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8.1  Details on Common Commands

8.1.1  Read Parameter Command (PRM_RD: 01 Hex)

8-3

8

MECHA

TROLINK-III Command Specifications

8.1

Details on Common Commands 

This section provides details on the commands that you can use for cyclic communications. 
This manual provides command specifications only for the GW3100. 

Refer to the following document for details on commands and responses. 

MECHATROLINK-I/II I/O Communication Command Specifications (Manual No.: MMA TDEP 009A)

8.1.1

Read Parameter Command (PRM_RD: 01 Hex)

This command reads the definition information from the GW3100.

8.1.2

Write Parameter Command (PRM_WR: 02 Hex)

This command writes the definition information to the GW3100.

8.1.3

Read ID Command (ID_RD: 03 Hex)

Refer to the following section for the ID codes (ID_CODE) and the meanings of the ID codes.

8.3 ID_CODE List

 on page 8-13

8.1.4

Setup Device Command (CONFIG: 04 Hex) 

Command Parameter

CONFIG_MOD: Configuration Mode

0: Set up, 1: Save parameters to flash memory.

8.1.5

Start Synchronous Communications Command 
(SYNC_SET: 0D Hex) (Not Currently Supported)

The GW3100 does not currently support this command. If you use it, CMD_ALM will be set to 
8 (unsupported command received).

8.1.6

Establish Connection Command (CONNECT: 0E Hex)

Command Parameters

COM_MODE: Communications Mode

SYNCMODE: Synchronization Mode

Note: A setting of 1 (perform synchronous communications) is not supported. If you specify it, CMD_ALM will be set 

to 9 (data out of range). 

DTMODE: Communications Method 

Note: A setting of 1 (consecutive transmissions) is not supported. If you specify it, CMD_ALM will be set to 9 (data 

out of range). 

SUBCMD: Subcommand Setting 

Note: A setting of 1 (subcommand enabled) is not supported. If you specify it, CMD_ALM will be set to 9 (data out 

of range). 

Содержание JEPMC-GW3100-E

Страница 1: ...MANUAL NO SIEP C880781 08B 1 2 3 4 5 6 7 8 9 Introduction to the GW3100 GW3100 Specifications Interface Specifications GW3100 Functions Configuration Tool Appendices MECHATROLINK III Command Specific...

Страница 2: ...liability is assumed with respect to the use of the informa tion contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this...

Страница 3: ...his Manual Basic Terms Unless otherwise specified the following definitions are used Configuration Tool Used in this Manual In this manual screen captures of the M3M2 Gateway version 100 interface are...

Страница 4: ...ecautions that will not result in machine damage Indicates items for which caution is required or precautions to prevent operating mis takes Indicates operating or setting examples Indicates supplemen...

Страница 5: ...rked as shown below is important for safety Always read this information and heed the precautions that are pro vided DANGER Indicates precautions that if not heeded are likely to result in loss of lif...

Страница 6: ...are subject to ambient humidity that exceeds the storage conditions Locations that are subject to rapid temperature changes and condensation Locations that are subject to corrosive or inflammable gas...

Страница 7: ...risk of an accident Leave the specified amount of space between the Gateway Unit and other devices and between the interior surface of the control panel and other devices There is a risk of fire or ma...

Страница 8: ...electrical shock injury or machine damage Do not change wiring while power is being supplied There is a risk of electrical shock injury or machine damage Dispose of the Gateway Unit as general industr...

Страница 9: ...ed product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for whic...

Страница 10: ...operty 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 h...

Страница 11: ...ns 1 6 1 3 3 Host Controller Conditions 1 6 Part Names and Installation Methods 2 2 1 Part Names and External Dimensions 2 2 2 1 1 Part Names 2 2 2 1 2 External Dimensions 2 3 2 1 3 Installation Space...

Страница 12: ...n Layer Commands 4 5 4 3 USB Interface 4 6 4 3 1 Basic Specifications 4 6 GW3100 Functions 5 5 1 List of GW3100 Functions 5 2 5 2 Self Configuration 5 3 5 2 1 Execution with a Switch Setting and Turni...

Страница 13: ...tallation Procedure 7 8 7 3 2 Disconnecting the Cable from a USB Connector 7 12 7 4 Operating the Configuration Tool 7 13 7 4 1 Starting the Configuration Tool 7 13 7 4 2 Main Window Details 7 14 MECH...

Страница 14: ...Status n 0 to 3 8 26 8 6 6 Details in n Communications Status n 0 to 8 8 27 Appendices 9 9 1 Combinations of M II and M III Port Communications Settings 9 2 9 1 1 I O Gateway Mode 9 2 9 1 2 Transpare...

Страница 15: ...e GW3100 1 2 1 1 2 GW3100 Features 1 3 1 2 Examples of GW3100 Applications and System Configuration 1 4 1 2 1 GW3100 Applications 1 4 1 2 2 System Configuration Example 1 5 1 3 Precautions 1 6 1 3 1 I...

Страница 16: ...e GW3100 The GW3100 Gateway Unit functions as a gateway between a host controller level MECHA TROLINK III communications network and a MECHATROLINK II communications subnetwork All of the data exchang...

Страница 17: ...ns There are two operating modes within this mode Stack Mode The M II command for the I O stations is stacked on the M III command without modification and sent to the GW3100 The host controller store...

Страница 18: ...wing applications Increasing I O Capacity You can connect more than one I O station to one GW3100 station to increase the I O capacity of the station Complementing the M III Device Lineup You can use...

Страница 19: ...DE CNFG CNFG INIT INIT ON ON 1 CN CN M M III III 2 2 CN CN 3 3 CN CN M M II II 4 4 MECHATROLINK ECHATROLINK POWER POWER DC DC 24V 24V DC DC 0V 0V GW3100 GW3100 X161 X160 YASKAWA SAVE RUN RUN ERR ERR L...

Страница 20: ...ponse delays will occur when communicating through the Gateway Unit in comparison with a direct connection to an M III network Make sure that the command and response delays will not interfere with th...

Страница 21: ...o make a 24 V power cable 2 1 Part Names and External Dimensions 2 2 2 1 1 Part Names 2 2 2 1 2 External Dimensions 2 3 2 1 3 Installation Space 2 3 2 2 Installation Methods 2 4 2 2 1 Mounting to a DI...

Страница 22: ...icator Specifications on page 3 6 3 5 Connector Specifications on page 3 9 X161 X160 YASKAWA SAVE RUN RUN ERR ERR LK1 LK1 LK2 LK2 CN CN MTX MTX MER MER CN CN USB USB 1 1 ON SPARE SPARE MODE MODE CNFG...

Страница 23: ...N CN 4 4 MECHATROLINK ECHATROLINK POWER POWER DC DC 24V 24V DC DC 0V 0V DC DC 24V 24V DC DC 0V 0V X1 X161 X1 X160 SPARE SPARE MODE MODE CNFG CNFG INIT INIT GW3100 GW3100 0 1 2 3 4 5 6 7 8 9 A BCD E F...

Страница 24: ...e DIN rail mounting clip on the bottom of the GW3100 to release it 2 Hook the notch on the back of the GW3100 on the top of the DIN rail in the figure and then press the GW3100 toward the mounting sur...

Страница 25: ...il 2 5 2 Part Names and Installation Methods This concludes mounting the GW3100 to a DIN rail as shown in the following figure Always install the GW3100 in an upright position After you install it mak...

Страница 26: ...o screw holes located at the top and bottom at the back of the Unit Use two M4 screws in these holes to mount the GW3100 to a control panel Always install the GW3100 in an upright position After you i...

Страница 27: ...handle included with the power plug or a screwdriver to loosen the power plug clamp and insert the conductors all the way to the back of the plug Using the Handle Hook the tip of the handle into a squ...

Страница 28: ...eration Settings 3 4 3 3 2 Rotary Switches Address Setting 3 5 3 3 3 SAVE Switch Saving to Flash Memory 3 5 3 4 Indicator Specifications 3 6 3 5 Connector Specifications 3 9 3 5 1 MECHATROLINK III Con...

Страница 29: ...ion 5 Hz to 8 4 Hz with single amplitude of 1 75 mm 8 4 Hz to 150 Hz with fixed acceleration of 4 9 m s2 Intermittent vibration 5 Hz to 8 4 Hz with single amplitude of 3 5 mm 8 4 Hz to 150 Hz with fix...

Страница 30: ...tible Indicators Status indicators Refer to the following section for details 3 4 Indicator Specifications on page 3 6 Switches DIP switch Operation settings Rotary switches MECHATROLINK III station a...

Страница 31: ...erter or Stepping Motor Drive OFF The operating mode is set accord ing to the devices connected to the M II port OFF I O Gateway Mode mode to connect I O devices CNFG ON Self configuration OFF If the...

Страница 32: ...to Flash Memory This switch is used to save the parameter settings to flash memory Name Status Operation Default Remarks X161 0 to F Upper digit of station address 0 F cannot be used X160 0 to F Lower...

Страница 33: ...he CN indicator lights only in I O Gateway Mode It will not light in Transparent Mode Indicator Color Status When Lit Remarks RUN Green GW3100 is operating ERR Red An error has occurred in the GW3100...

Страница 34: ...as the result of pressing the SAVE switch It does not appear when data is saved to flash memory from the Configuration Tool Error A serious failure error occurred The watchdog timer shuts down the sys...

Страница 35: ...ns are established with the M III network for all of the extended addresses that are being used A connection to the master was estab lished Connections are established with the M III network for only...

Страница 36: ...ors are used to connect MECHATROLINK III communications devices Applicable MECHATROLINK Standard Cables 3 5 2 MECHATROLINK II Connector Specifications These connectors are used to connect MECHATROLINK...

Страница 37: ...SB cable mini B type 3 5 4 Power Connector Specifications The power connector specifications are given below Connector Model Pin Assignments Name Connector Name No of Pins Connector Models Unit Side C...

Страница 38: ...rface 4 2 4 1 1 Basic Specifications 4 2 4 1 2 Supported Commands 4 2 4 2 MECHATROLINK II Interface 4 5 4 2 1 Basic Specifications 4 5 4 2 2 Data Link Layer Commands 4 5 4 2 3 Application Layer Comman...

Страница 39: ...e Slave only Slave Type Multi slave 4 stations max Supported Profile MECHATROLINK III standard profile Station Addresses 03 to EF hex Set on rotary switches Number of Transmission Bytes 16 32 48 or 64...

Страница 40: ...Device 05 ALM_RD Read Alarm Warning 06 ALM_CLR Clear Alarm Warning 0D SYNC_SET Set Synchronization 0E CONNECT Establish Connection 0F DISCONNECT Release Connection 1B PPRM_RD Read Non volatile Parame...

Страница 41: ...Phase 1 2 3 Servo Step ping Motor Drive Inverter Commands 00 NOP No Operation 01 PRM_RD Read Parameter 02 PRM_WR Write Parameter 05 ALM_RD Read Alarm Warning 1B PPRM_RD Read Non volatile Parameter 1C...

Страница 42: ...4 2 3 Application Layer Commands The application layer commands depend on the operating mode I O Gateway Mode There are no application layer commands for simple I O The DATA_RWA application layer com...

Страница 43: ...onous serial Transmission Method Half duplex Transfer Mode Controller transfers and bulk transfers Number of Connections USB host 1 Slaves 127 Including hubs Connector Type Series mini B plug Cable Le...

Страница 44: ...2 1 Execution with a Switch Setting and Turning ON the Power Supply 5 3 5 2 2 Execution with the Configuration Tool 5 4 5 2 3 Operation Specifications for Self Configuration 5 4 5 3 M II M III Port S...

Страница 45: ...nge the operating mode depending on the M II slaves that are connected and the application method Self Configuration The slave devices that are connected to the M II port are automatically detected an...

Страница 46: ...itch setting and turning ON the power supply Execution with the Configuration Tool These methods are described below 5 2 1 Execution with a Switch Setting and Turning ON the Power Supply If you set th...

Страница 47: ...s is exceeded eight stations for I O Gateway Mode and one station for Transparent Mode allocations are performed in order starting from the smallest station address Stations that exceed the maximum nu...

Страница 48: ...I M III Port Synchronization The M II transmission cycle is synchronized to M III as long as the M II transmission cycle or M III transmission cycle is set to an integral multiple of the other This ma...

Страница 49: ...u can use the Gateway Configuration Tool running on a host PC You connect the PC on which the Configuration Tool is installed to the PC with a USB cable The Configuration Tool provides the following f...

Страница 50: ...meters 6 11 6 4 3 Saving to Flash Memory 6 15 6 4 4 Connecting the M II Slave Devices and Turning the Power Supply OFF and ON Again 6 15 6 5 Setting Parameters with the Configuration Tool 6 16 6 5 1 S...

Страница 51: ...ters Maximum Number of Connectable M II Slave Stations 8 8 1 Minimum Value of M II Transmission Cycle Communications Cycle 500 s 500 s 500 s Asynchronous Operation of M II with M III Communications Cy...

Страница 52: ...and the GW3100 The host controller stores the M II command in the M III command and the GW3100 separates the device commands for the M II slave stations and sends them to the stations The GW3100 takes...

Страница 53: ...e 6 4 Response Data Flow in Stack Mode Master DATA_RWA RWDT Response 1 16 bytes Not used 12 bytes CMD_STAT Response 2 16 bytes Response 3 16 bytes Response 1 16 bytes Response 2 16 bytes Response 3 16...

Страница 54: ...be used in this mode The flow of the command and response data in Pack Mode is illustrated in the following figures Command Data Flow in Pack Mode In this mode you can also set M II and M III communi...

Страница 55: ...r I O 1 I O 2 I O 3 II M III M Gateway DATA_RWA RWDT 1 Simple I O Inputs 4 bytes Not used 22 bytes CMD_STAT 2 Simple I O Inputs 4 bytes 3 Intelligent I O 30 bytes Response 1 Response 2 Response 3 1 Si...

Страница 56: ...d response data in Transparent Mode is illustrated in the following figures Command Data Flow in Transparent Mode If you connect a Servo Drive Stepping Motor Drive or Inverter you must set the same va...

Страница 57: ...rent Mode POSING MONITOR1 STATUS ALARM MONITOR2 SEL_MON1 2 IO_MON RWDT SMON 0 SUBSTATUS SEL_MON3 4 MONITOR3 MONITOR4 POSING MONITOR1 STATUS ALARM MONITOR2 SEL_MON1 2 IO_MON RWDT SMON 0 SUBSTATUS SEL_M...

Страница 58: ...number of M II slave sta tions node device types I O sizes etc 6 4 2 Setting the Gateway Parameters on page 6 11 Saving Data to Flash Memory Save the gateway parameter settings 6 4 3 Saving to Flash M...

Страница 59: ...mode is set according to the devices con nected to the M II port OFF I O Gateway Mode mode to connect I O devices CNFG ON Self configuration If the CNFG pin is ON the slave connection status is automa...

Страница 60: ...ded by the Configuration Tool You set the items and then click the Write Button to write the settings to the gateway parameters Refer to the following section for detailed setting procedures 6 5 Setti...

Страница 61: ...2 1 Assigned Station 0 to 4 0 0303 2 1 Input Offset 0 to 63 0 0304 2 1 Input Data Size 0 to 31 0 0305 2 1 Output Offset 0 to 63 0 0306 2 1 Output Data Size 0 to 31 0 0400 2 2 Station Address 0 or 20...

Страница 62: ...ut Offset 0 to 63 0 0704 2 5 Input Data Size 0 to 31 0 0705 2 5 Output Offset 0 to 63 0 0706 2 5 Output Data Size 0 to 31 0 0800 2 6 Station Address 0 or 20 hex or higher 0 0801 2 6 Type 0 No data ass...

Страница 63: ...ata assigned 1 Intelligent I O 2 Simple I O 3 Servo Drive 4 Stepping Motor Drive 5 Inverter 0 0A02 2 8 Assigned Station 0 to 4 0 0A03 2 8 Input Offset 0 to 63 0 0A04 2 8 Input Data Size 0 to 31 0 0A05...

Страница 64: ...ight again when the save operation is completed Execution with the Configuration Tool If you click the Flash write Button in the Configuration Tool the gateway parameter settings in the GW3100 will be...

Страница 65: ...communications settings Transmission byte number of transmission bytes Determine the setting based on M II slave station specifications Transmission cycle and Number of retry to slaves number of slave...

Страница 66: ...data is located as shown in the following diagrams for the above offset settings The input data is mapped in the same way Byte M III Command 0 DATA_RWA 1 WDC 1 Intelligent I O Adr 0x61 2 CMD_CTRL 3 By...

Страница 67: ...and Number of retry to slaves number of slave station retries The values that you can set are determined by the number of transmission bytes and the number of connected nodes Select suitable values We...

Страница 68: ...he above offset input and output settings The input data is mapped in the same way 1 Intelligent I O Adr 0x61 Byte M III Command Byte M II Command 0 DATA_RWA 0 DATA_RWA 1 WDC 1 OPTION 2 CMD_CTRL 2 3 3...

Страница 69: ...nd Transmission byte number of transmission bytes There is always only 1 station The settings cannot be changed Transmission byte number of transmission bytes Determine the setting based on M II slave...

Страница 70: ...owing methods to troubleshoot M II communications errors Indicators If an error occurs in communications between the M II slave station and the GW3100 the MER indicator will light Configuration Tool O...

Страница 71: ...Installing and Uninstalling the Software 7 3 7 2 1 Installation 7 3 7 2 2 Uninstallation 7 7 7 3 Installing the USB Communications Driver 7 8 7 3 1 USB Communications Driver Installation Procedure 7...

Страница 72: ...stall the Configuration Tool on a computer To connect a computer to the GW3100 with USB you must install the USB communications driver on the computer in advance Refer to the following section for the...

Страница 73: ...following icon which is created when you downloaded the Configura tion Tool to your computer The Installer will be extracted and the following Setup Icon will be displayed 2 Double click the Setup Ic...

Страница 74: ...on 7 4 5 Read the agreement and then select the I accept the terms of the license agreement Option Then click the Next Button The Customer Information Dialog Box will be displayed 6 Enter the followin...

Страница 75: ...ion 7 5 7 Configuration Tool 7 Specify the destination folder To change the destination folder Click the Browse Button and select the desired destination by fol lowing the guidance displayed in the di...

Страница 76: ...7 2 Installing and Uninstalling the Software 7 2 1 Installation 7 6 10 Click the Finish Button This concludes the procedure to install the Configuration Tool on your computer...

Страница 77: ...re to uninstall the software 1 Select Control Panel from the Windows Start Menu and then select Programs 2 The Uninstall or Change a Program Dialog Box will be displayed Select M3M2 Gateway and then c...

Страница 78: ...the USB communications driver 1 Connect the USB port on the GW3100 to a USB port on your computer with a USB cable mini B series and then turn ON the power supply to the GW3100 Note Some time may be r...

Страница 79: ...ommunications Driver 7 3 1 USB Communications Driver Installation Procedure 7 9 7 Configuration Tool 5 Click Browse my computer for driver software 6 Click the Browse Button The Browse For Folder Dial...

Страница 80: ...3M2 Gateway Folder and then click the OK Button There are different USB communications driver folders for different operating systems as shown below Win7 86 Driver for Windows 7 or Windows 8 32 bit ed...

Страница 81: ...3 1 USB Communications Driver Installation Procedure 7 11 7 Configuration Tool 10 Make sure that MP Series USB Device is displayed under Universal Serial Bus control lers This concludes the installati...

Страница 82: ...while USB is connected 1 Click the Eject GW3100 USB IF Icon in the Task Tray at the lower right of your screen A popup menu containing Safe To Remove Hardware will be displayed 2 Select this menu comm...

Страница 83: ...ibes the Main Window in detail 7 4 1 Starting the Configuration Tool Use the following procedure to start the Configuration Tool 1 Perform any of the following operations Double click the Configuratio...

Страница 84: ...e Saves the project file Gateway USB Adr Sets the USB address to which to connect 1 to 127 Read Reads project information from the GW3100 Write Writes project information to the GW3100 FLASH write Sav...

Страница 85: ...2 Transmission cycle Set the transmission cycle 0 5 1 1 5 2 3 or 4 Number of retry to slaves number of slave station retries Select the number of slave station retries 0 to 7 Number of slaves number o...

Страница 86: ...pported 8 3 8 1 6 Establish Connection Command CONNECT 0E Hex 8 3 8 1 7 Read Non volatile Parameter Command PPRM_RD 1B Hex 8 4 8 1 8 Write Non volatile Parameter Command PPRM_WR 1C Hex Not Currently S...

Страница 87: ...5 8 6 1 Details in the Version Information 8 25 8 6 2 Details in Operation Settings 8 25 8 6 3 Details in Run Status 8 25 8 6 4 Alarm Details 8 26 8 6 5 Details in Extended Address n Communications St...

Страница 88: ...and the meanings of the ID codes 8 3 ID_CODE List on page 8 13 8 1 4 Setup Device Command CONFIG 04 Hex Command Parameter CONFIG_MOD Configuration Mode 0 Set up 1 Save parameters to flash memory 8 1 5...

Страница 89: ...ed The GW3100 does not currently support this command If you use it CMD_ALM will be set to 8 unsupported command received 8 1 9 Read Memory Command MEM_RD 1D Hex Not Currently Supported The GW3100 doe...

Страница 90: ...3 3 4 Command data 4 Response data 5 5 30 30 31 31 Command Code Setting Range Setting Unit Byte 0 20 hex Description Command code for standard I O profile commands DATA_RWA 20 hex Asynchronous Data Re...

Страница 91: ...es 2 and 3 Description Command Status for Standard I O Profile Commands Bit 0 D_ALM 0 Normal 1 Device alarm Bit 1 D_WAR 0 Normal 1 Device warning Bit 2 CMDRDY 0 Command reception not possible 1 Ready...

Страница 92: ...d when the CONNECT command was received did not agree with the operating mode Check the communi cations settings in the master station Possible E60 hex reception error 9 0 A reception error occurred t...

Страница 93: ...he PRM_RD or PRM_WR command is out of range Check the com mand data that was sent by the control ler Automati cally cleared 94B hex data out of range 0 9 The command data in a command other than an ID...

Страница 94: ...III command is used as a buffer memory for the host computer to set the M II command data The location of the M II command data depends on a parameter setting The data for more than one station is sto...

Страница 95: ...set the M II response data The location of the M II response data depends on a parameter setting In the same way as for commands the response for more than one station can be stored Byte M III Respon...

Страница 96: ...ces where the host computer sets the command data The location of the command data depends on a parameter setting The data for more than one station can be set Intelligent I O Byte M II Command Byte M...

Страница 97: ...for more than one station can be stored 8 2 2 Synchronous Data Read Write Command DATA_RWS 21 Hex The GW3100 does not currently support this command If you use it CMD_ALM will be set to 8 unsupported...

Страница 98: ...t the device supports The value depends on a setting on the DIP switch I O Gateway Mode Returns 30 hex Transparent Mode Returns 00 hex 11 Profile Version 1 Primary 00000100 hex 4 bytes Binary data Yes...

Страница 99: ...s All 8 bytes are 00 hex 8 bytes Binary data Description Not used by the GW3100 All zeros will be read 30 List of Supported Main Commands Standard I O profile 0800C07F hex 00000003 hex 00000000 hex 00...

Страница 100: ...0 Reserved 0 HOLD SENS_OFF SENS_ON BRK_OFF BRK_ON POS_SET 0 0 1 1 1 1 1 1 Bit 47 Bit 46 Bit 45 Bit 44 Bit 43 Bit 42 Bit 41 Bit 40 Reserved 0 Reserved 0 Reserved 0 Reserved 0 Reserved 0 Reserved 0 LTM...

Страница 101: ...he GW3100 All zeros will be read Continued on next page Continued from previous page ID_CODE Hex Contents Value Data Size Data Type Supported Bit16 to Bit23 Reserved for system 0 Bits 32 to 39 Reserve...

Страница 102: ...evice 3 Name All 32 bytes are 00 hex 32 bytes ASCII delimiter 00 Not sup ported Description Not used by the GW3100 All zeros will be read B8 Sub Device 3 Version 00000000 hex 4 bytes Binary data Not s...

Страница 103: ...000C Reserved for system 0 8000 002C 1 Output Data Size 8000 000D 8000 002D 8000 000E Reserved for system 0 8000 002E Reserved for system 0 8000 000F 8000 002F 8000 0010 Baud Rate 8000 0030 2 Station...

Страница 104: ...0085 8000 0056 4 Input Offset 8000 0086 7 Input Offset 8000 0057 8000 0087 8000 0058 4 Input Data Size 8000 0088 7 Input Data Size 8000 0059 8000 0089 8000 005A 4 Output Offset 8000 008A 7 Output Offs...

Страница 105: ...served for system 0 8000 00E6 8000 00B7 8000 00E7 8000 00B8 Model number J 8000 00E8 Extended Address 0 Communications Status 8000 00B9 E 8000 00E9 8000 00BA P 8000 00EA Extended Address 1 Communicati...

Страница 106: ...18 0019 2 Number of Slave Sta tion Retries 0 to 7 0 0205 001A 001B 2 Number of Connected Nodes 0 to 8 0 0300 0020 0021 2 1 Station Address 0 or 20 hex or higher 0 0301 0022 0023 2 1 Type 0 No data ass...

Страница 107: ...e 0 No data assigned 1 Intelligent I O 2 Simple I O 3 Servo Drive 4 Stepping Motor Drive 5 Inverter 0 0702 0064 0065 2 5 Assigned Station 0 to 4 0 0703 0066 0067 2 5 Input Offset 0 to 63 0 0704 0068 0...

Страница 108: ...in the Version Information on page 8 25 Read only 0D02 00DC 00DD 2 Operation Settings Reports the setting of pin 1 on the DIP switch Refer to the following section for details 8 6 2 Details in Operat...

Страница 109: ...3 2 2 Communications Status 0F02 00F4 00F5 2 3 Communications Status 0F03 00F6 00F7 2 4 Communications Status 0F04 00F8 00F9 2 5 Communications Status 0F05 00FA 00FB 2 6 Communications Status 0F06 00F...

Страница 110: ...23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0 Major version BCD 00 to 99 Minor version BCD 00 to 99 Sample version BCD 00 Not used Always 0 Bit Name Meaning 0 SPARE Reserved for system 1 MODE 0 I O Gateway Mode...

Страница 111: ...system Bit Name Meaning 0 D_ALM 0 Normal 1 Device alarm 1 D_WAR 0 Normal 1 Device warning 2 CMDRDY 0 Commands cannot be received 1 Ready to receive commands 3 ALM_CLR_CMP 0 ALM_CLR execution not compl...

Страница 112: ...nd Specifications 8 6 6 Details in n Communications Status n 0 to 8 The bit details in the n communications status are as follows Bit Name Meaning 0 D_ALM 0 Normal 1 Alarm 1 D_WAR 0 Normal 1 Warning 2...

Страница 113: ...2 Transparent Mode 9 3 9 2 Throughput 9 4 9 2 1 Throughput for I O Gateway Mode 9 4 9 2 2 Throughput for Transparent Mode 9 5 9 3 Using the Gateway Unit with MP2000 and MP3000 Series Machine Controll...

Страница 114: ...tions cycle must be the same as the transmis sion cycle 1 x transmission cycle You can set the communications cycle of the M III port in I O Gateway Mode to any value that is an integral multiple of t...

Страница 115: ...ansparent Mode must be set to the same value as the M II port communications cycle The following table shows the possible combinations of the M II port and M III port transmis sion cycles in Transpare...

Страница 116: ...e M III transmission cycle 2 M II transmission cycle 2 Response Time Response time M III transmission cycle 2 M II transmission cycle 2 Command M III transmission cycle M III slave transmissions M III...

Страница 117: ...ponse time M III transmission cycle 3 Command M III transmission cycle M III slave transmissions M III master transmissions M II slave transmissions M II master transmissions Command M II transmission...

Страница 118: ...supported Name Model Operating Mode I O Gateway Mode Transparent Mode MP3100 16 axes JAPMC MC3100 1 E Supported Not supported MP3100 32 axes JAPMC MC3100 2 E Supported Not supported CPU 201 JEPMC CP32...

Страница 119: ...et the operating mode Turn OFF the CNFG pin on the DIP switch 6 4 1 Switch Settings on page 6 10 Switch Settings Set the operating mode and M III slave address Turn OFF the CNFG pin on the DIP switch...

Страница 120: ...he M II device and the Gateway Unit Machine Controller Switch Setting Turn ON the CNFG pin on the DIP switch Turning the Machine Controller Power Supply ON Execute self configuration Start communicati...

Страница 121: ...in run status 8 25 details in the version information 8 25 details on common commands 8 3 details on standard I O profile commands 8 5 DIN rail 2 4 DIN rail mounting clip 2 2 2 4 DIP switch 2 2 3 4 se...

Страница 122: ...ler 9 7 SPARE 3 4 Stack Mode 6 2 6 3 setting parameters 6 16 Start Synchronous Communications command 8 3 status indicators 2 2 3 6 combined meaning 3 7 supported commands 4 2 M II compatible profile...

Страница 123: ...te of Publication Rev No Web Rev No Section Revised Contents March 2022 1 2 1 2 2 Partly revised Back cover Revision Address May 2020 1 3 5 1 3 5 2 Partly revised December 2019 0 Front cover and back...

Страница 124: ...w yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F Link Square 1 No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJI...

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