDD in personal computer Memory -ROM

Servo Parameters Parameters

(All Axes)

MP2300 SERVOPACK SERVOPACK

* 1. EEPROM, flash memory, and SRAM: Store data even when the power is turned OFF.
* 2. RAM (SRAM, SDRAM): Lose data when the power is turned OFF.
ΠIndicates data has been written (same below).

( 2 ) Normal Operation
• Control software of the SERVOPACK operates based on the parameter data held in SERVOPACK’s RAM.
• Some of MP2300 setting parameters and commands temporarily change SERVOPACK parameters*. RAM in the
SERVOPACK are written.

MECHATROLINK
When the MP2300 has
Send temporarily changed
Send

MPE720
System Control
SRAM Software Software
Input
Data

Flash EEP
SDRAM RAM
HDD in personal computer Memory -ROM
Appendices

SERVOPACK
Parameters
Parameters
(All Axes)
MP2300 SERVOPACK SERVOPACK

* Refer to 4 Motion Prameters of the Machine Controller MP2000 Series Built-in SVB/SVB-01 Motion Mudule User’s
Manual (Manual No.: SIEPC88070033).
Œ Parameters held in the SERVOPACK’s RAM are displayed on a Digital Operator connected to the
App
SERVOPACK. They are also written to EEPROM when the DATA/ENTER Key is pressed.

A-5
 B Current Values and Set Values (Input Data) in the SVB Definition Window

( 3 ) When the SERVOPACK Tab Page Is Open

The data flow for SERVOPACK parameters is as follows when the SERVOPACK Tab Page is open in the SVB
Definitions Window on the MPE720 (refer to 2.2.5 ( 2 ) [ a ] Opening the SVB Definition Window on page 2-23 for
details on how to open the SERVOPACK Tab Page.):
• The MPE720 writes and displays the parameters that are held in the SERVOPACK’s RAM for the relevant axis to
the Current Value in the SERVOPACK Tab Page.
It also reads and displays the values that are held in the MP2300’s SDRAM values to the Input Data in the SERVO-
PACK Tab.

MECHATROLINK

Send Send
MPE720 (online)

System Control
SRAM Software Software
Display Input Current
Data Value

Flash EEP
SDRAM RAM
Memory -ROM
Input SERVOPACK
Parameters Parameters
Data
(All Axes)
MP2300 SERVOPACK SERVOPACK
HDD in personal computer

The following figure shows an example of the SERVOPACK Tab in the SVB Definition Window. The values in Cur-
rent Value are different from the values in Input Data.

A-6
 B.1 Operations and Parameter Data Flow

( 4 ) SERVOPACK Parameters Saved in the SERVOPACK Tab Page

The data flow for SERVOPACK parameters is as follows when File − Save is selected from the SERVOPACK Tab
Page:
• The MPE720 writes all the parameters in Input Data currently displayed on SERVOPACK Tab Page of the relevant
axis to the followings.
• HDD (hard disk) of the personal computer
• SDRAM of MP2300
• RAM and EEPROM of the SERVOPACK
• After having completed writing the parameters, the MPE720 updates the values in Current Value on the SERVO-
PACK Tab Page with the SERVOPACK parameter values stored in the RAM.

MECHATROLINK

Send Send

MPE720 㧔online㧕
System Control
SRAM Software Software
Display Input Current
Data Value
Flash EEP
SDRAM RAM
Memory -ROM
SERVOPACK
Parameters Parameters
Input
(All Axes)
Data
MP2300 SERVOPACK SERVOPACK

HDD in personal computer

Appendices

App

A-7
 B Current Values and Set Values (Input Data) in the SVB Definition Window

The following figure shows a display example after having executed save operation on the SERVOPACK Tab Page in
the SVB Definition Window. After having saved the data, the values in Input Data of all the parameters become the
same as the values in Current Value on the SERVOPACK Tab Page.

Before saving

After saving

ΠThe saving operation of SERVOPACK parameters can be used for writing data after SERVOPACK replacement
because it writes all the parameters of the relevant axis.

A-8
 B.1 Operations and Parameter Data Flow

( 5 ) Copying Current Values to Set Values (Input Data) in the SERVOPACK Tab Page
The data flow for SERVOPACK parameters is as follows when selecting Edit - Copy Current Value from the
SERVOPACK Tab Page in the SVB Definition Window on the MPE720:
• The MPE720 copies the values currently displayed in Current Value to Input Data on the SERVOPACK Tab Page
and displays.

MECHATROLINK

MPE720 㧔online㧕

System Control
SRAM Software Software
Display Input Current
Data Value

Flash EEP
SDRAM RAM
Memory -ROM
Input
Data Servo Parameters Parameters
(All Axes)

MP2300 SERVOPACK SERVOPACK

HDD in personal computer

The following figure shows a display example after having selected Edit - Copy Current Value on the SERVOPACK
Tab Page in the SVB Definition Window. The values in Current Value are copied to Input Data.
Before copying

After copying
Appendices

App

A-9
 B Current Values and Set Values (Input Data) in the SVB Definition Window

( 6 ) Changing Parameters in the SERVOPACK Tab Page

The data flow for SERVOPACK parameters is as follows when parameters for the cursor position are changed from the
SERVOPACK Tab Page in the SVB Definition Window for MPE720:
• The MPE720 writes parameters of the relevant axis to the followings when the ENTER Key is pressed on the
computer. (The parameters other than those of the relevant axis will not be written.)
• Input Data (set data) on the SERVOPACK Tab Page
• SDRAM of the MP2300
• RAM of the SERVOPACK
• After having completed writing, the MPE720 updates the values in Input Data on the SERVOPACK Tab Page with
the parameter values stored in the RAM of the SERVOPACK.

MECHATROLINK

Send Send
MPE720 㧔online㧕

System Control
SRAM Software Software
Display Input Current
Data Value

Flash EEP
SDRAM RAM
Memory -ROM
Input
Data Servo Parameters Parameters
(All Axes)

MP2300 SERVOPACK SERVOPACK

HDD in personal computer

A-10
 B.1 Operations and Parameter Data Flow

The following figure shows a display example after having changed the value (2nd Speed Loop Gain) in Input Data on
the SERVOPACK Tab Page. After having pressed the ENTER Key, the values of Speed Loop Gain, Speed Loop Inte-
gral Time Constant, and Position Loop Gain (boxed in dotted line) in Input Data remain different from the values in
Current Value since the parameters other than the one that has been changed are not written.

Before pressing
ENTER Key

After having
pressed ENTER
Key

Appendices

App

A-11
 B Current Values and Set Values (Input Data) in the SVB Definition Window

( 7 ) Saving Data to Flash Memory

The data flow for SERVOPACK parameters is as follows when saving the parameters to flash memory on the MPE720:
• The MP2300 writes the parameters data (Input Data) held in SDRAM to flash memory.

MECHATROLINK

Send Send

MPE720 㧔online㧕
System Control
Current SRAM Software
Display Input Software
Data Value

Flash EEP
SDRAM RAM
Memory -ROM
Input
Data Servo Parameters Parameters
(All Axes)

HDD in personal computer MP2300 SERVOPACK SERVOPACK

ΠSave to flash memory also after having changed set data of SERVOPACK parameter.

B.2 Precautions When Saving SERVOPACK Parameters

Before executing saving operation in the SERVOPACK Tab Page in any cases including the SERVOPACK replace-
ment, always select Edit - Copy Current Value to copy the values in Current Value to Input Data.

A-12
 C.1 Initializing Procedures for Σ-V and Σ-III Series SERVOPACKs

C Initializing the Absolute Encoder

The procedure for initializing an absolute encoder for a Σ-I, Σ-II, Σ-III, or Σ-V SERVOPACK is given below.
ΠRefer to 9.2.1 System Startup Flowchart in the Machine Controller MP2000 Series Built-in SVB/SVB-01 Motion Mod-
ule User’s Manual (Manual No.: SIEPC88070033) for the procedure for absolute-position detection.

C.1 Initializing Procedures for Σ-V and Σ-III Series SERVOPACKs

Œ Refer to the following manual for information on Σ-V series SERVOPACKs: Σ-V Series SGM††/SGDV User’s
Manual Design and Maintenance (Manual No.: SIEPS80000045).
Œ Refer to the following manuals for information on Σ-III series SERVOPACKs:
Σ-III Series SGM††/SGDS User’s Manual (Manual No.: SIEPS80000000),
Σ-III Series SGM††/SGDS User’s Manual for MECHATROLINK-II Communications (Manual No.:
SIEPS80000011), and Σ-III Series SGM…S/SGDS Digital Operator Instructions (Manual No.: TOBPS80000001)

Follow the setup procedure below using a Digital Operator.

1. Press the Key to display the Utility Function Mode main menu. Use the UP Key or DOWN Key to
select Fn008.

㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧜㧜㧣
㧲㨚㧜㧜㧤
㧲㨚㧜㧜㧥
㧲㨚㧜㧜㧭

2. Press the Key.

The display is switched to the execution display of Fn008 (Absolute encoder multi-turn reset and encoder alarm
reset).

ΠIf the display is not switched and "NO_OP" is displayed in the status display, the Write Prohibited setting
(Fn010 = 0001) is set. Check the status and reset. Then clear the Write Prohibited setting.

3. Keep pressing the Key until "PGCL1" is changed to "PGCL5."

Appendices

App

A-13
 C Initializing the Absolute Encoder

4. Press the Key.

"BB" in the status display changes to "Done."

5. Press the Key. The display returns to the Utility Function Mode main menu.

This completes setting up the absolute encoder. Turn the power supply OFF and then back ON to reset the
SERVOPACK.

A-14
 C.2 Σ-II SERVOPACK

C.2 Σ-II SERVOPACK

Œ Refer to the following manuals for information on Σ-II SERVOPACKs.
Σ-II Series SGM†H/SGDH User’s Manual (SIEPS800000005)
Σ-II Series SGM†/SGDB/SGM†H/SGDM User’s Manual (SIEPS80000015)

( 1 ) Initialization Using a Hand-held Digital Operator

1. Press the DSPL/SET Key to select the Auxiliary Function Mode.

2. Select parameter Fn008 by pressing the LEFT (<) and RIGHT (>) Keys to select the digit to be
changed and then using the UP (∨) and DOWN (∧) Keys to change the value of the digit.

3. Press the DATA/ENTER Key.

The following display will appear.

4. The rightmost digit will be incremented each time the UP (∨) Key is pressed. Press the UP (∨) Key sev-
eral times until “PGCL5” is displayed.
If a mistake is made in the key operation, “nO_OP” will blink on the display for 1 second and then the display
will return to the Auxiliary Function Mode. If this happens, return to step 3, above, and repeat the operation.
Mistake in Key Operation
UP Key

Blinks for 1 s.

UP Key

Returns to the Auxiliary

Function Mode.

5. Press the DSPL/SET Key.

The display will change as shown below and the clear operation will be performed for multiturn data for the
absolute encoder.

Blinks for 1 s.
Appendices

This completes initializing the absolute encoder. Reset the SERVOPACK to turn the power supply OFF and then back
ON.

App

A-15
 C Initializing the Absolute Encoder

( 2 ) Initialization Using the Built-in Panel Operator

1. Press the MODE/SET Key to select the Auxiliary Function Mode.

2. Press the UP ( ) and DOWN ( ) Keys to select parameter Fn008.

3. Press the DATA/ENTER Key for more than one second.

The following display will appear.

4. The rightmost digit will be incremented each time the UP ( ) Key is pressed. Press the UP ( ) Key
several time until “PGCL5” is displayed.
If a mistake is made in the key operation, “nO_OP” will blink on the display for 1 second and then the display
will return to the Auxiliary Function Mode. If this happens, return to step 3, above, and repeat the operation.
Mistake in Key Operation
UP Key

Blinks for 1 s.

UP Key

Returns to the Auxiliary

Function Mode.

5. Press the MODE/SET Key.

The display will change as shown below and the clear operation will be performed for multiturn data for the
absolute encoder.

Blinks for 1 s.

This completes initializing the absolute encoder. Reset the SERVOPACK to turn the power supply OFF and then back
ON.

A-16
 C.3 Σ-I SERVOPACK

C.3 Σ-I SERVOPACK

Œ Refer to the following manuals for information on Σ-I SERVOPACKS.
Σ Series SGM†/SGD User’s Manual (Manual No.:SIE-S800-26.3)
Σ Series SGM†/SGDB High-speed Field Network MECHATROLINK-compatible AC Servo Driver User’s Manual
(Manual No.: SIE-S800-26.4)

( 1 ) Initializing a 12-bit Absolute Encoder

Use the following procedure to initialize a 12-bit absolute encoder.

1. Properly connect the SERVOPACK, Servomotor, and MP2300.

2. Disconnect the connector on the encoder end and short-circuit pins 13 and 14 on the encoder end con-
nector for 2 seconds or more.

13 14

3. Remove the short piece and insert the connector securely in its original position.

4. Connect the cables using normal wiring and make sure the encoder battery is connected.

5. Turn ON the system.

Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, so the system has been success-
fully initialized.

Appendices

App

A-17
 C Initializing the Absolute Encoder

( 2 ) Initializing a 15-bit Absolute Encoder

Use the following procedure to initialize a 15-bit absolute encoder.

1. Turn OFF the SERVOPACK and MP2300.

2. Discharge the large-capacity capacitor in the encoder using one of the following methods.

■ At the SERVOPACK End Connector

1) Disconnect the connector on the SERVOPACK end.
2) Use a short piece to short-circuit together connector pins 10 and 13 on the encoder end and leave the pins
short-circuited for at least 2 minutes.
3) Remove the short piece and insert the connector securely in its original position.

■ At the Encoder End Connector

1) Disconnect the connector on the encoder end.
2) Use a short piece to short-circuit together connector pins R and S on the encoder end and leave the pins short-
circuited for at least 2 minutes.
3) Remove the short piece and insert the connector securely in its original position.

SERVOPACK
Key location
Encoder
CN2-1
A

S R (White_orange) CN2-13
S
T CN2-12
R CN2-10
(White_orange)
PG cable

Short-circuit here.

3. Connect the cables using normal wiring and make sure the encoder battery is connected.

4. Turn ON the system.

Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, so the system has been success-
fully initialized.

A-18
 D.1 Fixed Parameter List

D Motion Parameter Lists

The motion parameters (fixed parameters, setting parameters, and monitoring parameters) for SVB and SVR Modules
are listed below.
For information on how to use each motion parameter, refer to Machine Controller MP2000 Series Built-in SVB/SVB-
01 Motion Modules User’s Manual (Manual No.: SIEPC88070033).
ΠThe Yes in the SVB or SVR column indicates that the motion parameter is supported by the corresponding module.
ΠThe parameters whose register numbers are marked with an asterisk (*) are valid only when using an MP2300CPU
Ver 2.61 or later and Σ-V series servo drive.

D.1 Fixed Parameter List

No. Name Contents SVB SVR

0: Normal Operation Mode Yes Yes
1: Axis unused Yes Yes
0 Selection of Operation Modes 2: Simulation mode Yes
3: Servo Driver Transmission Reference Mode Yes
4 and 5: Reserved for system use. − −
Bit 0: Axis Selection (0: Finite length axis/1: Infinite length axis)
Yes Yes
ΠSet to 0 for linear type.
Bit 1: Soft Limit (Positive Direction) Enable/Disable
Yes
(0: Disabled/1: Enabled)
Bit 2: Soft Limit (Negative Direction) Enable/Disable
Yes
(0: Disabled/1: Enabled)
Bit 3: Overtravel Positive Direction Enable/Disable
Yes
(0: Disabled/1: Enabled)
1 Function Selection Flag 1 Bit 4: Overtravel Negative Direction Enable/Disable
Yes
(0: Disabled/1: Enabled)
Bits 5 to 7: Reserved for system use. − −
Bit 8: Interpolation Segment Distribution Processing Yes
Bit 9: Simple ABS Rotary Pos. Mode (Simple absolute infinite axis
position control) (0: Disabled/1: Enabled) Yes
ΠSet to 0 for linear type.
Bit A: User Constants Self-writing Function Yes
Bits B to F: Reserved for system use.
Bit 0: Communication Abnormality Detection Mask Yes
2 Function Selection Flag 2 Bit 1: WDT Abnormality Detection Mask Yes
Bits 2 to F: Reserved for system use. − −
3 − Reserved for system use. − −
0: pulse 3: inch
1: mm 4: μm
2: deg
4 Reference Unit Selection Yes Yes
Œ For linear type, 0 (pulse), 1 (mm), and 4 (μm) can be used.
If 2 (deg.) or 3 (inch) is selected, the selected unit will be
converted to mm.
Number of Digits below
5 1 = 1 digit Yes Yes
Decimal Point
Travel Distance per Machine
Rotation 1 = 1 reference unit Yes Yes
Appendices

6 (rotary motor)
Linear Scale Pitch
1 = 1 reference unit Yes Yes
(linear motor)
1 = 1 rotation
8 Servo Motor Gear Ratio Yes Yes
ΠInvalid for linear type

9 Machine Gear Ratio

1 = 1 rotation
Yes Yes
App
ΠInvalid for linear type

A-19
 D Motion Parameter Lists

(cont’d)
No. Name Contents SVB SVR
Infinite Length Axis Reset 1 = 1 reference unit
10 Yes Yes
Position (POSMAX) ΠInvalid for linear type
12 Positive Software Limit Value 1 = 1 reference unit Yes
14 Negative Software Limit Value 1 = 1 reference unit Yes
Backlash Compensation
16 1 = 1 reference unit Yes
Amount
18 to 29 − Reserved for system use. − −
0: Incremental encoder
1: Absolute encoder
30 Encoder Selection Yes
2: Absolute encoder (Incremental encoder is used.)
3: Reserved (External encoder)
31 to 33 − Reserved for system use. − −
Rated Motor Speed (Rotary
Motor) 1 = 1 min-1 Yes Yes
34
Rated Speed (Linear Motor) 1 = 0.1 m/s, 0.1 mm/s Yes Yes
Number of Pulses per Motor 1 = 1 pulse/rev
Yes Yes
Rotation (Rotary Motor) Set the value after multiplication.
36
Number of Pulses per Linear
1 = 1 pulse/scale pitch Yes Yes
Scale Pitch (Linear Motor)
1 = 1 rotation
Maximum Number of Absolute
38 ΠSet to 0 when a direct drive motor is being used. Yes
Encoder Turns Rotation
ΠInvalid for linear type
40 to 41 − Reserved for system use. − −
Feedback Speed Movement
42 1 = 1 ms Yes Yes
Averaging Time Constant

D.2 Setting Parameter List

Register No. Name Contents SVB SVR

Bit 0: Servo ON (0: OFF/1: ON) Yes Yes
Bit 1: Machine Lock (0: Normal Operation/1: Machine Lock) Yes
Bits 2 to 3: Reserved for system use
Bit 4: Latch Detection Demand (0: OFF/1: ON) Yes
Bit 5: Reserved for system use
Bit 6: POSMAX Turn Number Presetting Demand
Yes Yes
(0: OFF/1:ON)
Bit 7: Request ABS Rotary Pos. Load (Absolute system infinite
length position information LOAD)
Yes
(0: OFF/1:ON)
ΠSet to 0 for linear type
RUN Command
OW††00 Bit 8: Forward Outside Limiting Torque/Thrust Input (Forward
Setting
external torque/thrust input) Yes
(0: OFF/1: ON)
Bit 9: Reverse Outside Limiting Torque/Thrust Input (Forward
external torque/thrust input) Yes
(0: OFF/1: ON)
Bit A: Reserved for system use
Bit B: Integration Reset (0: OFF/1: ON) Yes
Bit C: Reserved for system use
Bit D: Latch completion status clear request Yes
Bit E: Communication Reset (0: OFF/1: ON) Yes
Bit F: Alarm Clear Yes Yes

A-20
 D.2 Setting Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Bit 0: Excessive Deviation Error Level Setting
Yes
(0: Alarm/1: Warning)
Bits 1 to 2: Reserved for system use.
Bit 3: Speed Loop P/PI Switch Yes
OW††01 Mode Setting 1
Bit 4: Gain Switch Yes
Bit5: Gain Switch 2 Yes
Bit6: Latch mode selection (0: Usual latch/1: Continuous latch) Yes
Bits 7 to F: Reserved for system use.
Bit 0: Monitor 2 Enabled (0: Disabled/1: Enabled) Yes
OW††02 Mode Setting 2
Bits 1 to F: Reserved for system use.
Bits 0 to 3: Speed Unit Selection
0: Reference unit/s
1: 10n reference unit/min Yes Yes
2: Percentage of rated speed (1 = 0.01%)
3: Percentage of rated speed (1 = 0.0001%)
Bits 4 to 7: Acceleration/Deceleration Degree Unit Selection
0: Reference unit/s2 Yes Yes
OW††03 Function Setting 1 1: ms
Bits 8 to B: Filter Type Selection
0: No filter
Yes Yes
1: Exponential acceleration/deceleration filter
2: Moving average filter
Bits C to F: Torque Unit Selection
0: Percentage of rated toque (1 = 0.01%) Yes Yes
1: Percentage of rated toque (1 = 0.0001%)
Bits 0 to 3: Latch Detection Signal Selection
0: -
1: -
2: Phase-C pulse input signal Yes
3: /EXT1 Yes
4: /EXT2 Yes
5: /EXT3 Yes
Bits 4 to 7: External Positioning Signal Setting
OW††04 Function Setting 2
0: −
1: −
2: Phase-C pulse input signal Yes
3: /EXT1 Yes
4: /EXT2 Yes
5: /EXT3 Yes
Bits 8 to B: Reserved for system use.
Bits C to F: Bank Selector Yes
Bit 1: Phase Reference Creation Calculation Disable (0: Enabled/1:
Yes
Disabled)
OW††05 Function Setting 3 Bits 2 to A: Reserved for system use.
Bit B: Zero Point Return Input Signal (0: OFF/1: ON) Yes
Bits C to F: Reserved for system use.
OW††06 to
− Reserved for system use. − −
Appendices

OW††07

App

A-21
 D Motion Parameter Lists

(cont’d)
Register No. Name Contents SVB SVR
0: NOP (No Command)
1: POSING (Position Mode) (Positioning)
2: EX_POSING (Latch Target Positioning) (External positioning)
3: ZRET (Zero Point Return)
4: INTERPOLATE (Interpolation)
5: ENDOF_INTERPOLATE (Last Interpolation Segment)
(Reserved for the system)
6: LATCH (Interpolation Mode with Latch Input)
7: FEED (Jog Mode)
8: STEP (Relative Position Mode) (Step mode)
9: ZSET (Set Zero Point)
10: ACC (Change Acceleration Time)
11: DCC (Change Deceleration Time)
12: SCC (Change Filter Time Constant)
13: CHG_FILTER (Change Filter Type)
OW††08 Motion Command 14: KVS (Change Speed Loop Gain) Yes Yes
15: KPS (Change Position Loop Gain)
16: KFS (Change Feed-forward)
17: PRM_RD (Read User Constant)
(Read SERVOPACK parameter)
18: PRM_WR (Write User Constant
(Write SERVOPACK parameter)
19: ALM_MON (Alarm Monitor)
20: ALM_HIST (Alarm History Monitor)
21: ALMHIST_CLR (Clear Alarm History)
22: ABS_RST (Absolute Encoder Reset)
23: VELO (Speed Reference)
24: TRQ (Torque/Thrust Reference)
25: PHASE (Phase Reference)
26: KIS (Change Position Loop Integral Time Constant)
27: PPRM_WR (Stored Parameter Write)
Bit 0: Holds a Command (0: OFF/1: ON) Yes Yes
Bit 1: Interrupt a Command (0: OFF/1: ON) Yes Yes
Bit 2: Moving Direction (JOG/STEP) (0: Forward rotation/1:
Yes Yes
Reverse rotation)
Bit 3: Zero point Direction Selection (0: Reverse rotation/1: Forward
Yes
Motion Command rotation)
OW††09
Control Flag Bit 4: Latch Zone Effective Selection (0: Disabled/1: Enabled) Yes
Bit 5: Position Reference Type
Yes Yes
(0: Incremental Addition Mode/1: Absolute Mode)
Bit 6: Phase Compensation Type
Yes
(0: Incremental Addition Mode/1: Absolute Mode)
Bits 7 to F: Reserved for system use.
0: NOP (No command) Yes Yes
1: PRM_RD (Read User Constant) (Read SERVOPACK
parameter)
OW††0A Motion Subcommand 2: PRM_WR (User Constant) (Write SERVOPACK parameter) Yes
3: Reserved
4: SMON (Status monitor)
5: FIXPRM_RD (Read Fixed Parameters) Yes Yes
OW††0B − Reserved for system use.
Torque/Thrust Unit is according to OW††03, bits 12 to 15 (Torque Unit
OL††0C Yes Yes
Reference Setting Setting).
Speed Limit Setting at
OW††0E the Torque/Thrust 1 = 0.01% (percentage of rated speed) Yes
Reference
OW††0F − Reserved for system use.
Speed Reference Unit is according to OW††03, bits 0 to 3 (Speed Unit
OL††10 Yes Yes
Setting Selection).

A-22
 D.2 Setting Parameter List

(cont’d)
Register No. Name Contents SVB SVR
OW††12 to
− Reserved for system use. − −
OW††13
Positive Side Limiting
OL††14 Torque/Thrust Setting Unit is according to OW††03, bits C to F (Torque Unit). Yes
at the Speed Reference
Secondly Speed Unit is according to OW††03, bits 0 to 3 (Speed Unit
OL††16 Yes Yes
Compensation Selection).
OW††18 Override 1 = 0.01% Yes
OW††19 to
− Reserved for system use. − −
OW††1B
Position Reference
OL††1C 1 = 1 reference unit Yes Yes
Setting
Width of Positioning
OL††1E 1 = 1 reference unit Yes
Completion
NEAR Signal Output
OL††20 1 = 1 reference unit Yes
Width
Error Count Alarm
OL††22 1 = 1 reference unit Yes
Detection
OL††24 − Reserved for system use. − −
Positioning
OW††26 Completion Check 1 = 1 ms Yes
Time
OW††27 − Reserved for system use.
Phase Correction
OL††28 1 = 1 reference unit Yes
Setting
Latch Zone Lower Limit
OL††2A 1 = 1 reference unit Yes
Setting
Latch Zone Upper Limit
OL††2C 1 = 1 reference unit Yes
Setting
OW††2E Position Loop Gain 1 = 0.1/s Yes
OW††2F Speed Loop Gain 1 = 1 Hz Yes
Speed Feedforward
OW††30 1 = 0.01% (percentage of distribution segment) Yes
Amends
Speed
OW††31 1 = 0.01% (percentage of rated speed) Yes Yes
Compensation
Position Integration
OW††32 1 = 1 ms Yes
Time Constant
OW††33 − Reserved for system use. − −
Speed Integration Time
OW††34 1 = 0.01 ms Yes
Constant
OW††35 − Reserved for system use. − −
Straight Line
Acceleration/ Units depends on the setting of OW††03, bits 4 to 7 (Acceleration/
OL††36 Yes Yes
Acceleration Time Deceleration Degree Unit Selection).
Constant
Straight Line
Deceleration/ Units depends on the setting of OW††03, bits 4 to 7 (Acceleration/
OL††38 Yes Yes
Deceleration Time Deceleration Degree Unit Selection).
Constant
OW††3A Filter Time Constant 1 = 0.1 ms Yes Yes
Appendices

Bias Speed for

Exponential Unit is according to OW††03, bits 0 to 3 (Speed Unit
OW††3B Yes
Acceleration/ Selection).
Deceleration Filter

App

A-23
 D Motion Parameter Lists

(cont’d)
Register No. Name Contents SVB SVR
0: DEC1 + C (DEC1 and C-Phase)
1: ZERO (Zero signal)
Yes
2: DEC1 + ZERO (DEC1 and ZERO Signal)
3: C (C-pulse)
4 to 10: Reserved for system use. − −
11: C Pulse Only
Zero Point Return 12: POT & C Pulse
OW††3C
Method 13: POT Only Yes
14: HOME LS & C Pulse
15: HOME Only
16: NOT & C Pulse
17: NOT Only
Yes
18: INPUT & C Pulse
19: INPUT Only
Width of Starting
OW††3D 1 = 1 reference unit Yes Yes
Point Position Output
Unit is according to OW††03, bits 0 to 3
OL††3E Approach Speed Yes
(Speed Unit Selection).
Unit is according to OW††03, bits 0 to 3
OL††40 Creep Rate Yes
(Speed Unit Selection).
Zero Point Return
OL††42 1 = 1 reference unit Yes
Travel Distance
OL††44 Step Travel Distance 1 = 1 reference unit Yes Yes
External Positioning
OL††46 1 = 1 reference unit Yes
Final Travel Distance
Zero Point Position in
OL††48 Machine Coordinate 1 = 1 reference unit Yes Yes
Offset
Work Coordinate
OL††4A 1 = 1 reference unit Yes Yes
System Offset
Number of POSMAX 1 = 1 reference unit
OL††4C Yes Yes
Turns Presetting Data ΠInvalid for liner type
Bits 0 to 3: Monitor 1 (Cannot be set.)
Servo User Monitor Bits 4 to 7: Monitor 2
OW††4E Yes
Setting Bits 8 to B: Monitor 3 (Cannot be set.)
Bits C to F: Monitor 4
Servo Driver Alarm
OW††4F Set the number of the alarm to monitor. Yes
Monitor No.
Servo Driver User
Constant No.
OW††50 (SERVOPACK Set the number of the SERVOPACK parameter. Yes
parameter No. for
motion command)
Servo Driver User
Constant Size
OW††51 (SERVOPACK Set the number of words in the SERVOPACK parameter. Yes
parameter size for
motion command)
Servo Driver User
Constant Set Point
(SERVOPACK
OL††52 Set the setting for the SERVOPACK parameter. Yes
parameter setting value
for motion
command

A-24
 D.3 Monitoring Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Servo Driver for
Assistance User
Constant No.
OW††54 (SERVOPACK Set the number of the SERVOPACK parameter number. Yes
parameter No.for
motion
subcommand)
Servo Driver for
Assistance User
Constant Size
OW††55 (SERVOPACK Set the number of words in the SERVOPACK parameter. Yes
parameter size for
motion
subcommand)
Servo Driver for
Assistance User
Constant Set Point
OL††56 (SERVOPACK Set the setting for the SERVOPACK parameter. Yes
parameter setting value
for motion
subcommand)
OW††58
− Reserved for system use. − −
to OW††5B
Fixed Parameter Set the number of the fixed parameter to read with the FIXPRM_RD
OW††5C Yes Yes
Number motion subcommand.
OW††5D − Reserved for system use. − −
Encoder Position
1 = 1 pulse
OL††5E When Power is OFF Yes
(Lower 2 words) ΠFor linear type, do not set this register.
Encoder Position
1 = 1 pulse
OL††60 When Power is OFF Yes
(Upper 2 words) ΠFor linear type, do not set this register.
Pulse Position When
1 = 1 pulse
OL††62 Power is OFF Yes
(Lower 2 words) ΠFor linear type, do not set this register.
Pulse Position When
1 = 1 pulse
OL††64 Power is OFF (Upper 2 Yes
words) ΠFor linear type, do not set this register.

OL††66 to
− Reserved for system use. − −
OL††6E
Command Buffer for
OW††70 to Servo Driver This area is used for command data when MECHATROLINK servo
Yes
OW††7F Transmission commands are specified directly.
Reference Mode

D.3 Monitoring Parameter List

Register No. Name Contents SVB SVR

Bit 0 Motion Controller Operation Ready Yes Yes
Bit 1: Running (At Servo ON) Yes Yes
Appendices

Bit 2: System BUSY Yes

IW††00 RUN Status
Bit 3: Servo Ready Yes
Bit 4: Latch Mode Yes
Bits 5 to F: Reserved for system use. − −
Parameter Number
IW††01 When Range Over
Setting parameters: 0 or higher
Fixed Parameters: 1000 or higher
Yes Yes App
is Generated

A-25
 D Motion Parameter Lists

(cont’d)
Register No. Name Contents SVB SVR
Bit 0: Excessive Deviation Yes
Bit 1: Set Parameter Error (Setting parameter error) Yes Yes
Bit 2: Fixed Parameter Error Yes Yes
Bit 3: Servo Driver Error Yes
Bit 4: Motion Command Set Error Yes Yes
Bit 5: Reserved for system use. − −
IL††02 Warning
Bit 6: Positive Direction Overtravel Yes
Bit 7: Negative Direction Overtravel Yes
Bit 8: Servo ON Incomplete Yes
Bit 9: Servo Driver Communication Warning Yes
Bit A: Servo Driver Stop Signal Input Yes
Bits B to 1F: Reserved for system use.
Bit 0: Servo Driver Error Yes
Bit 1: Positive Direction Overtravel Yes
Bit 2: Negative Direction Overtravel Yes
Bit 3: Positive Direction Software Limit Yes
Bit 4: Negative Direction Software Limit Yes
Bit 5: Servo OFF Yes Yes
Bit 6: Positioning Time Over Yes
Bit 7: Excessive Positioning Moving Amount Yes
Bit 8: Excessive Speed Yes
Bit 9: Excessive Deviation Yes
Bit A: Filter Type Change Error Yes
Bit B: Filter Time Constant Change Error Yes

Alarm Bit C: Reserved for system use. − −

IL††04
Bit D: Zero Point Unsetting
Yes
ΠInvalid for linear type.
Bit E: Reserved for system use. Yes
Bit F: Reserved for system use. Yes
Bit 10: Servo Driver Synchronization Communications
Yes
Error
Bit 11: Servo Driver Communication Error Yes
Bit 12: Servo Driver Command Timeout Error Yes
Bit 13: Excessive ABS Encoder Rotations
Yes
ΠInvalid for linear type
Bits 14 to 1D: Reserved for system use. − −
Bit 1E: Motor Type Set Error Yes −
Bit 1F: Connected Encoder Type Error Yes −
IL††06 − Reserved for system use. − −
Motion Command
IW††08 Same as OW††08 (Motion Command). Yes Yes
Response Code
Bit 0: Command Execution Flag Yes Yes
Bit 1: Command Hold Completed (HOLDL) Yes Yes
Bit 2: Reserved for system use.
Bit 3: Command Error Completed Status (FAIL) (Command
Motion Command Yes Yes
IW††09 Encoder Type Error)
Status
Bits 4 to 6: Reserved for system use. − −
Bit 7: Reset Absolute Encoder Completed Yes
Bit 8: Command Execution Completed (COMPLETE) Yes Yes
Bits 9 to F: Reserved for system use. − −
Motion Subcommand
IW††0A Same as OW††0A (Motion Subcommand). Yes Yes
Response Code

A-26
 D.3 Monitoring Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Bit 0: Command Executing Flag Yes Yes
Bits 1 to 2: Reserved for system use. − −
Bit 3: Command Error Completed Status (Command Error
Yes Yes
IW††0B Subcommand Status Occurrence)
Bits 4 to 7: Reserved for system use. − −
Bit 8: Command Execution Completed Yes Yes
Bits 9 to F: Reserved for system use. − −
Bit 0: Discharging Completed (DEN) Yes Yes
Bit 1: Positioning Completed (POSCOMP) Yes Yes
Bit 2: Latch Complete (LCOMP) Yes
Bit 3: NEAR Position (NEAR) Yes Yes
Bit 4: Zero Point Position (ZERO) Yes Yes
Bit 5: Zero Point Return (Setting) Completed (ZRNC) Yes Yes

Position Management Bit 6: During Machine Lock (MLKL) Yes

IW††0C − −
Status Bit 7: Reserved for system use.
Bit 8: ABS Rotary Pos. LOAD Complete (ABS System
Infinite Length Position Control Information Load
Yes
Completed) (ABSLDE)
ΠInvalid for linear type
Bit 9: POSMAX Turn Preset Complete (TPRSE)
Yes Yes
ΠInvalid for linear type
Bits A to F: Reserved for system use.
IW††0D − Reserved for system use. − −
Target Position in
IL††0E Machine Coordinate 1 = 1 reference unit Yes Yes
System (TPOS)
Calculated Position in
IL††10 Machine Coordinate 1 = 1 reference unit Yes Yes
System (CPOS)
Machine Coordinate
IL††12 System Reference 1 = 1 reference unit Yes Yes
Position (MPOS)
IL††14 CPOS for 32 bit 1 = 1 reference unit Yes Yes
Machine Coordinate
IL††16 System Feedback 1 = 1 reference unit Yes Yes
Position (APOS)
Machine Coordinate
IL††18 System Latch 1 = 1 reference unit Yes
Position (LPOS)
IL††1A Position Error (PERR) 1 = 1 reference unit Yes
Target Position
IL††1C 1 = 1 reference unit Yes
Difference Monitor
Number of POSMAX 1 = 1 turn
IL††1E Yes Yes
Turns ΠInvalid for linear type
Speed Reference
IL††20 pulse/s Yes
Output Monitor
IL††22 to
− Reserved for system use. − −
IL††2A
Appendices

App

A-27
 D Motion Parameter Lists

(cont’d)
Register No. Name Contents SVB SVR
Bit 0: ALM (Alarm)
Bit 1: WARN (Warning)
Bit 2: CMDRY (Command Ready)
Bit 3: SVON (Servo ON)
Bit 4: PON (Main Power Supply ON)
Bit 5: MLOCK (Machine Lock)
Bit 6: ZPOINT (Zero Position)
Bit 7: PSET (Locating Complete)
(Positioning completed/V-CMP (Speed Coincidence) Yes
IW††2C Servo Driver Status
Bit 8: DEN (Commanded Profile Complete)
(Distribution completed)/SZPD (Zero Speed)
Bit 9: T_LIM (Torque Restriction)
Bit A: L_CMP (Latch Complete)
Bit B: NEAR (Locating Neighborhood)
(NEAR Position)/V_LIM (Speed Limit)
Bit C: P_SOT (Position Software Limit)
Bit D: N_SOT (Negative Software Limit)
Bits E and F: Reserved for system use − −
Servo Driver Alarm
IW††2D Stores the alarm code from the SERVOPACK. Yes
Code
Bit 0: Forward Side Limit Switch Input
Bit 1: Reverse Side Limit Switch Input
Bit 2: Deceleration Dog Switch Input
Bit 3: Encoder Phase-A Signal Input
Bit 4: Encoder Phase-B Signal Input
Bit 5: Encoder Phase-C Signal Input
Bit 6: EXT1 Signal Input
Bit 7: EXT2 Signal Input
IW††2E Servo Driver I/O Monitor Yes
Bit 8: EXT3 Signal Input
Bit 9: Brake State Output
Bit A: Stop signal (HWBB)
Bit B: Reserved for system use
Bits C to F:
For SGDH+NS115, SGDS, and SGDV SERVOPACKs: CN1
input signals (IO12 to IO15)
For other SERVOPACK models: Reserved by system
Bits 0 to 3: Monitor 1
Servo Driver User Bits 4 to 7: Monitor 2
IW††2F Yes
Monitor Information Bits 8 to B: Monitor 3
Bits C to F: Monitor 4
Servo Driver User
IL††30 Stores the result of the selected monitor. Yes
Monitor 2
Servo Driver User
IL††32 Reserved for system use.
Monitor 3
Servo Driver User
IL††34 Stores the result of the selected monitor. Yes
Monitor 4
Servo Driver User
IW††36 Stores the number of the parameter being processed. Yes
Constant No.
Supplementary Servo
IW††37 Driver User Constant Stores the number of the parameter being processed. Yes
No.
Servo Driver User
IL††38 Stores the data of the parameter being read. Yes
Constant Reading Data
Supplementary
IL††3A Servo Driver User Stores the data of the parameter being read. Yes
Constant Reading Data
Stores the type of motor actually connected.
IW††3F Motor Type 0: Rotation type motor Yes
1: Linear motor
Unit is according to OW††03, bits 0 to 3 (Speed Unit
IL††40 Feedback Speed Yes Yes
Selection).

A-28
 D.3 Monitoring Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Feedback Torque/ Unit is according to OW††03, bits 12 to 15 (Torque Unit
IL††42 Yes Yes
Thrust Selection).
Latch Completion
IL††44 1 = 1 time Yes
Sequence Number
Number of Continuous
IL††45 Latch Sequence – Yes
Completion Cycles
IW††46 to
− Reserved for system use. − −
IW††55
Fixed Parameter Stores the data of the fixed parameter when FIXPRM_RD has been
IL††56 Yes Yes
Monitor specified in the Motion Subcommand.
IW††58 to
− Reserved for system use. − −
IW††5C
Encoder Position
IL††5E When the Power is 1 = 1 pulse Yes
OFF (Lower 2 words)
Encoder Position
IL††60 When the Power is 1 = 1 pulse Yes
OFF (Upper 2 words)
Pulse Position When
IL††62 the Power is OFF 1 = 1 pulse Yes
(Lower 2 Words)
Pulse Position When
IL††64 the Power is OFF 1 = 1 pulse Yes
(Upper 2 Words)
IW††66 to
− Reserved for system use. − −
IW††6F
Response Buffer for
IW††70 to Servo Driver Stores the response data when MECHATROLINK Servo
Yes
IW††7F Transmission commands are specified directly.
Reference Mode

Appendices

App

A-29
 Index

INDEX function registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22

functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6, 5-20

G
grandchild drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
Symbols group folders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
creating - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
*****I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21
groups - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
*****SERVO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21

A H
H drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-49
ABS (absolute) encoder count exceeded - - - - - - - - - - - - - - - - - 6-35
H01 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-49
accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
alarm IL††04 list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31 H02 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50
H02.01 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-51
all program file dump - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41
H02.02 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52
all-in-one - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
Assembling the 24-VDC Power Supply Cable - - - - - - - - - - - - - 3-11 H06.01 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-60
H06.02 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64
axis alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
hardware specifications
B Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
basic module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7 MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3, 3-2 How to Open the Tuning Panel Window - - - - - - - - - - - - - - - - - 4-44
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
I
CPU I/O connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
I/O map tab - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22
power supply connector - - - - - - - - - - - - - - - - - - - - - - - - - 3-10 input circuits
Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
CPU I/O connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
battery
interpolation override - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
life - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
Built-in SVB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-25 L
L drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-67
C L06 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-67
Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8 ladder drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
causes for command error occurrence - - - - - - - - - - - - - - - - - - - 6-26 LED
child drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
combination of modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
LED indicator details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
communication settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
LED indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
CPU I/O (Built-in I/O) Module - - - - - - - - - - - - - - - - - - - - - - - 2-11
link assignment tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21
D loading
daily inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 individual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34
data types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24 Local I/O definition Window - - - - - - - - - - - - - - - - - - - - - - - - 2-11
definition data log off - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43
self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36 M
details on I/O error status - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
manual operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
MECHATROLINK
DIN Rail - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
DIN rail mounting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
DIN rail mounting clips - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
drawing execution control - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7 terminator connections - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
drawing types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 MECHATROLINK transmission definition - - - - - - - - - - - - - - 2-17
DWG registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
Module Configuration Definitions - - - - - - - - - - - - - - - - - - - - - - 2-9
E
module information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
electronic cam - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-62
monitoring parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - A-25
electronic shaft - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58
motion control function specifications - - - - - - - - - - - - - - - - - - - 2-5
error confirmation flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 motion error details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
motion errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
excessive positioning moving amount - - - - - - - - - - - - - - - - - - 6-33
motion fixed parameter
excessive speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33
setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
excessively following error - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33
motion program alarm codes - - - - - - - - - - - - - - - - - - - - - - - - 6-24
F motion program alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
filter time constant change error - - - - - - - - - - - - - - - - - - - - - - 6-34 Motion Program Control Signals - - - - - - - - - - - - - - - - - - - - - - 5-13
filter type change error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33 motion program execution information - - - - - - - - - - - - - - - - - 6-23
fixed parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-19

Index-1
 Index

motion programs - - - - - - - - - - - - - - - - - - 4-53, 4-57, 5-10, 5-12 scan processing drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
execution information - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15 scan time
ladder programs for control - - - - - - - - - - - - - - - - - - - - - - 5-18 setting and changing - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
MSEE registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12 Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
self-configuration - - - - - - - - - - - - - - - - - - - - - - - - 4-28, 5-4, 5-28
S registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
status bits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
self-diagnosis
mounting MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
online - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
MP2500
self-diagnosis at startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
mode switch 1 (S1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
servo driver command timeout error - - - - - - - - - - - - - - - - - - - 6-34
mode switch 2 (S2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 servo driver communication error - - - - - - - - - - - - - - - - - - - - - 6-34
MPE720 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23 servo driver error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
MPE720 (Embedded) startup - - - - - - - - - - - - - - - - - - - - - - - - 4-23 servo driver error codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36
N servo driver synchronization communication error - - - - - - - - - 6-34
servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
negative overtravel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
SERVOPACK initialization - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
negative software limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
SERVOPACK unmatched encoder type - - - - - - - - - - - - - - - - - 6-35
O SERVOPACK unmatched motor type - - - - - - - - - - - - - - - - - - 6-35
Setting and Saving Motion Fixed Parameters - - - - - - - - - - - - - 4-17
online logon - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28
setting parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-20
operation
Settings for CPU I/O Module - - - - - - - - - - - - - - - - - - - - - - - - 2-11
starting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
Starting the Sample Program - MPE720 Ver 6.†† - - - - - - - - - 4-13
stopping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 startup sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
operation errors status tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22
processing drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 SVB definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23
option slot configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7 switch
Option Slot Cover - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
optional modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6 synchronization between modules - - - - - - - - - - - - - - - - - - - - - 2-15
appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
installing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8 system error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
removing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6 system I/O error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
system program software number - - - - - - - - - - - - - - - - - - - - - - A-4
replacing and adding - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
system registers
order folders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
output circuit accessing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

CPU I/O connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18 configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14

system service registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
P system services
parent drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 execution status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
password - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31 system startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
pin arrangement adding electric devices - - - - - - - - - - - - - - - - - - - - - - - - - 4-71
CPU I/O connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16 first - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68
PLC folders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
creating - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
replacing electric devices - - - - - - - - - - - - - - - - - - - - - - - 4-73
PLC function specifications - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68
position control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53
system status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
positioning time over - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
system work number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
positive overtravel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
positive software limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32 T
program memory
transfer
remaining capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
all - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-32
programming device-related equipment - - - - - - - - - - - - - - - - - - 4-4
transmission parameters tab - - - - - - - - - - - - - - - - - - - - - - - - - 2-18
R troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
register types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21 system errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
regular inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 Troubleshooting When ALM is Lit - - - - - - - - - - - - - - - - - - - - 6-13
Troubleshooting When ERR is Lit - - - - - - - - - - - - - - - - - - - - 6-12
S
S registers
U
monitoring execution information - - - - - - - - - - - - - - - - - - 5-15 user definition files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
sample programs user name - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31
user operation
checking operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44
error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16
saving to flash memory - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
user programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
scan execution status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4

Index-2
 Index

V
virtual motion module
SVR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

W
wait for monitor data update - - - - - - - - - - - - - - - - - - - - - - - - - 2-20
wild card I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21

Z
zero point not set - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-34

Index-3
Revision History

The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.‫ޓ‬SIEP C880700 03B
Published in Japan February 200503-4 2 -1
WEB revision number
Date of Revision number
publication Date of original
publication

WEB
Date of Rev.
Publication No. Rev. Section Revised Contents
No.
April 2003 – – – First edition
July 2003 1 – Back cover Revision: Address

September 2003 2 0 2.3.2 Addition: I/O Modules JEPMC-AN2900, JEPMC-AN2910

2.4.2, 10.2 Revision: Battery model
7.2.2, 7.2.3 Revision: Table (Deletion of size column, addition of parameter No. column)
11.1.4 Addition: Motion program alarms
February 2005 1 3.3.3 Revision: H04 Drawing
April 2005 3 0 – Printed version of the user’s manual, SIEP C880700 03B<2>-1, available on the Web.

February 2006 4 0 All chapters Revision: All chapters

April 2008 5 0 – Based on Japanese user’s manual, SIJP C880700 03F<11> printed in November 2007.
Back cover Revision: Address
August 2009 1 1.4.2 Addition: Reference to the relevant manual.
Back cover Revision: Address
September 2009 2 Preface Addition: Warranty
Back cover Revision: Address
October 2009 6 0 – SIEP C880700 03D<5>-2, available on the Web.
Back cover Revision: Address
Machine Controller MP2300
Basic Module
USER'S MANUAL

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax 1-847-887-7370
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YASKAWA ELECTRIC EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-02A, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280

YASKAWA ELECTRIC CORPORATION

YASKAWA

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2003-2009 YASKAWA ELECTRIC CORPORATION. All rights reserved.

MANUAL NO. SIEP C880700 03D

Published in Japan October 2009 03-4 6 -0
09-8-2