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2.2 Basic Module

2.2.5 Built-in SVB Module

2-36

[ b ] MECHATROLINK Communication Specifications

* Up to 16 stations can be connected if a JEPMC-REP2000 MECHATROLINK-II Repeater is not used. Refer to

Chapter 8 MECHATROLINK-II Repeater

of the

Machine Controller

MP900/MP2000 Series User’s Manual

MECHATROLINK System

(Manual No.: SIEZ-887-5.1) for details.

[ c ] Maximum Number of Slave Stations

The maximum numbers of slave stations that can be connected to the SVB-01 Module are listed below.

MECHATROLINK Communication Setting and Maximum No. of Slave Stations

Refer to

8.8.6 MECHATROLINK Definitions

Machine Controller MP900/MP2000 Series MPE720 Software for

Programming Device User’s Manual

(Manual No.: SIEPC88070005) for information on the settings for MECHA-

TROLINK transmission.

Item

MECHATROLINK-I

MECHATROLINK-II

Topology

Bus

Transmission Media

Twisted-pair cable

Transmission Distance

50 m max.
(can be extended to 100 m by connecting
repeaters)

Minimum Distance
between Stations

0.3 m

0.5 m

Baud Rate

4 Mbps

10 Mbps

Communication Cycle

2 ms

0.5 ms, 1 ms, 1.5 ms, or 2 ms

Number of Connectable
Stations

Up to 14 stations

Up to 21 stations

(SERVOPACK for up to 16

axes)

Communication Control
Method

Cyclic

Media Access Control
Method

1:N

2:N

Communication Mode

Control communication

Error Control

CRC check

MECHATROLINK Communication Setting

Maximum Number of Slave

Stations

Communication Method

Baud Rate

Communication

Cycle

MECHATROLINK-I

4 Mbps

2 ms

MECHATROLINK-II
(17-byte Mode)

10 Mbps

0.5 ms

1 ms

MECHATROLINK-II
(32-byte Mode)

10 Mbps

0.5 ms

1 ms

1.5 ms

2 ms

21 (SERVOPACK for up to

16 axes)

Содержание JEPMC-MP2300S-E

Страница 1: ...EST ALM MTX TRX RUN ERR BAT IP SW 1 SW 2 ON ON CNFG INT SUP MON STOP BATTERY M I II E INT E TEST NO NO RDY Overview Specifications and Functions Mounting and Wiring Outline of Motion Control Systems Ethernet Communications Slave CPU Synchronous Function Maintenance Inspection and Troubleshooting Appendices 1 2 3 4 5 6 7 8 A System Start Up and Easy Programming ...

Страница 2: ...t liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly 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 lia...

Страница 3: ... information on motion parameters and motion commands refer to Machine Controller MP2000 series SVB SVB 01 Motion Module User s Manual Manual no SIEPC88070033 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 Chapter ...

Страница 4: ...Series SERVOPACKs Σ III Series SGM H SGDS User s Manual SIEP S800000 00 Describes the models specifications wiring trial operation adjustment function application methods maintenance and inspection of the Σ III Series SER VOPACKs and Servomotors Σ III Series SGM S SGDS Digital Operator Operating Instructions TOBEP S800000 01 Describes the operating methods of the JUSP OP05A Digital Operator Σ III ...

Страница 5: ...utions that if not heeded could possibly result in loss of life serious inju ry or property damage Indicates precautions that if not heeded could result in relatively serious or minor injury or property damage If not heeded even precautions classified under can lead to serious results depending on circumstances Indicates prohibited actions Specific prohibitions are indicated inside For example ind...

Страница 6: ...achine or even cause acci dents 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 MP2300S Do not atte...

Страница 7: ...ials 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 fluorin...

Страница 8: ...age 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 Consider the following items when selecting the I O signal lines external cables to connect the MP2300S to external devices Mechanical strength Noise interference Wiring distance S...

Страница 9: ... or injury Do not change wiring while power is being supplied There is a risk of electrical shock or injury When replacing the MP2300S restart operation only after transferring the programs and parameters from the old Module to the new Module There is a risk of device damage Dispose of the MP2300S as general industrial waste CAUTION CAUTION ...

Страница 10: ...1 2 Product Specifications 2 3 2 1 3 Function Lists 2 4 2 2 Basic Module 2 7 2 2 1 Outline of Functions 2 7 2 2 2 External Appearance LED Indicators and Switch Settings 2 8 2 2 3 Specifications 2 11 2 2 4 218IFA Module Ethernet 2 12 2 2 5 Built in SVB Module 2 30 2 2 6 SVR Virtual Motion Module 2 47 2 2 7 M EXECUTOR Module Motion Program Executor 2 50 2 3 Option Module 2 61 2 3 1 Option Module Ove...

Страница 11: ... 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 Types and Execution Timing of User Program 5 6 5 2 2 Motion Programs 5 7 5 2 3 Sequence Program 5 28 5 2 4 Ladder Drawings DWG 5 31 5 3 Registers 5 36 5 3 1 Types of Registers 5 36 5 3 2 Data Types 5 39 5 3 3 How to Use Subscripts i j 5 40 5 3 4 Register Designation 5 41 5 4 Self configuration...

Страница 12: ...us State 7 15 7 3 3 Calculation of Slave CPU Synchronous Delay Time 7 16 7 3 4 How to Use Scan Counter 7 17 7 3 5 How to Determine Input Error 7 18 7 3 6 Management to Resume Slave CPU Synchronization 7 24 7 4 Precautions 7 28 7 4 1 Precautions on Usage 7 28 7 4 2 Effect of Error on Slave CPU Synchronous Operation 7 29 8 Maintenance Inspection and Troubleshooting 8 1 8 1 Inspection Items 8 2 8 1 1...

Страница 13: ...Fixed Parameter List A 20 E 2 Setting Parameter List A 22 E 3 Monitoring Parameter List A 27 Appendix F How to Set up Communication Process A 31 F 1 Preparation A 31 F 2 Procedure A 31 Appendix G MSG SND MSG RCV Functions A 35 G 1 Message Transmit Function MSG SND A 35 G 2 Message Receive Function MSG RCV A 70 G 3 Communication Buffer Channel A 102 INDEX Revision History ...

Страница 14: ...MEMO ...

Страница 15: ... 3 1 2 1 Basic Module Appearance 1 3 1 2 2 MP2300S Modules 1 4 1 3 System Configuration 1 5 1 3 1 Example 1 5 1 3 2 Example of Distributed Synchronizing System 1 6 1 4 MECHATROLINK compatible Devices 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 Options 1 9 1 5 3 Software Programming Tool 1 9 ...

Страница 16: ...ting optional modules of MP2000 series are available An optional module allows the use of various open networks such as CC Link DeviceNet and PROFIBUS Connecting an SVB 01 module to the optional slot allows the synchronized control of up to 32 axes of servos Capable of a Synchronous Distributed System with MECHATROLINK The MP2300S has a CPU synchronous function using MECHATROLINK communications Th...

Страница 17: ...l fittings for attachment Also the values in the figure do not include the length of metal fittings Battery cover MECHATROLINK Τ connector 1 line 2 ports DIP switch 6 points 4 points Metal fittings for attachment LED 8 points MP LIO 3 pole connector 24 V power supply Ethernet connector with LED 2 pole connector RLY OUT Optional slot 64 mm 130 mm 1 0 8 m m VJGTPGV 0 00 01 23 S 8 4 176 0V 5 9 6 56 4...

Страница 18: ...tputs source mode output 1 pulse input I O Module LIO 04 JAPMC IO2303 32 inputs 32 outputs sink mode output I O Module LIO 05 JAPMC IO2304 32 inputs 32 outputs source mode output Output Module DO 01 JAPMC DO2300 64 outputs sink mode output Analog Input Module AI 01 JAPMC AN2300 Analog input 8 channels Analog Output Module AO 01 JAPMC AN2310 Analog input 4 channels Counter Module CNTR 01 JAPMC PL23...

Страница 19: ... other company s module Output Input RS 232C Ethernet DeviceNet PROFIBUS RS422 485 215 communications Servo amplifier AnyWire A net A link Optional module I O module AFMP 02 AFMP 02 C CC Link Max 21 stations including I O Max 16 stations servo can be included Ethernet Hub Upper PLC CNTR 01 5 05 Inverter I O Servo Servo Servo Repeater YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 C ...

Страница 20: ...al latch signals to the SERVOPACKs For connection refer to the SERVOPACK s man ual 1 3 2 Example of Distributed Synchronizing System If some MP2300S are connected as slaves and other MP2000 series Machine Controllers are connected via MECHA TROLINK II slaves can operate synchronously Distribution of the load realizes the high speed synchronization of multiple axes MP2300S SVB 01 Module Τ MECHATROL...

Страница 21: ...2 channels Yes Yes JEPMC PL2910 Pulse Output Module Pulse output 2 channels Yes Yes JEPMC AN2900 A D Module Analog inputs 10 to 10 V 4 channels Yes Yes JEPMC AN2910 D A Module Analog outputs 10 to 10 V 2 channels Yes Yes JEPMC IO350 64 point I O Module 24 VDC 64 inputs 64 outputs Yes No JAMSC 120DDI34330 DC Input Module 12 24 VDC 16 inputs Yes No JAMSC 120DDO34340 DC Output Module 12 24 VDC 16 out...

Страница 22: ...JEPMC W6060 Loose wires on one end Used between LIO 04 05 and external I O device DO 01 CN 1 CN 2 External output cable JEPMC W6060 Loose wires on one end Used between DO 01 and external I O device AI 01 CN 1 CN 2 Analog input cable JEPMC W6080 Loose wires on one end Used between AI 01 and analog external input device AO 01 CN 1 Analog output cable JEPMC W6090 Loose wires on one end Used between A...

Страница 23: ... BA01 ER3VC exclusive use connector BA000517 Power Supply Connector Accessory 721 203 026 Cable side RLY OUT Connector Accessory 734 YE102 Cable side DIN Rail Mounting Parts Accessory JEPMC OP300 1 pair Terminator Terminating Resistor Accessory JEPMC W6022 Q ty 1 Metal Fittings for Attachment Optional JEPMC OP2300S E Name Model Remarks MPE720 CPMC MPE720 Ver 5 38 or later CD ROM 1 disk MPE720 Vers...

Страница 24: ...MEMO ...

Страница 25: ...ion Lists 2 4 2 2 Basic Module 2 7 2 2 1 Outline of Functions 2 7 2 2 2 External Appearance LED Indicators and Switch Settings 2 8 2 2 3 Specifications 2 11 2 2 4 218IFA Module Ethernet 2 12 2 2 5 Built in SVB Module 2 30 2 2 6 SVR Virtual Motion Module 2 47 2 2 7 M EXECUTOR Module Motion Program Executor 2 50 2 3 Option Module 2 61 2 3 1 Option Module Overview List 2 61 2 4 External Appearance 2 ...

Страница 26: ... 2 000 m above sea level or lower Mechanical Operating Conditions Vibration Resistance Conforming to JIS B 3502 10 to 57 Hz with single amplitude of 0 075 mm 57 to 150 Hz with fixed acceleration of 9 8 m s2 10 sweeps each in X Y and Z directions sweep time 1 octave min Shock Resis tance Conforming to JIS B 3502 Peak acceleration of 147 m s2 15 G twice for 11 ms each in the X Y and Z directions Ele...

Страница 27: ...mber of Virtual Axis Controlling Axes 16 axes MECHATROLINK Communication System MECHATROLINK I MECHATROLINK II 32 byte or MECHATROLINK II 17 byte Communication Cycle M II 0 5 ms 1 ms 1 5 ms or 2 ms Maximum Number of Connectable Stations M II 21 stations up to 16 servo stations Slave Function Slave Synchronous Function Scan Interval Setting High speed Scan 0 5 ms to 32 ms per 0 5 ms Low speed Scan ...

Страница 28: ...local D registers Drawing constant registers Input I registers Output O registers Constant C registers 64 kwords 8 kwords Up to 16 kwords per drawing Up to 16 kwords per drawing 32 kwords including internal input registers 32 kwords including internal output registers 16 kwords Trace Memory Data trace 128 kwords 32 kwords 4 groups 16 points defined Memory Backup Program memory Flash memory 8 MByte...

Страница 29: ...ges during motion com mand execution Yes Only with MECHATROLINK II in 32 byte mode Reference Unit mm inch deg or pulse 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 Speed Reference Unit Reference unit s designation mm s inch s deg s pulse s Reference unit min designation mm min inch min deg min pulse min Perce...

Страница 30: ...tion Lists 2 6 Applicable SERVOPACKs MECHATROLINK I SERVOPACKs SGD N SGDB AN SGDH E NS100 SGDS 1 SGDV 1 MECHATROLINK II SERVOPACKs SGDH E NS115 SGDS 1 SGDV 1 Encoders Incremental Encoder Yaskawa Absolute Encoder Item Specifications ...

Страница 31: ...mpact module that combines power supply CPU and 218IFA in one module The Basic Module has both motion control and sequence control functions With a 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 Output process M I II RLY OUT Application execution p...

Страница 32: ... 8 7 MP VJGTPGV 0 00 23 S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 Indicator Color Status RDY Green Lit during normal operation RUN Green Lit during execution of user program ALM Red Lit blinking when warning occurs ERR Red Lit blinking when malfunction occurs MTX Green Lights up when submitting MECHATROLINK I MECHA TROLINK II data BAT Red Lit du...

Страница 33: ... User program running S1 5 SUP ON System load OFF If set to ON starts in a mode that can change the version OFF Normal operation S1 4 INIT ON Memory clear OFF Set to ON to clear the memory If this switch is set to OFF the program stored in flash memory will be executed OFF Normal operation S1 3 CNFG ON Self configuration mode OFF Set to ON to execute self configuration for con nected devices OFF N...

Страница 34: ...e is initialized by soft ware No Switch Name State Operation Mode Default Description S2 4 ON Reserved OFF Reserved for future use OFF S2 3 ON Reserved OFF Reserved for future use OFF S2 2 E INIT ON Transmission parameter for Ethernet default OFF When ON transmission parameters such as an IP address are set to default at startup OFF Normal operation S2 1 E TEST ON System use OFF Always leave set t...

Страница 35: ...ing or the secondary output of the external 24 V power supply is turned ON Rated Voltage 5 0 V Rated Current 2 0 A Output Current Range 0 0 to 2 0 A Constant Voltage Precision 2 max including input voltage and output load fluctuations Battery Battery for memory retention attachable Flash Memory 8 MBytes User area 5 5 MBytes SDRAM 32 MBytes SRAM 512 kBytes M registers S registers trace memory alarm...

Страница 36: ...t for MELSEC protocol Support for MODBUS TCP protocol Support for non procedure communication An I O message communication function enables you the data exchange in the form of I O image when communicating with upper PLC eliminating you from creating a ladder program An automatic receive function eliminates you from creating a ladder program when connected to the indicator and the like Enables you...

Страница 37: ...onverting IP address into MAC address Items MP2300S 218IFA Communication Interface Note1 10Base T 100Base TX Communication Protocol Note2 TCP UDP IP ARP ICMP Maximum Number of Communication Connections 4 2 I O Message communication Maximum Number of Communication Channels 4 2 I O Message communication Message Communication maximum MEMOBUS Write 100W Read 125W Extended MEMOBUS Write 2043W Read 2044...

Страница 38: ...definition window Module Type A module name is shown Changing the name to UNDEFINED enables you to disable 218IFA functions Controller Number Not used Fixed at Circuit Number Module s line number valid range 01 08 I O Start Register Start register of the I O register used in the I O message communication of 218IFA valid range 0000 7FFFh size 800h words I O End Register End register of the I O regi...

Страница 39: ...nctions 4 218IFA Module Detailed Screen a Displaying the 218IFA Module Detailed Window The 218IFA Module Detailed Window is displayed by selecting MP2300S in the Controller area of the Module Con figuration Window and double clicking the cell No 2 in the Module Details field ...

Страница 40: ... Detailed Window The 218IFA Module Detailed Window is composed of Transmission Parameter and Status Tabs and each tab is changed with a click 1 Parameter Setting Tab The Transmission Parameters Tab sets 218IFA transmission parameters The setting details are as follows ...

Страница 41: ...255 255 255 000 Gateway IP Address 0 0 0 0 to 255 255 255 254 Sets the 218IFA default gateway IP address However the follow ing addresses are excluded 127 xxx xxx xxx xxx xxx xxx 000 except 000 000 000 000 xxx xxx xxx 255 When you do not use it set it to 000 000 000 000 000 000 000 000 Equipment Name Up to 16 single byte characters 218IFA can be any name The name specified here is displayed as a s...

Страница 42: ...ber cannot be 9998 or 10000 9999 Response Time 0 to 255 sec Specify the wait time until a remote response is returned after sending a command when carrying out a message communication using MSG SND function value zero waits infinitely If the retransmit number of times is zero set response monitor period to zero Note If no response is returned after the setting period expires a time out occurs retr...

Страница 43: ...Node IP Address 0 0 0 0 to 255 255 255 254 Set the remote IP address for each connection However the fol lowing addresses are excluded 127 xxx xxx xxx xxx xxx xxx 000 except 000 000 000 000 xxx xxx xxx 255 Note When 0 0 0 0 is set it will enter into Unpassive open mode When 218IFA is within the network specified by the subnet mask it responds to the connection request from the remote station regar...

Страница 44: ...Opens the automatic receive setting screen To open the screen double click this button Note The automatic receive function is valid only for a connection when the connection number 1 Remote Station Name Up to 32 single byte characters 16 double byte characters Any text can be entered as a connection comment Blank Item Setting Range Details Default Protocol Type Code ASCII BIN RTU Extended MEMOBUS ...

Страница 45: ...n the connection parameters are not yet set and this screen is opened By clicking the Default Button default values are set for each data code type according to the selected communication protocol type The following table shows the default values for each data code type Item Default Connection Number 01 Connection Number 02 Connection Number 03 Connection Number 04 Local Port 10001 10002 10003 100...

Страница 46: ...e connec tion according to the input item CH NO for the MSG SND MSG RCV function and node connection number PARAM02 setting for the parameter list PARAM When automatic reception is running the function equivalent to the MSG RCV function is realized by using the communication buffer channel number 1 1 Readout of Input Relay IW0000 to IWFFFF Set a start register of the input relay used for the autom...

Страница 47: ... each communication protocol type Note Enable Disable Setting Item Communication Protocol Type Extended MEMOBUS MEMOBUS MELSEC Non proce dure MODBUS TCP Readout of Input Relay Readout of Input Register Readout Write in of Coil Readout Write in of Hold Register Write in Width of Coil Hold Register LO Write in Width of Coil Hold Register HI ...

Страница 48: ... Ethernet communications remote stations are distin guished by their connection numbers I O message communications have a connection for each read write Local Port 256 to 65535 Specify the 218IFA port number for each read write connection To delete the port number setting enter zero To use only a read or a write connection set the other port number to zero to delete the connection Note When the co...

Страница 49: ...tion screen OWxxxx 4 Note2 Data Size Varies according to protocol type Specify the data size word read from the remote equipment 4 Specify the data size word written in the remote equipment 4 Head Register Number for the Node Equipment Varies according to protocol type Specify the register type and the start register address for the remote equipment to read Varies accord ing to proto col type Spec...

Страница 50: ... yet set and this screen is opened Item Default MP Series Local IP Address Values set in transmission parameter setting items are shown Local Port Read 10005 Write 10006 Input Register IW xxxx Start I O register number specified by the 218IFA cell in the detailed field of the module configuration definition screen Input Disable Not checked enable Output Register OW xxxx Start I O register number s...

Страница 51: ...table provides these default values Communication Protocol Type Default Data Code Type Local Input Output Register Setting Read Write Size Node Read Write Register Setting Extended MEMOBUS BIN IW to IW 3 input OW 4 to OW 7 output 4 read 4 write MW0000 to MW0003 read MW0004 to MW0007 write MEMOBUS RTU Same as above Same as above Same as above MELSEC BIN Same as above Same as above D0000 to D0003 re...

Страница 52: ...00 000 000 Engineering Port Displays a port number set in the detailed definition of the Transmission Parame ter Tab 9999 Item Displayed Content Default Trans Status Displays the transmission status for each connection Error Status If an error is indicated in the transmission status the error details are shown Send Count Displays the number of packets transmitted to the remote station Receive Coun...

Страница 53: ...onnect using the MSG SND func tion but the connection was rejected by the remote station and the command was reset When disconnecting the cable retried con necting for one minute default value with out a response Connection Error M RCV Connection error when passively open in TCP An error occurred while receiving the con nection from the MSG RCV function System Error System error A socket polling s...

Страница 54: ...odule is an Optional SVB that can be mounted on the optional slot of the MP2300S c Features Up to 21 slave stations can be connected to a single Module the SERVOPACKs can be connected up to 16 axes MP2300S Only an SVB 01 Module can be mounted in optional slot Including the MP2300S s built in SVB a total of 32 axes can be controlled Synchronization between Modules is also supported making it suitab...

Страница 55: ...make the settings in accordance with MECHATROLINK I specifications When connecting a servo to an SVB Module via MECHATROLINK connect signals such as overtravel zero point return deceleration limit switch and external latch to the servo Refer to the relevant SERVOPACK manual for details on the connections When connecting II series SERVOPACKs SGDH NS100 or SGDH NS115 do not connect a hand held type ...

Страница 56: ...igh speed scan will be sent at consistent points in communica tion cycle processing and simplifies distribution processing for interpolation commands 2 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 RTC ...

Страница 57: ...e 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 synchronizati...

Страница 58: ...ster Functions Communication Interface MECHATROLINK II 2 N synchronous MECHATROLINK I 1 N synchronous Baud Rate 10 Mbps 4 Mbps Transmission Cycle 0 5 ms 1 ms 1 5 ms or 2 ms 2 ms Number of Link Communication Bytes 17 bytes or 32 bytes 17 bytes Number of Connectable Stations Up to 21 stations SERVOPACK for up to 16 axes Up to 14 stations C1 Messaging Master Function Provided selectable Not provided ...

Страница 59: ...lute system infinite length position control and simple absolute system infinite length position control Software Limit Positive negative direction for each point Zero Point Return Method 13 types SERVOPACK Parameter Management Parameters can be managed in the MPE720 s SERVOPACK Parameter Window Inverter Control Communication Method Single send communication cycle transmission cycle asynchronous c...

Страница 60: ...ransmission Item MECHATROLINK I MECHATROLINK II Topology Bus Bus Transmission Media Twisted pair cable Twisted pair cable Transmission Distance 50 m max can be extended to 100 m by connecting repeaters 50 m max can be extended to 100 m by connecting repeaters Minimum Distance between Stations 0 3 m 0 5 m Baud Rate 4 Mbps 10 Mbps Communication Cycle 2 ms 0 5 ms 1 ms 1 5 ms or 2 ms Number of Connect...

Страница 61: ...ule Configuration a Module Configuration Window Click MP2300S in the Controller area to display the details of the basic module functions in the Module Details area The cell No 3 provides a detailed definition of built in SVB Communication Method Transmission Distance Total Network Length Maximum Number of Slave Stations MECHATROLINK I 50 m can be extended to 100 m by connecting repeaters 14 MECHA...

Страница 62: ...O Start Register I O start register number of the I O Module to be connected to MECHA TROLINK Setting range 0000 to 7FFFh max 400h words per SVB Module Possible I O End Register I O last register number of the I O Module to be connected to MECHA TROLINK Setting range 0000 to 7FFFh max 400h words per SVB Module Possible Disable Input Input enabled Enable disabled Disable Possible Not possible if th...

Страница 63: ... Module Configuration Window select the SVB Module in the Controller field and double click the MECHA TROLINK cell in the Module Details field The MECHATROLINK Transmission Definition Window will open If several SVB Modules are mounted select the SVB Module to be checked or set in the Controller field To check or set the built in SVB Module select slot number 00 in the Controller field ...

Страница 64: ...ation address set by using the rotary switches For Master station fixed to 0 For slave stations set a number between 1 and the number of slave stations Transmission Speed Displays the transmission speed MECHATROLINK II 32 byte mode 10 Mbps MECHATROLINK II 17 byte mode 10 Mbps MECHATROLINK I 4 Mbps Cannot be set Transmission Byte Hidden for MECHATROLINK I Displays the number of transmission bytes T...

Страница 65: ...he Master has not received a normal response from a slave Only for Master station Set a number between 0 and 7 Cannot set for Slaves Number of Slaves Displays the number of slave stations that can be con nected The number of slave stations that can be connected is determined by communication type communication cycle SigmaWin use not use and number of retry to slaves Cannot be set Slave Synchro nou...

Страница 66: ...le can only be set for Master The communication cycle for MECHATROLINK I is fixed to 2 ms Item MECHATROLINK II 32 byte mode MECHATROLINK II 17 byte mode MECHATROLINK I Transmission Byte Communication Cycle 1 ms 1 ms 2 ms Number of Retry to Slaves 30 30 15 Number of Slaves 30 30 15 MECHATROLINK II Communication Mode 32 byte mode 17 byte mode Communication Cycle That Can be Set 0 5 ms 1 ms 1 5 ms or...

Страница 67: ...YPE Item Description Options and Precautions on Settings ST Station number The station number set here must be the same as the number set using rotary switches TYPE Slave device connected at the station Select the device type from the pull down list D I O register s enable disable status Enabled Disabled Click the button to switch the status INPUT SIZE The leading input register number INPUT and t...

Страница 68: ...d 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 In offline mode nothing will be displayed The meaning of each bit is shown below Type code 01H Inverter 02H Servo 03H I O Reserved F E D C B A 9 8 7 6 5 4 3 2 1 0 F Transmission err...

Страница 69: ...ameters a Opening the SVB Definition Window Open the SVB Definition Window by the following procedure 1 Select MP2300S in the Controller area then double click the slot number cell of the SVB Module in the Module Details field in the Module Configuration Window The Create New Confirmation Dialog Box will open Click OK to display the Fixed Parameters Tab of the SVB Definition Window 2 Select the ax...

Страница 70: ...otion 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 Refer to the relevant SERVOPACK user s manual for information on SERVOPACK parameters Refer to Appendix B SERVOPACK Parameter Data Flow Fig 2 4 Monitor Parameters Tab read only 6 Precautions when Saving the Servo User Constant To save it in the S...

Страница 71: ...and monitoring parameters and can be accessed from application programs using I O registers The SVR can be used to control up to 16 virtual axes in the high speed scan control cycle Note For information on how to use SVR motion parameters and motion commands refer to Machine Control ler MP2000 series SVB SVB 01 Motion Module User s Manual manual no SIEPC88070033 In the MP2300S Basic Module slot 4 ...

Страница 72: ...nic cam or shaft operation can be achieved by using the SVR for the virtual master axis 2 Multi axis synchronous con trol Multi axis synchronous control can be achieved by controlling the SVR from a motion program and then using the ladder program to copy position commands of the SVR to other axes 3 Sine curve commands If the motion program is used to perform circular interpolation with the SVR th...

Страница 73: ...f axes The number of axes 1 to 16 when Selection of Operation Modes fixed parameter 0 is set to Nor mal Operation Mode 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 p...

Страница 74: ... ladder program Note You can incorporate a MSEE command into the ladder program as ever Controlling a motion program without using a ladder program You can map any register to the control signal of the motion program registered in the M EXECUTOR Module So without a ladder program this allows you to directly control a motion program from a host PLC or other device Describing sequence control in mot...

Страница 75: ...Program Execution Method Sequential Execution Startup Event driven H Scan Scan execution L Scan Scan execution System Work 1 1 correspondence between the definition number and system work The number of program definitions is set in the MPE720 screen Program Designation Method Direct or indirect designation Direct designation Program Startup Method Registered in the definition turns start signal ON...

Страница 76: ...umber Double click to open the M EXECUTOR detailed definition screen Module Type A module name appears Changing the name to UNDEFINED enables you to disable M EXCUTOR functions Controller Number Not used Fixed to Circuit Number Not used Fixed to I O Start Register Start register of the M EXECUTOR I O register valid range 0000 7FFFh size 40h words I O End Register End register of the M EXECUTOR I O...

Страница 77: ...ter Item M EXECUTOR Output Register Item Iwxxxx 0 Definition No 1 Status Owxxxx 0 Definition No 1 Program number Iwxxxx 1 Spare Owxxxx 1 Control signal Iwxxxx 2 Spare Owxxxx 2 Override Iwxxxx 3 Spare Owxxxx 3 Spare Iwxxxx 4 Definition No 2 Status Owxxxx 4 Definition No 2 Program number Iwxxxx 5 Spare Owxxxx 5 Control signal Iwxxxx 6 Spare Owxxxx 6 Override Iwxxxx 7 Spare Owxxxx 7 Spare Iwxxxx 3C D...

Страница 78: ... executed according to the scan in ascending numeric order A white cell can be set by the user and a grey cell cannot be set by the user Individual display Shows M EXECUTOR individual display screen Program definition number Sets the number of program definitions registered in the M EXECUTOR Module The valid range is 0 16 8 by default No Shows the program execution order Processed according to the...

Страница 79: ...eriodical startup run each time a high speed scan is performed Motion Program Motion program Turns ON the program operation start request of the control signal runs when the program operation start request is ON Designa tion Method Motion Program Sequence Program Remarks Direct Designation Enable Enable The way to designate the program number Example MPM001 SPM002 and so on Indirect Designation En...

Страница 80: ...g the M EXECUTOR control register Note For more information on the M EXECUTOR control register refer to 2 2 7 1 M EXECUTOR Module Function Overview Allocation Disable Enables disables the mapping register Uncheck to enable the definition Direction Displays the data I O direction M EXECUTOR Control Register Usage Program Number Sets a program number This register is used only when set to an indirec...

Страница 81: ...e exchanged between the allocation register and M EXECUTOR control registers Any register bit can be mapped to the allocation contact interlock Caution An allocation contact interlock is used to interlock the operation of a motion program When setting an allocation register be sure to set the allocation contact interlock Status Control Signal Details Double click the status and control register to...

Страница 82: ... register mapping win dow Program execution registry number Selects a program execution registration No Program number Sets a program number Execution type Sets the program execution type Specification Sets the method of designating a program Allocation register Sets a mapping register Status Control signal Displays the status and the signal sequence of the control register Allocation DISABLE Enab...

Страница 83: ...before the ladder process Drawing A startup process drawing Per high speed scan interval Batch output Batch input Batch output Batch input Drawing H high speed scan process drawing Per low speed scan interval Drawing L low speed scan process drawing Sequence program L scan Sequence program H scan Motion program The execution order is determined by the M EXECUTOR definition The execution order is d...

Страница 84: ...iagram shows the execution scheduling when set in the screen above SPM003 MPM004 SPM005 DWG H SPM001 DWG A DWG L SPM003 MPM004 SPM002 SPM002 High speed scan cycle Low speed scan High speed scan Startup Ladder process Low speed scan cycle SPM005 DWG H DWG X High speed scan cycle The hatched area indicates that the program is being interrupted by a higher priority process ...

Страница 85: ...ou to automatically map slave devices connected to MECHATROLINK SERVOPACK parameters are manageable over the network Machine Controller MP2000 Series SVB SVB 01 Motion Mod ule User s Manual manual num ber SIEPC88070033 SVA 01 Module The SVA 01 Module is a motion control module with analog output Capable of controlling a two axes servo per module or an inverter The module has two connectors CN1 CN2...

Страница 86: ...ller MP2000 Series Counter Module CNTR 01 User s Manual manual number SIEPC88070027 Communi cation Module 218IF 01 Module Equipped with serial interface RS 232C and Ethernet interface Allows you to connect to a personal computer HMI equipment or controller by other makers via PORT or 10Base T connector Machine Controller MP2300 Communication Module User s Manual manual number SIEPC88070004 217IF 0...

Страница 87: ...3 026 000 Relay connector 734 YE102 Note Attachment Handle for power connector model 231 131 Handle for relay connector model 734 230 These handles are used when connecting a cable to the cable side connector Terminating resistor for MECHATROLINK JEPMC W6022 E 2 5 1 1 Relay connector 2P Power connector 3P Terminating resistor for MECHATROLINK attachment Model nameplate DIN rail 35mm width 10 when ...

Страница 88: ...2 4 External Appearance 2 4 2 Basic Module with Metal Fittings 2 64 2 4 2 Basic Module with Metal Fittings 2 5 2 x φ5 holes Approx 8 when attached 88 76 42 111 5 108 3 5 6 6 4 5 4 5 121 130 5 Units mm ...

Страница 89: ...od 3 2 3 1 2 MP2300S Mount Direction 3 7 3 1 3 Space Required for Mounting MP2300S 3 8 3 1 4 Replacing and Adding Optional Modules 3 9 3 2 Basic Module Connections 3 12 3 2 1 Connectors 3 12 3 2 2 Power Supply Connector 3 13 3 2 3 MECHATROLINK Connectors 3 14 3 2 4 Ethernet Connector Details 3 19 3 2 5 RLY OUT Connector Details 3 23 3 2 6 System Connection Example 3 25 ...

Страница 90: ...nd Spacer Several types of DIN rails are available with 7 mm to 15 mm gap from the mounting base as shown in the following diagram If mounting a MP2300S using DIN rail with 10 mm gap install a spacer on the rear of the MP2300S near the bottom to protect the MP2300S from vibration and shock Mounting base DIN rail Gap from mounting base 7 0 mm to 15 0 mm For a 10 mm gap DIN rail Spacer ...

Страница 91: ...he rear of the MP2300S as shown in the fol lowing figure The following figure shows the front and back of a mounting clip Insert each clip so that its front faces outward 2 Pull the DIN rail mounting clips down to release them MP2300S Rear Side DIN rail mounting bracket inserted position DIN rail mounting bracket Insert the parts in these positions Front Back Clip 4 176 VJGTPGV 8 0 0V Option 5 9 6...

Страница 92: ...h the DIN rail mounting clips to lock them in place 5 Place end plates on both sides of the MP2300S to secure it to the DIN rail This completes the installation procedure 300 mm or less 300 mm or less b a 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 㪧㪦㪮㪜㪩 M I II 0 6 01 01 6 56 Clip Option DIN rail 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 ...

Страница 93: ...se DIN fixing locks two at the center of the panel mounting clamp 2 Insert two convex portions at the top of the panel mounting clamp into holes of the MP2300S case 3 Push the clamp as indicated by an arrow above onto the MP2300S case and use DIN fixing locks to fix MP2300S Two convex clamps Two DIN fixing lock positions When locked When released Attachment for mounting panel ...

Страница 94: ...use four mounting screws to firmly secure the clamp 4 176 VJGTPGV 8 0 0V Option 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 㪧㪦㪮㪜㪩 M I II 0 6 01 01 6 56 MP2300S Mounting screw M4 plus Use the screwdriver with this portion of a driver not less than 10 cm Note Vertically mount it on the wall as shown in the figure above ...

Страница 95: ...ounting and Wiring 3 1 2 MP2300S Mount Direction Be sure to mount the MP2300S using DIN rail or metal fittings 4 176 VJGTPGV 8 0 0V MP2300S Option 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 㪧㪦㪮㪜㪩 M I II 0 6 01 01 6 56 View from front when attached ...

Страница 96: ... the following figure Mount condition Vertical direction 40 mm or more Horizontal direction 10 mm or more Note However ambient temperature should be 55 C or less 10 mm or more 10 mm or more 40 mm or more 40 mm or more 2 5 Electronic product Wall Cable Duct etc Electronic product Wall Cable Duct etc Electronic product Wall Cable Duct etc Electronic product Wall Cable Duct etc ...

Страница 97: ...ables from the MP2300S Then remove the MP2300S from the panel or rack and place on a workbench or other area with sufficient space 2 Removing Optional Modules 1 Remove the battery cover Pull the notch on the side of the MP2300S towards you to remove the battery cover 2 Remove the panel of Optional Module Insert the protruding part of the battery cover into the slot on top of the panel of Optional ...

Страница 98: ...ch in the Optional Module Hold the center of the battery cover as shown in the following diagram Push the battery cover down and out rotating from the round knob to disconnect the Module and mounting base connectors and then pull the Optional Module forward 4 Pull out the Optional Module Hold the Module on the top and bottom and pull it out straight Hold the edges of the Module and avoid touching ...

Страница 99: ...ely inserted place your hand on the front face of the Optional Mod ule and push hard until the Optional Module has been inserted into the mounting base connectors The front face of the Optional Module and the hook will be aligned when the Optional Module has been installed properly 3 Install the panel of the Optional Module Place the hole on the bottom of the panel of the Optional Module onto the ...

Страница 100: ...3 2 1 Connectors The following diagram shows the connectors for the Basic Module 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 㪧㪦㪮㪜㪩 M I II 0 6 01 01 6 56 MECHATROLINK connector Power supply connector RLY OUT connector Ethernet connector Option ...

Страница 101: ... 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 Name Connector Name No of Pins Connector Model Module Cable Manufacturer Power Supply Connector POWER 3 721 863 721 203 026 WAGO Symbol Signal Name Description 24VDC 24 V 24 VDC input 0 VDC 0 V 0 V input FG Frame ground Ground to 100...

Страница 102: ...o the opening and then close the opening by releasing the lever or removing the screwdriver 3 2 3 MECHATROLINK Connectors MECHATROLINK connector is used to connect the MP2300S and the SERVOPACKs and distributed I O via MECHATROLINK cables 1 Specifications and Pin Arrangement Fig A with lever Fig B with screwdriver 8 to 9 mm Name Connector Name No of Pins Connector Model Module Cable Manufacturer M...

Страница 103: ... W6002 40 40 m JEPMC W6002 50 50 m MECHATROLINK Cable MECHATROLINK Connector MECHATROLINK Connector with Ferrite Core JEPMC W6003 A5 0 5 m JEPMC W6003 01 1 m JEPMC W6003 03 3 m JEPMC W6003 05 5 m JEPMC W6003 10 10 m JEPMC W6003 20 20 m JEPMC W6003 30 30 m JEPMC W6003 40 40 m JEPMC W6003 50 50 m MECHATROLINK Cable MECHATROLINK Connector Loose Wire JEPMC W6011 A5 0 5m JEPMC W6011 01 1 m JEPMC W6011 ...

Страница 104: ...d SERVO PACKs Use the MECHATROLINK cable JEPMC W6002 or JEPMC W6003 with a ferrite core for connection between the MP2300S and I O units or SERVOPACKs 1 2 3 4 1 2 3 4 Shell Shell Pin number Signal Name NC DATA DATA SH Shield Shield Signal Name NC DATA DATA SH MP2300S SVB01 I O Unit or SERVOPACK Standard model JEPMC W6002 and JEPMC W6003 ...

Страница 105: ... with a SVB 01 Module 3 Prepare the cables according to MECHATROLINK I specifications Connections that do not meet the specifications will prevent normal communication due to the influence of reflected waves or other fac tors MECHATROLINK I 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 Connecti...

Страница 106: ...C N 4 L1 L2 L2C L1C B1 B2 U V W C N 6 CN1 IN1 OUT1 IN2 OUT2 A1 A1 A1 A1 B1 B1 B1 B1 YASKAWA JEPMC IO2310 YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 N 2 C C N 4 L1 L2 L2C L1C B1 B2 U V W C N 6 YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 N 2 C C N 4 L1 L2 L2C L1C B1 B2 U V W C N 6 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4...

Страница 107: ... Name Connector Name Number of Pins Connector Model Module Side Cable Side Manufacturer Ethernet Ethernet 8 RJ 45 CAT5 Socket RJ 45 CAT5 Plug Pulse Engineering Pin Number Signal Name Description 1 TXD Transmitted data side 2 TXD Transmitted data side 3 RXD Received data side 4 5 6 RXD Received data side 7 8 Display Name Display Color Description LINK Yellow Lit Connect Unlit Unconnected 100M Green...

Страница 108: ...een HUBs 100 m or less 100 m or less Number of HUBs between Nodes Up to four Unlimited HUB MP2300S HUB 10Base T 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 㪧㪦㪮㪜㪩 M I II 0 6 01 01 6 56 Straight cable Station Station Station Up to 100m Up to 100m Up to 100m Up to 100m Up to 100m Station Up to 100m When connecting to a HUB without using the auto negotiation fun...

Страница 109: ...5 m or less 100 m or less Number of HUBs between Nodes Up to two Unlimited HUB HUB MPE720 MP2300S 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 㪧㪦㪮㪜㪩 M I II 0 6 01 01 6 56 Option 100Base Tx straight cable Up to 100 m Up to 100 m Up to 100 m Up to 5 m Up to 100 m Up to 100 m Station Station Station When connecting to a HUB without using the auto negotiation fun...

Страница 110: ...on If necessary increase the number of communication retries 3 Attach a ferrite core Attach a ferrite core in the manner described below Ethernet Attach it to the communication port side and the external equipment side of the MP2300S main unit MECHATROLINK Attach it only to the communication port side of the MP2300S main unit We will provide a standard cable with core Model JEPMC W6003 Note Recomm...

Страница 111: ...tions The following table shows the RLY OUT connector pin arrangement The following table provides the RLY OUT connector contact ratings 2 RLY OUT Connection Cable For the RLY OUT connection cable use a cable of line size AWG28 to AWG14 0 08 mm2 to 1 5 mm2 maximum sheath diameter φ3 4 mm The RLY OUT connector cable is similar in manufacture to the 24 VDC power supply cable Name Connector Name Numb...

Страница 112: ...tails 3 24 3 RLY OUT Connection Example The following figure shows how to connect the RLY OUT connector RLY OUT 24VDC 0VDC 24 VDC Power supply MP2300S POWER RLY OUT output Operating normally ON Error occurred OFF Power supply Ground resistance 100 Ω or less ...

Страница 113: ...MC r t PG M PG M PG M PG M RA1 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 㪧㪦㪮㪜㪩 M I II 0 6 01 01 6 56 1 1 2 1 1 SA Surge absorber for switching surge 2 RAI CPU RUN output 200 VAC power supply Noise filter Turn ON the control power Shut OFF the control power Turn ON the servo power Shut OFF the servo power Emergency stop Terminating resistance 24 VDC power s...

Страница 114: ...MEMO ...

Страница 115: ...tem Startup Overview 4 2 4 2 Preparation step 1 4 3 4 2 1 Wiring 4 3 4 2 2 Self Configuration 4 5 4 2 3 Test Operation 4 6 4 3 Programming step 2 4 9 4 3 1 Programming Procedure 4 9 4 4 Executing Motion step 3 4 11 4 4 1 Registering Program Execution 4 11 4 4 2 Starting a Motion Program Using the Operation Control Panel 4 12 4 5 Starting Motion Program from an External Signal 4 13 4 5 1 Overview 4...

Страница 116: ... a procedure where you can easily run and check a program without external signals The simple motion program which you create has three lines only moving and stopping 150 000 pulses from the cur rent position INC Specify an incremental mode MOV A1 150000 B1 150000 Position two axes 150 000 pulses END Preparation step 1 Wiring self configuration and test operation Programming step 2 Executing motio...

Страница 117: ...e below 1 System Layout Model Personal computer equipped with MPE720 SERVOPACK SERVOPACK YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 C N 2 C N 4 L1 L2 L2C L1C B1 B2 U V W C N 6 YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 C N 2 C N 4 L1 L2 L2C L1C B1 B2 U V W C N 6 MECHATROLINK cable MECHATROLINK cable Servomotor Servomotor Terminator terminating resistor 100 VAC...

Страница 118: ...PACK station number SW1 is set to 1 and 2 In a 1 1 connection without HUB use a cross cable as a LAN cable Product Name Model Q ty MP2300S JEPMC MP2300S E 1 MECHATROLINK cable 0 5m JEPMC W6002 A5 2 Terminator terminating resistor JEPMC W6022 2 Σ III SERVOPACK SGDS A5F12A 2 Σ III servomotor SGMAS A5A2A21 2 Motor cable 3m JZSP CSM01 03 2 Encoder cable 3m JZSP CSP05 03 2 HUB commercial product LSW TX...

Страница 119: ...IT and CONFIG of DIP switch SW1 on the MP2300S main unit 4 Turn ON the 24 VDC power supply on the MP2300S main unit and confirm the LED display changes as follows 5 Self configuration is complete and MECHATROLINK slave device information has been written to a definition information file RDY ALM MTX BAT RUN ERR RDY ALM MTX BAT RUN ERR RDY ALM MTX BAT RUN ERR ڏ TRX 24VDC IP TRX IP TRX IP ڏ SW1 Lit N...

Страница 120: ... 168 1 1 to connect to the controller For more information on the communications settings refer to Appendix F How to Set up Communication Process on page A 31 When the connection is complete the display will change from offline to online 2 Operating Manually in the Test Operation Screen 1 Click System in the subwindow and double click Axis Configuration Test Run to display a warning dialog a box f...

Страница 121: ...ion 4 7 4 System Start Up and Easy Programming 2 Axis Selection and Servo ON Set an axis number in the Axis Window and click the Enable Servo ON Button in the Test Run Window Turning the servo ON allows you to manipulate the jog step buttons ...

Страница 122: ...ce icon and set a speed reference value and check that the axis rotates normally while the Forward Button or Reverse Button is pressed The operation check of the first axis is complete Press the Axis Button to change to Axis 02 in the axis select screen and perform the steps 1 to 3 above ...

Страница 123: ...tion program subwindow will appears When you double click Motion Program and there is not any group definition the group definition screen will be shown For this setting example you do not need to change it so accept the default setting and click the OK Button Note that if a group definition already exists the group definition screen will not be shown 3 Right click Main Program and select Create N...

Страница 124: ...assist feature to insert INC and MOV Commands into the motion program The command input assist feature is made accesible by right clicking the mouse on the Motion Editor Window Call the command input assist feature Click the save icon to save the motion program Insert an INC Command Insert a MOV Command ...

Страница 125: ...4 System Start Up and Easy Programming 4 4 Executing Motion step 3 4 4 1 Registering Program Execution 1 Click the Execution Registration Icon The Program Execution Registry Screen Dialog Box will appear 2 Check Program Number and click OK to save the registered contents ...

Страница 126: ...nd click the START Button The MPM001 s motion program is executed Caution This chapter explains the simple procedure where you can easily run and check a program without external signals In prac tice you need to connect to external signals and create a sequence Registering a program execution enables the M EXECUTOR definition The MP2300S automatically controls the motion program so be aware that c...

Страница 127: ... cable MECHATROLINK cable PP cable 4 176 VJGTPGV 8 0 0V MP2300S Option 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 㪧㪦㪮㪜㪩 M I II 0 6 01 01 6 56 24 VDC power supply Terminator terminating resistor A real machine uses an external I O but in this description we substitute the button and display on the panel for the external I O Touch panel manufactured by Digital Electronics Corp Product Na...

Страница 128: ...ation Start MB5000 Control signal Starts up a motion program Sets in M EXECUTOR Stop MB5002 Control signal Displays the running of a motion program Clear Alarm MB5005 Control signal Stops a motion program Running Program MB5010 Status Clears an alarm of a motion program Alarm MB5018 Status Indicates an alarm is occurring in a motion program Axis 1 current position IL8016 Monitor parameter Displays...

Страница 129: ...el to the relevant registers in the motion setting parameter of the embedded SVB Follow a procedure similar to creating a motion program from the motion program subwindow Click the Execution Registration Icon Output the information of the Axis Alarm Reset Button on the touch panel to the motion setting parameter Axis 1 and axis 2 alarm reset of the built in SVB Output the information of the Servo ...

Страница 130: ...001 executions For more information on how to set the M EXECUTOR Window refer to 2 2 7 M EXECUTOR Module Motion Program Executor on page 2 50 In the Allocation Control Register Window map the M registers allocated to control signals Start Stop Alarm Clear and status Running Program Alarm on the touch panel as an M EXECU TOR allocation register for the motion program created in 4 3 Programming step...

Страница 131: ... on communication setting with the touch panel refer to 6 2 1 Automatic Receive Example Using Touch Panel 4 FLASH Save When all settings are completed click the FLASH Save Icon to save the data to the flash memory 5 Operation Check Turn ON MP2300S power again and press Servo and Start on the panel screen Then check that the motion program starts and the two axes motor begins to operate to change t...

Страница 132: ...MEMO ...

Страница 133: ...d Execution Timing of User Program 5 6 5 2 2 Motion Programs 5 7 5 2 3 Sequence Program 5 28 5 2 4 Ladder Drawings DWG 5 31 5 3 Registers 5 36 5 3 1 Types of Registers 5 36 5 3 2 Data Types 5 39 5 3 3 How to Use Subscripts i j 5 40 5 3 4 Register Designation 5 41 5 4 Self configuration 5 42 5 4 1 How to Execute Self Configuration 5 43 5 4 2 Definition Information Updated with Self Configuration 5 ...

Страница 134: ... Operating Mode Default Setting Remarks S1 6 STOP ON User program stops OFF Set to ON to stop user program operation OFF User program operation S1 5 SUP ON System load OFF If set to ON starts up in the mode that can renew the version of the farmware OFF Normal operation S1 4 INIT ON Memory clear OFF Set to ON to clear memory Programs stored in flash memory will be run when Memory Clear is set to O...

Страница 135: ...fter one cycle DWG I executed Input Input Low speed scan High speed scan Interrupt signal Ladder program Power ON Startup self diagnostics 1 Memory clear FLASH RAM Copy Watchdog timer start DWG A executed Ladder program Order of priority High Low Online self diagnostics 5 Background Normal operation Self configuration execution 2 Configuration mode S2 indicator RUN lit User program stops Operation...

Страница 136: ...ges 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 Motion Pro grams 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 MP2300S stops motion control opera...

Страница 137: ...OP operation Lit Lit Not lit Not lit Not lit User program executing normally Online operation mode Error Not lit Not lit Not lit Lit Not lit Major damage has occurred The ERR LED indicator is lit red when the CPU is down Not lit Not lit Not lit Blinking Not lit Software error No of blinks 3 Address error read exception 4 Address error write exception 5 FPU exception 6 Illegal general command error...

Страница 138: ...ollowing table shows the types and execution timing of MP2300S user program For more information on the user program refer to the next page and after User Program Execution Timing Motion Program High speed Scan Process Turns ON the program operation start request of the control signal runs when program operation start request is ON Sequence Program Startup Process Power up during power up runs onl...

Страница 139: ...m work error Bit E of the leading word in the MSEE work registers 1 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 MP2300S to independently control multiple machines using group operation Group operation can be single group operation or multiple group operation Definitions for axes to be grou...

Страница 140: ...oup Set it to 1 for the operation as one group Set it to the number of groups for the operation with multiple groups Group Name Define a group name Control Axis No Set the number of axes controlled in the group Circuit Set a line number for the used motion module The line number can be checked in the module configuration definition Line number ...

Страница 141: ...ber for the used axis The axis number can be checked in the detailed screen of the used motion module Logical Axis Name Define a name for the specified axis number The name defined here is used when programming a motion program Axis number Double click MVS A1 1000 B1 2000 C1 3000 F1000 Logical axis name ...

Страница 142: ...ECUTOR program execution definition a motion program does not start up To start up the motion program after the motion program reg istration use a control signal to turn ON the request for the program operation startup The motion program registered in M EXECUTOR is executed at a scan cycle but similar to a ladder the whole pro gram cannot be executed at a single scan In case of the motion program ...

Страница 143: ...cle 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 Caution When running a motion program pay attention to the followings The motion program registered in M EXECUTOR cannot be executed using a MSEE command Multiple motion programs with the same number cannot be e...

Страница 144: ...program to call using a program number MPM A motion program registered in the M EXECUTOR program execution definition Select Direct for the Setting and set a program number MPM Fig 5 1 Calling a Motion Program Using a Direct Designation 1 A motion program referenced by a MSEE command from a ladder program Set a program number to Program No in the MSEE command Fig 5 2 Calling a Motion Program Using...

Страница 145: ...signation is automatically mapped Fig 5 3 Calling a Motion Program Using an Indirect Designation 1 A motion program referenced by a MSEE command from a ladder program Specify any register M or D register used for an indirect designation for Program No in the MSEE command Fig 5 4 Calling a Motion Program Using an Indirect Designation 2 Motion program 0 3 Setter ABS IOW MB0001 MOV X _ Y _ MOV X _ Y ...

Страница 146: ...XECUTOR control register constitution is as follows A motion program executed by a MSEE command from a ladder program Use a MSEE command of a ladder program to designate the work register M or D register The work register constitution is as follows For more information on the work register refer to the subsequent pages Status flag of a motion program Control Signal of a motion program Override for...

Страница 147: ... error details of the motion program are stored in the error information screen and S registers Bit No Status 0 Program running 1 Program paused 2 Program stopped by stop request used by system 3 Reserved 4 Single program block operation stopped 5 Reserved 6 Reserved 7 Reserved 8 Program alarm 9 Stopped by brake point A Reserved B In debug mode EWS debugging operation C Program type 0 Motion progr...

Страница 148: ...rk is reported to the status 2 Override setting for interpolation OFF 100 fixed at an override for interpolation ON Depends on the designated override for interpolation Use signals conforming to the above signal types when writing ladder programs Note Motion programs are executed if the program operation start request signal is ON when the power is turned ON Bit No Signal Name Signal Type 0 Progra...

Страница 149: ...ands setting unit 1 0 01 is set This interpolation override is enabled only when the motion program control signal bit E interpolation override set ting is ON Control signal Operation start request Status Operating Distribution One scan Program Operation Start Request Control signal Operation start request Status Operating Distribution Control signal Pause request Status Paused Pause Request One s...

Страница 150: ... ladder The number configured in the number of program definitions of the M EXECUTOR detailed screen is set for the system work for M EXECUTOR 1 A work not occupied by M EXECUTOR can execute a motion program using a MSEE command from a ladder program 2 When the number of a system work occupied by M EXECUTOR is specified by a ladder program an alarm Error without a system work occurs Therefore when...

Страница 151: ...m a ladder program The way to operate it in each case is shown as follows a A motion program registered in the M EXECUTOR program execution definition When a motion program is registered in M EXECUTOR program execution definition select one from the following two execution processings A way to immediately control a motion program from external equipment A way to control a motion program via a sequ...

Страница 152: ...ogram becomes unexecutable When an allocation contact interlock is switched from ON to OFF while running a motion program the running motion pro gram stops and an axis in operation also stops Now the motion program falls into the alarm 1Bh Executing an emergency stop command state and the status Bit8 Program alarm is occurring is turned ON Again to execute a motion program follow the procedure bel...

Страница 153: ...ion program is shown as follows 1 Example using a sequence program Save the mapping register and the mapping interlock contact as a blank MPM001 END VEL a1 5000 b1 FMX T10000000 IAC T25 IDC T30 MOV a1 300 b1 MVS a1 200 b1 M EXECUTOR program execution definition DWG H Ladder for controlling a motion program Program for controlling a motion program DEND Ladder program External signal Operation start...

Страница 154: ...5 2 User Programs 5 2 2 Motion Programs 5 22 2 Example using a ladder program ...

Страница 155: ...1 Example using a sequence program Note An MSEE command cannot be incorporated into a sequence program Incorporate an MSEE command separately into a ladder H drawing OB80000 IB00000 axis 1 servo on MB00010 PON IB00001 DB000000 program start MB00011 IB00002 hold MB00012 IB00003 program stop MB00015 IB00004 alarm reset OB8000F IB00005 alarm reset for axis 1 IF NON MB00000 DB000001 1 motion program s...

Страница 156: ...5 2 User Programs 5 2 2 Motion Programs 5 24 2 Example using a ladder program ...

Страница 157: ...W03380 to SW03437 b A motion program referenced by an MSEE command from a ladder program When a motion program is referenced by an MSEE command from a ladder program the way differs depending on the BitD setting system work number setting of the motion program control signal as follows The motion program control signal BitD System Work Number Setting ON The execution information is reported to Pro...

Страница 158: ...am number Executing program bit Executing program number No of main program currently executing Executing Program Bit Executing when corresponding bit is ON Reserved by the system Reserved by the system Reserved by the system Reserved by the system Program information used by work 1 Program information used by work 2 Program information used by work 3 Program information used by work 4 Program inf...

Страница 159: ... information Executing program number Executing block number Error code Logical axis 1 program current position Logical axis 2 program current position Logical axis 3 program current position Logical axis 4 program current position Logical axis 5 program current position Logical axis 6 program current position Logical axis 7 program current position Logical axis 8 program current position Logical ...

Страница 160: ... The following figure shows an execution example When the execution type is set to Sequence Program H scan or Sequence Program L scan the program is executed at the time the definition is saved When the execution type is set to Sequence Program Start the program is executed when the power supply is turned ON again next time Category Designation Method Features Number of Programs Main program SPM 1...

Страница 161: ... Program You can only designate a sequence program directly Indirect designation is unavailable Use the program number SPM when designating a sequence program to execute Fig 5 5 Calling a Sequence Program SPM001 Sequence program M EXECUTOR program execution definition IF MW000 32767 MW000 MW000 1 ELSE MW000 IEND ...

Страница 162: ...rm When referencing a sub sequence program SSEE command execution and an error is detected Bit8 Program alarm is occur ring is turned ON If the error is cleared it is turned OFF Error details are as follows Work Register Content Status Status flag of a sequence program Bit No Status 0 Program running 1 Reserved 2 Reserved 3 Reserved 4 Reserved 5 Reserved 6 Reserved 7 Reserved 8 Program alarm is oc...

Страница 163: ...ror occurs Functions Functions are accessed and executed from parent child and grandchild drawings using the FSTART command a 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 The following table provides details of the number of ...

Страница 164: ...peed 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 Operation error Power ON DWG A initial processing drawing Each high speed scan Each low speed scan Input all Input all Output all Output all DWG X00 Operation error processing drawing DWG I Interrupt processing drawing Conti...

Страница 165: ...gs 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 DWG X DWG X01 DWG Xnn DWG X01 01 DWG X01 02 FUNC 001 FUNC 006 FUNC 032 FUNC 064 DWG X01 03 Parent Drawings Ch...

Страница 166: ...ld drawings by programming a DWG reference command SEE command in the parent and child drawings 2 Functions can be referenced from any drawing Functions can also be referenced from other functions 3 When an operation error occurs the operation error processing drawing for that drawing will be started SEE A01 01 DWG A01 SEE A01 DWG A DWG A01 01 DEND FUNC 001 DWG A01 02 DEND FUNC 001 FUNC 001 DWG A0...

Страница 167: ...eely by users The maximum number of user functions that can be defined is 500 drawings Refer to the following manual for information on defining functions Machine Controller MP900 MP2000 Series User s Manual Ladder Programming manual number SIEZ C887 1 2 Machine Controller MP900 MP2000 Series User s Manual Motion Programming manual number SIEZ C887 1 3 Machine Controller MP900 MP2000 Series New La...

Страница 168: ...is turned OFF to ON data saved to flash memory is read and data not saved to flash memory is lost 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 Type Name Specification Method Range Details Characteristics S System registers SB SW SL SFnnnnn SAnnnnn SW00000 to SW08191 Registers provided by the...

Страница 169: ...nternal function registers ZB ZW ZL ZFnnnnn ZW0000 to ZW00063 Internal registers unique to each function Can be used for function internal process ing A External function registers AB AW AL AFhhhh AW0000 to AW32767 External registers with the address input value as the base address For linking with S M I O and DAnnnnn registers B W L Fnnnnn Annnnn W00000 to W16383 Call only registers Can be called...

Страница 170: ...nnn 1 FUNC 000 function Program 1000 steps max Function individual registers DWG H drawing Program 1000 steps max DWG registers Constant data 16384 words max Individual data 16384 words max System registers Common DWG registers Data registers Input registers Output registers Constants registers Function external registers 1 Registers that are common to all drawings can be called from any drawing o...

Страница 171: ...he values in paren theses 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 0 1 2 3 4 5 6 7 8 9 A B C D E F MW00101 MW00102 MW00103 MW00100 MB001006 MF00102 ML00102 MF00100 ML00100 MB00103A Data Types and Register Specifications A digit to indicate the bit A is added to the register n...

Страница 172: ... is a register number added with i or j value For example MW00010i for i 3 is the same as MW00013 Also MW00001j for j 30 is the same as MW00031 The result is a register number with an added i or j value For example ML00000j for j 1 is the same as ML00001 Also MF00000j for j 1 is the same as MF00001 However as a word indicated by a regis ter number is the lower word for a long integer real type for...

Страница 173: ...or j is added after the register number Symbol Designation Bit register RESET1 A X Integer register STIME H X Double length integer registers POS REF X Real number registers IN DEF X Address registers PID DATA X 8 alphanumeric characters max X When specifying subscripts a period is added after the symbol 8 alphanu meric characters max and then a subscript i or j is added T V Direct Designation Reg...

Страница 174: ...n Information Updated with Self Configuration for items that are automatically generated Detect the option module information Execute Self Configuration Allocate I and O registers Automatically write into 218IFA Automatically write into MECHATROLINK Transmission Definition MECHATROLINK Τ IO2310 SGDS M SGDH M NS115 Detect the slave equipment information Detect the motion parameter information SERVO...

Страница 175: ... are created Before performing the operation turn ON the power supply of equipment such as SERVOPACK Caution Note that this operation can clear the following data in MP2300S All definition files all user programs and all registers 1 Turn OFF the power supply Turn OFF the 24 VDC power supply to the MP2300S ޓ 2 Set the DIP switch Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300S Ba...

Страница 176: ...ON and the power is turned ON Flash memory data is read and overwritten when the INIT switch is OFF and the power is turned ON Therefore to protect RAM data always save data to the MP2300S flash memory before turning OFF the power when writing or editing programs Turning OFF Power After Executing Self configuration Do not turn OFF the 24 VDC power supply to the MP2300S after executing self configu...

Страница 177: ... not updated This section explains each way to execute the self configuration a Self configuration for All the Modules By performing the following operation the self configuration for MP2300S basic and option modules is executed Before performing the operation turn ON the power supply of equipment such as SERVOPACK 1 Double click System Module Configuration The Engineering Manager Window will open...

Страница 178: ...ing message is shown after performing step 4 the module configuration definitions for CPU and MPE720 may differ from each other Continue to perform step 6 When the message is not shown go to step 9 6 Select Online O Read from Controller A 7 Click Individual and only check Module Configuration ...

Страница 179: ...utline of Motion Control Systems 8 Click Start to read the module configuration definition from a controller 9 Click the Save FLASH Save Button to flash save the definition information 10 Check that the definition is successfully created in the Module Configuration Window ...

Страница 180: ...on self configuration will be executed for the selected slot Before performing the operation turn ON the power supply of devices such as SERVOPACK 1 Double click System Module 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 exe...

Страница 181: ...ng the self configuration the following message is shown 5 If the following warning message is shown after performing step 4 the module configuration definitions for CPU and MPE720 may differ from each other Continue to perform step 6 When the message is not shown go to step 9 6 Select Online O Read from Controller A ...

Страница 182: ...dual and only check Module Configuration 8 Click Start to read the module configuration definition from a controller 9 Click the Save FLASH Save Button to flash save the definition information 10 In the Module Configuration Definition Window check that the definition has been created ...

Страница 183: ...er IW0000 OW0000 End I O register IW07FF OW07FF Input register IW0000 to IW07FF Output register OW0000 to OW07FF SVB MECHATROLINK Start I O register IW0800 OW0800 End I O register IW0BFF OW0BFF Input register IW0800 to IW0BFF Output register OW0800 to OW0BFF Motion Parameter Start motion register IW8000 OW8000 End motion register IW87FF OW87FF Input register IW8000 to IW87FF Output register OW8000...

Страница 184: ...ave before executing the self configuration the parameter setting for MECHATROLINK transmission definition must be set to Slave in MPE720 Item MECHATROLINK II 32 byte mode MECHATROLINK II 17 byte mode MECHATROLINK I Maximum Slave Station Number 1 to 8 9 10 to 16 17 to 21 1 to 14 15 Number of Transmit Bytes 31 bytes 16 bytes Communication Cycle 1ms 1ms 2ms 2ms 1ms 1ms 2ms Number of Retry Stations 1...

Страница 185: ...on Command 0 No command OW 09 Motion Command Control Flag 0000h OW 0A Motion Subcommand 0 No command OL 0C Torque Thrust Reference Setting 0 00 OL 10 Speed Reference Setting 3000 10 n reference unit min OL 16 Secondly Speed Compensation 0 00 OL 1C Position Reference Setting 0 reference unit OW 31 Speed Compensation 0 00 OL 36 Straight Line Acceleration Acceleration Time Constant 0 ms OL 38 Straigh...

Страница 186: ...ecautions when User Definition File is Configured Changed System settings scan time settings and module configuration definitions must be saved in flash memory flash save When a system setting scan time setting or module configuration definition is configured changed be sure to use MPE720 to flash save it Note that when the MP2300S power supply is turn ON again without flash saving the config ured...

Страница 187: ...g 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 MP2300S OFF and ON ...

Страница 188: ...mes the maximum times required to execute the scans Note If 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 execu tion time exceeds the scan time set value a watchdog timer timeout error will occur and the MP2300S system will stop Set the set values of the h...

Страница 189: ...igh 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 I or MECHA TROLINK II 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 highe...

Страница 190: ...MEMO ...

Страница 191: ... ladder program which uses a MSG RCV function 6 17 6 2 3 When MP2300S Acts as Master I O message communication function is used 6 36 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 6 49 6 3 Communication with Touch Panel 6 65 6 3 1 When MP2300S Acts as Slave 6 65 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 75 6 4 1 W...

Страница 192: ...The MP2300S master side uses an I O message communication function You do not need to create a ladder program The remote equipment slave side creates a ladder program using a MSG RCV function Refer to 6 2 4 When the MP2300S Acts as Master ladder pro gram which uses MSG SND function Registers other than the holding register are capable of reading writing Communication with multiple slaves is enable...

Страница 193: ...ge communication func tion and a ladder program with the MSG SND function 6 2 1 When the MP2300S Acts as Slave automatic receive function is used This section explains how to communicate with the MP2300 message transmit function MSG SND using the MP2300S automatic receive function Fig 6 1 Message Flow with MP2300 when Automatic Receive Function Is Used Ethernet Slave Master Communication Protocol ...

Страница 194: ... 572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST ޓ RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O 218IF 01 ERR COL RX RUN STRX TX INIT TEST ON OFF PORT 10Base T MW00000 MP2300S MP2300 Ethernet MW00001 MW00099 MW00000 MW00001 MW00099 MW00098 MW00098 Port number 10001 Port number 10001 IP address 192 168 001 001 IP address 192 168 001 002 Holding regist...

Страница 195: ...8IFA Tab in the Module Details Window of the module configuration definition 2 Set transmission parameters How to set up transmission parameters Set IP Address to 192 168 001 001 for example Set Subnet Mask to 255 255 255 000 for example Set Gateway IP Address to 000 000 000 000 for example Caution Set up a unique IP address in the network For the IP address check with your network administrator 3...

Страница 196: ...pe and click Default Button Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MP2300 to be connected to 192 168 001 002 for exam ple Set Port No of the other device MP2300 to be connected to 10001 X for example Click OK Button Caution When message functions MSG SND MSG RCV are used with the connection number 01 disable the automatic recei...

Страница 197: ...ion dialog of the parameter setting Caution Note that when a parameter with the same connection number is already set and you click Yes in the confirmation dialog of the parameter setting the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window 6 Check the setting value and click the Detail Button of the Automatically ...

Страница 198: ... more information on Slave Side I F Register Settings and Automatic input precessing delay time refer to 2 2 4 4 b Automatic Receive Setting Screen for Message Communication on page 2 22 Now the automatic receive function is set up when the MP2300S acts as a slave Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power ...

Страница 199: ...ed If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IF Tab in the Module Details of the module configuration definition 2 Set transmission parameters How to set up transmission parameters Set IP Address 192 168 001 001 for example Click Edit and then click Local Station TCP IP Setting in the Engineering Manager Window ...

Страница 200: ... up with a connection number 01 in the connection parameter setting screen Set Local Port to the port number used in the MP2300 side 10001 for example Set Node IP Address to the IP address configured in the MP2300S side Set Node Port to the port number configured in the MP2300S side 10001 for example Select Connect Type TCP for example Select Extended MEMOBUS for Protocol Type Select Code BIN for ...

Страница 201: ...as follows Message transmit function MSG SND Required for transmitting messages Message transmission is carried out by describing and executing this mes sage transmit function in a ladder program Fig 6 2 MPE720 Module Configuration Definition Window Execute Abort Dev Typ Pro Typ Cir No Ch No Param MSG SND Busy Complete Error Communication device Ethernet 218IF Protocol type Line number 1 Communica...

Страница 202: ...pecify the type of the communication device used in transmission When Ethernet 218IF is used specify 6 4 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 3 5 Cir No 00001 Circuit number Specify the circuit number of the communication device Specify it in accordance with the circuit number displayed in the MPE720 m...

Страница 203: ...t DW00001 PARAM01 OUT Status DW00002 00001 PARAM02 IN Connection number 1 DW00003 PARAM03 IN Option Setting unnecessary DW00004 000BH PARAM04 IN Function code 0BH Writes to holding register DW00005 00000 PARAM05 IN Data address 0 Starting from MW00000 DW00006 00100 PARAM06 IN Data size 100 100 words DW00007 00001 PARAM07 IN Remote CPU number 1 DW00008 00000 PARAM08 IN Coil offset 0 word DW00009 00...

Страница 204: ... MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 6 14 Example of Using the Message Transmit Function in a Ladder Program Here is one example of the message transmit function through Ethernet 218IF ...

Страница 205: ...6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 6 15 6 Ethernet Communications ...

Страница 206: ...MP2300 side to transmit messages Messages are transmitted by turning ON the register DB000200 for example configured in Execute of the message transmit function starting communication with the MP2300S The sample ladder program is created to transmit a message every one second when five seconds have elapsed after the low speed scan or high speed scan startup To change the message transmission inter...

Страница 207: ...plains how to communicate with an MP2300 message transmit function MSG SND using the MP2300S message receive function MSG RCV Fig 6 3 Message Flow with MP2300 when Message Receive Function MSG RCV Is Used MP2300S MP VJGTPGV 0 00 23 S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST RDY ALM TX RUN ERR BAT MON CNFG INT SUP S...

Страница 208: ...0 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST ޓ RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O 218IF 01 ERR COL RX RUN STRX TX INIT TEST ON OFF PORT 10Base T MW00100 MW00101 MW00199 MW00100 MW00101 MW00199 MW00198 MW00198 Slave Master MP2300S Local station Remote station MP2300 IP address 192 168 001 001 IP address 192 168 001 002 TCP BIN ...

Страница 209: ...mask is already completed start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition 2 Set transmission parameters J How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example Caution Set up a unique IP address in the network For the...

Страница 210: ...ow How to set up in the Message Communication Easy Setting Window When automatic receive is used select 2 for the Connect No Set Port No of the MP2300S side 10002 for example Select Extended MEMOBUS for Communication Protocol Type and click the Default Button Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MP2300 to be connected to 192 ...

Страница 211: ...erly Note By default the automatic receive function with a connection number 01 is set to Enable 5 Click Yes in the parameter setting confirmation dialog Caution Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma tion dialog the setting will be overwritten by the parameter configured in the Message Communication Easy Settin...

Страница 212: ...s follows Message receive function MSG RCV Required for receiving messages A message reception is carried out by inputting and executing this message receive function in a ladder program Fig 6 4 MPE720 Module Configuration Definition Window MSG RCV Communication device Protocol type Circuit number 1 Communication buffer channel number Parameter list start address DA00000 Execute Abort Dev Typ Pro ...

Страница 213: ...cation device type Specify the type of the communication device used in reception When Ethernet 218IF is used specify 16 4 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 3 5 Cir No 00001 Circuit number Specify a circuit number of the communication device Specify it in accordance with the circuit number displayed...

Страница 214: ...00 OUT Process result DW00001 PARAM01 OUT Status DW00002 00002 PARAM02 IN Connection number 2 DW00003 PARAM03 OUT Option DW00004 PARAM04 OUT Function code DW00005 PARAM05 OUT Data address DW00006 PARAM06 OUT Data size DW00007 PARAM07 OUT Remote CPU number DW00008 00000 PARAM08 IN Coil offset 0 word DW00009 00000 PARAM09 IN Input relay offset 0 word DW00010 00000 PARAM10 IN Input register offset 0 ...

Страница 215: ...hen the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 25 6 Ethernet Communications Example of Using the Message Receive Function in a Ladder Program Here is an example of the message receive function through Ethernet 218IFA ...

Страница 216: ... with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 26 The communication setting and the ladder program creation are now finished when the MP2300S acts as a slave ...

Страница 217: ...es a MSG RCV function 6 27 6 Ethernet Communications 2 How to Set up the Remote Device MP2300 to Be Connected If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IF Tab in the Module Details of the module configuration definition ...

Страница 218: ... set up transmission parameters Set IP Address 192 168 001 001 for example Click Edit and then click Local Station TCP IP Setting in the Engineering Manager Window Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example Caution Set up a unique IP address in the network For the IP address check with your network administrator ...

Страница 219: ...er 10002 used in the MP2300 side for example Set the Node IP Address to the IP address 192 168 001 001 configured in the MP2300S side for exam ple Set the Node Port to the port number 10002 configured in the MP2300S side for example Select Connect Type TCP for example Select Extended MEMOBUS for Protocol Type Select Code BIN for example Caution When any transmission or connection parameter is chan...

Страница 220: ... Message transmit function MSG SND Required for transmitting messages Message transmission is carried out by describing and executing this mes sage transmit function in a ladder program Fig 6 5 MPE720 Module Configuration Definition Screen MSG SND Communication device Ethernet 218IF Protocol type Circuit number 1 Communication buffer channel number Parameter list start address DA00000 Execute Abor...

Страница 221: ... Typ 00006 Communication device type Specify the type of the communication device used in transmission When Ethernet 218IF is used specify 6 4 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 3 5 Cir No 00001 Circuit number Specify a circuit number of the communication device Specify it in accordance with the circ...

Страница 222: ... PARAM01 OUT Status DW00002 00002 PARAM02 IN Connection number 2 DW00003 PARAM03 IN Option Setting unnecessary DW00004 0009H PARAM04 IN Function code 09H Reads a holding register DW00005 00100 PARAM05 IN Data address 100 Starting from MW00100 DW00006 00100 PARAM06 IN Data size 100 100 words DW00007 00001 PARAM07 IN Remote CPU number 1 DW00008 00000 PARAM08 IN Coil offset 0 word DW00009 00000 PARAM...

Страница 223: ...en the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 33 6 Ethernet Communications Example of Using the Message Transmit Function in a Ladder Program Here is one example of the message transmit function through Ethernet 218IF ...

Страница 224: ...6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 34 ...

Страница 225: ...efault 2 Turn Execute ON for the message transmit function in the MP2300 side to transmit messages Messages are transmitted by turning on the register DB000200 configured in Execute of the message transmit function for example starting communication with MP2300S The sample ladder program is created to transmit a message every one second when five seconds have elapsed after the low speed scan or hi...

Страница 226: ...communication with MP series When you communicate with multiple remote devices or when you need to read a coil state or input relay or change a coil state as well as read write a holding register use the message transmit function MSG SND MP2300 MP2300S MP VJGTPGV 0 00 23 S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST R...

Страница 227: ... 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST ޓ ޓ ޓ RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O 218IF 01 ERR COL RX RUN STRX TX INIT TEST ON OFF PORT 10Base T IW0000 MP2300S MP2300 IW0063 OW00C7 MW00200 MW00299 MW00399 OW0064 MW00300 Slave Master MP2300S Local station Remote station MP2300 I...

Страница 228: ... the 218IFA Tab in the Module Details of the module configuration definition 2 Set transmission parameters How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example Caution Set up a unique IP address in the network For the IP address check with your network administrator 3 Click En...

Страница 229: ...and click the Default Button Caution When the communication protocol is Extended MEMOBUS the register type that can select both read and write is fixed at the Holding Register MW Select Connect Type TCP for example Select Code BIN for example Set Remote IP Address for the other device MP2300 to be connected 192 168 001 002 for example Set Port No of the other device MP2300 to be connected 10005 10...

Страница 230: ...essage is not necessarily transmitted to the remote equipment at each set data update time Set the register type and start address Read Reg of the remote device MP2300 read by the MP2300S MW00200 for example Set the register type and start address Write Reg of the remote device MP2300 written by the MP2300S MW00300 for example Click OK 5 Click Yes in the parameter setting confirmation window Cauti...

Страница 231: ...d 6 41 6 Ethernet Communications 2 How to Set up the Remote Device MP2300 to Be Connected When the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IF Tab in the Module Details of the module configuration definition 2 Set transmission parameters ...

Страница 232: ... your network administrator 3 Set connection parameters How to set up in the CP 218 Connection Parameter Window with connection numbers 05 06 Set Local Port the port number 10005 10006 used in the MP2300 side for example Set Node IP Address the IP address 192 168 001 001 configured in the MP2300S side for example Set Node Port the port number 10005 10006 configured in the MP2300S side for example ...

Страница 233: ...In addition in order to support Read and Write by MP2300S two message receive functions should be provided Here the input item and parameters Communication buffer channel number and Connection number of the message receive function need to accord with the MP2300S side settings Note Similarly a message receive function with the communication buffer channel number 6 is required Fig 6 7 MPE720 Module...

Страница 234: ...ype Specify the type of the communication device used in reception When Ethernet 218IF is used specify 6 4 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 3 5 Cir No 00001 Circuit number Specify a circuit number of the communication device Specify it in accordance with the circuit number displayed in the MPE720 m...

Страница 235: ...00 PARAM11 IN Holding register offset 0 word DW00012 00000 PARAM12 IN Writable address lower limit MW00000 DW00013 65534 PARAM13 IN Writable address upper limit MW65534 DW00014 PARAM14 SYS Reserved by the system Zero clear at startup DW00015 PARAM15 SYS Reserved by the system DW00016 PARAM16 SYS Reserved by the system Table 6 11 Parameter List Setting Example 2 parameter list start address Param D...

Страница 236: ...r Program Here is one example of using the message receive function through Ethernet 218IF In addition this ladder pro gram is for receiving read operation A ladder program for receiving write operations is required separately X 01 MSG RCV X 02 MSG RCV Remote device MP2300 I O Message Communication Read MP2300S Write For receiving read operations For receiving write operations ...

Страница 237: ...3 When MP2300S Acts as Master I O message communication function is used 6 47 6 Ethernet Communications 書き込み受信用には DW00002 6 を設定してください書き込み受信用には Ch No 6 を設定してください Set Ch No 6 to receive write operations Set DW00002 6 to receive write operations ...

Страница 238: ...300 acts as a slave 3 How to Start Communication 1 The MP2300 side starts to receive the messages As the sample ladder program starts the message receive operation just after the system startup you are not required to do anything In normal operation accept the default 2 The MP2300S side transmits messages When an I O message communication function is used message transmit operation status automati...

Страница 239: ... from each other This section explains how to communicate with the MP2300 message receive function MSG RCV using the MP2300S message transmit function MSG SND Fig 6 8 Message Flow with MP2300 when Message Transmit Function MSG SND Is Used MP VJGTPGV 0 00 23 S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST ޓ ޓ ޓ RDY ALM T...

Страница 240: ... 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST ޓ ޓ ޓ RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O 218IF 01 ERR COL RX RUN STRX TX INIT TEST ON OFF PORT 10Base T MW00400 MP2300S MP2300 MW00401 MW00499 MW00400 MW00401 MW00499 MW00498 MW00498 Slave Master MP2300S Local station Remote station MP2300 IP address 192 168 001 001 IP address 192 168 0...

Страница 241: ...e click the 218IFA Tab in the Module Details of the module configuration definition 2 Set transmission parameters How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example Caution Set up a unique IP address in the network For the IP address check with your network administrator 3 C...

Страница 242: ...ocol Type and click the Default Button Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MP2300 to be connected 192 168 001 002 for example Set Port No of the other device MP2300S to be connected 10003 for example Click OK Caution When message functions MSG SND MSG RCV are used with the connection number 01 disable the automatic receive f...

Страница 243: ...hat when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma tion dialog the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window 6 Check the setting values Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the pow...

Страница 244: ...ollows Message transmit function MSG SND Required for transmitting messages A message transmission is carried out by describing and executing this mes sage transmit function in a ladder program Fig 6 9 MPE720 Module Configuration Definition Window MSG SND Communication device Protocol type Circuit number 1 Communication buffer channel number Parameter list start address DA00000 Execute Abort Dev T...

Страница 245: ...Typ 00016 Communication device type Specify the type of the communication device used in transmission When Ethernet 218IF is used specify 16 4 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 3 5 Cir No 00001 Circuit number Specify a circuit number of the communication device Specify it in accordance with the circ...

Страница 246: ...001 PARAM01 OUT Status DW00002 00003 PARAM02 IN Connection number 3 DW00003 PARAM03 IN Option Setting unnecessary DW00004 0009H PARAM04 IN Function code 09H Reads a holding register DW00005 00400 PARAM05 IN Data address 400 Starting from MW00400 DW00006 00100 PARAM06 IN Data size 100 100 words DW00007 00001 PARAM07 IN Remote CPU number 1 DW00008 00000 PARAM08 IN Coil offset 0 word DW00009 00000 PA...

Страница 247: ... the MP2300S Acts as Master ladder program which uses MSG SND function 6 57 6 Ethernet Communications Example of Using the Message Transmit Function in a Ladder Program Here is one example of using the message transmit function through Ethernet 218IFA ...

Страница 248: ...6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 6 58 ...

Страница 249: ...r MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 6 59 6 Ethernet Communications The communication setting and the ladder program creation are now finished when MP2300S acts as a master ...

Страница 250: ...MSG SND function 6 60 2 How to Set up the Remote Equipment MP2300 to Be Connected If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IF Tab in the Module Details of the module configuration definition 2 Set transmission parameters ...

Страница 251: ...ss check with your network administrator 3 Set connection parameters Procedure to set up in the CP 218 Connection Parameter Window for example with a connection number 03 Set Local Port the port number 10003 used in the MP2300 side for example Set Node IP Address the IP address 192 168 001 001 configured in the MP2300S side for example Set Node Port the port number 10003 configured in the MP2300S ...

Страница 252: ... in order to support Read and Write by MP2300S two message receive functions should be provided Here the input item and parameters communication buffer channel number and connection number of the mes sage receive function need to accord with the MP2300S side settings Note Similarly a message receive function with the communication buffer channel number 6 is required Fig 6 10 MPE720 Module Configur...

Страница 253: ...ication device type Specify the type of the communication device used in reception When Ethernet 218IF is used specify 6 4 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 3 5 Cir No 00001 Circuit number Specify a circuit number of the communication device Specify it in accordance with the circuit number displayed...

Страница 254: ...tion in the MP2300S side to transmit messages The sample ladder program is created to transmit a message every one second when five seconds elapsed after the low speed scan or high speed scan startup The way to change the message transmission interval is similar to that in 3 How to Start Communications of 6 2 1 When the MP2300S Acts as Slave automatic receive function is used Table 6 15 Parameter ...

Страница 255: ...ion with the touch panel is carried out using the automatic receive function but it can also use the message receive function MSG RCV For information on how to set up when the message receive function MSG RCV is used refer to 2 How to Set up the Remote Device MP2300 to Be Connected of 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV func tion MP2300S Touch Panel GP3000 se...

Страница 256: ...ddress 192 168 001 001 MP VJGTPGV 0 00 23 S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 MW00100 GMW00100 Slave Master MP2300S Local station Remote station Touch Panel IP address 192 168 001 002 TCP BIN Communication Protocol Type Connection Type Data Code Type Extended MEMOBUS protocol Ethernet Port number 10001 Port number 10001 MP2300S Touch panel...

Страница 257: ...tion 2 Set transmission parameters How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example Caution Set up a unique IP address in the network For the IP address check with your network administrator 3 Click the Easy Setting Button in the Message Communication area of the connectio...

Страница 258: ...ult Button Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MP2300 to be connected 192 168 001 002 for example Set Port No of the other device MP2300 to be connected 10001 for example Click OK Caution When message functions MSG SND MSG RCV are used with the connection number 01 disable the automatic receive func tion If message functions...

Страница 259: ...6 Check the setting value and click the Detail Button in the Automatically column 7 Check Enable in the Automatically Reception Setting Window and then click the OK Button Note For more information on Slave Side I F Register Setting and Automatic Receive Process Delay Time refer to 2 2 4 4 b Automatic Receive Setting Screen for Message Communication on page 2 22 The automatic receive function for ...

Страница 260: ...in accordance with the model in use Here we explain the setting when AGP 3600T is used 4 Set up connected equipment 5 Set up the way to connect 6 Select the Connected Equipment Setting from the System Tab to display the connected equipment setting screen 7 Set the communication setting For more information on the port number refer to the following Table 6 16 Indicator Type Setting example Series G...

Страница 261: ...es port number will be assigned in each case When you use Automatic Assignment set Unpassive open mode in the 218IFA screen of MPE720 For more information about Unpassive open mode refer to 2 2 4 b 218IFA Module Detailed Window on page 2 16 For information on the relationship between GP Pro EX and MPE720 settings see the table below Note connectable unconnectable How to set up Unpassive open mode ...

Страница 262: ... same manner as the 218IFA screen of the MP2300S 218IFA screen reference The setting is finished for now Create a screen and transfer the project to an indicator as required Caution Set up a unique IP address in the network The MP2300S side IP address is set to 192 168 1 1 in self configuration For the IP address check with your network administrator Note Set the GP3000 series IP address in the of...

Страница 263: ...on the screen 4 Set as follows in the detailed setting screen of Data Indicator and click OK Relationship between GP Pro EX address display and MP2300S register Table 6 21 Data Indicator Detailed Setting Display Data Numeric display Monitor Word Address GMW00100 Device GP Pro EX Address Display MP2300S Register Coil bit GMB MB Coil word GMW MW Input Relay bit GIB IB Input Relay word GIW IW GP Pro ...

Страница 264: ...ages When the automatic receive function is used the message receive operation starts automatically and you are not required to do anything 2 Start up the touch panel GP3000 series to display the main screen After the system startup of the touch panel communication with MP2300S will start Note Contact Digital Electronics Corp for more information ...

Страница 265: ...ation using the automatic receive function For using the MP2300S as a master we explain communication using the I O message communication function 6 4 1 When the MP2300S Acts as Slave automatic receive function is used This section explains how to carry out a fixed buffer communication with the BUFSND command with procedure of the MELSEC Q series using the MP2300S automatic receive function Fig 6 ...

Страница 266: ...with multiple remote devices Setting Example The following figure illustrates one example of writing the contents of the data register D00201 to D00300 of MELSEC Q series master into the MP2300S slave holding register MW00000 to MW00099 The particular setup procedure is explained in the subsequent pages MP VJGTPGV 0 00 23 S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M ...

Страница 267: ...rs IP address subnet mask is already completed start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition 2 Set transmission parameters How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example Caution Set up a unique IP address in ...

Страница 268: ...cation Easy Setting Window How to set up in the Message Communication Easy Setting Window When automatic receive is used select 1 for the Connect No Set Port No of MP2300S side 10001 for example Select MELSEC for Communication Protocol Type and click the Default Button Select Connect Type TCP for example Select Code BIN for example Set Node port IP Address for the other device MELSEC Q series to b...

Страница 269: ...tic receive function is enabled the communications will not function prop erly Note By default the automatic receive function with a connection number 01 is set to Enable 5 Click Yes in the parameter setting confirmation dialog box Caution Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma tion dialog the setting will be ov...

Страница 270: ...k the OK Button Note For more information on Slave Side I F Register Setting and Automatic Receive Process Delay Time refer to 2 2 4 4 b Automatic Receive Setting Screen for Message Communication on page 2 22 The automatic receive function is now set up when MP2300S acts as a slave Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been sa...

Страница 271: ...ation 5 Set the open setting Table 6 22 Network Parameter Setting example Setting Item Setting Details Network Type Ethernet Start I O No Any Network No Any Group No Any Exchange Number Any Mode Online Table 6 23 Ethernet Operation Setting example Setting Item Setting Details Communication Data Code Setting Binary code communication Initial Timing Setting Any IP Address 192 168 1 2 Transmit Frame ...

Страница 272: ...and to write the register content configured by parameters below to the MP2300S holding register M register Setting example When the BUFSND command is used to set the device start number for storing the transmit data to D00200 D00200 transmit data length 100W D00201 to D00300 transmit data Written into MW00000 to MW00099 If necessary use a CLOSE command to close the operation Note Contact Mitsubis...

Страница 273: ...ation when Communication Protocol Type MELSEC is used in the communication with the MELSEC series Bit device register X Y read only M B Word device register D W R Note A bit device register reads or writes on a per word 16 bit basis When communicating with multiple remote devices To carry out a fixed buffer random access buffer communication when reading writing registers other than those mentione...

Страница 274: ...slave A particular setup procedure is explained in the subsequent pages MP VJGTPGV 0 00 23 S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 IW0000 IW0063 OW00C7 D00000 D00099 D00199 OW0064 D00100 MELSEC Q series Remote station MP2300S Local station MELSEC Q series Remote station MP2300S Local station Slave Master IP address 192 168 001 001 IP address 1...

Страница 275: ...ompleted start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition 2 Set transmission parameters How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example Caution Set up a unique IP address in the network For the IP address check w...

Страница 276: ... I O message communication function is used 6 86 4 Set up a communication settings in the I O Message Communication Easy Setting Window How to set up in the I O Message Communication Easy Setting Window Set Port No of MP2300S side 10005 10006 for example Select MELSEC for Communication Protocol Type and click the Default Button ...

Страница 277: ...example Set a storage area Output Reg for data written by MP2300S OW0064 for example Set Write Size of data written by the MP2300S 100 W for example Set an I O data update timing Data update timing for the CPU and built in Ethernet Low scan for exam ple Data Update Timing Data update timing indicates when to give and receive data between the CPU and built in Ethernet Communication with the remote ...

Страница 278: ...pply is turned ON again 2 How to Set up the Remote Equipment MELSEC Q series to Be Connected This section explains the MELSEC Q series side procedure to set up for connecting the MP2300S with the MELSEC Q series Note MELSEC Q series are products manufactured by Mitsubishi Electric Corporation Contact Mitsubishi Electric Corporation for more information 1 Start up GX Developer 2 Create a new projec...

Страница 279: ... The MELSEC Q series starts to receive messages The message receive operation starts automatically so you are not required to do anything 2 The MP2300S side transmits messages When an I O message communication function is used the message transmit operation starts automatically so you are not required to do anything Table 6 26 Ethernet Operation Setting example Setting Item Setting Details Communi...

Страница 280: ...MEMO ...

Страница 281: ...nction 7 3 7 2 3 How to Set up Slave CPU Synchronous Function 7 4 7 2 4 How to Execute Slave CPU Synchronous Function 7 7 7 3 Operation 7 9 7 3 1 Input Output Register 7 9 7 3 2 How to Determine Slave CPU Synchronous State 7 15 7 3 3 Calculation of Slave CPU Synchronous Delay Time 7 16 7 3 4 How to Use Scan Counter 7 17 7 3 5 How to Determine Input Error 7 18 7 3 6 Management to Resume Slave CPU S...

Страница 282: ...U synchronous function of MECHATROLINK II Here there is a communication delay in MECHATROLINK II as shown above until a command from a master side application program is transmitted to a slave Since the delay time is constant you can use an application program to manage the timing between the master and slave Note that you don t need to control the timing between slave CPUs Caution A precaution is...

Страница 283: ...ble as a MECHATROLINK communication parameter H scan setting is either an integer multiple or an integer fraction of the MECHATROLINK communication cycle setting H scan setting is either an integer multiple or an integer fraction of the master side H scan setting Sets Resume Control of Slave Synchronization OFF as an output register assigned to MP2300S SVB 3 Setting Example Master side Slave side ...

Страница 284: ...Function The way to set up the slave CPU synchronous function is as follows 1 Master Side Setting The master side does not need to enable disable the slave CPU synchronous function Set the synchronous scan of MP2300S SVB to High as a MECHATROLINK link assignment Select SVB 01 even when assigning MP2300S SVB Set the synchronous scan to High ...

Страница 285: ...ve CPU Synchronous Function 7 5 7 Slave CPU Synchronous Function 2 Slave Side Setting 1 Select Slave synchronous function Enable as a MECHATROLINK communication parameter Double click to open a MECHATROLINK detailed definition Select Slave synchronous function Enable ...

Страница 286: ...7 2 Requirements and Setting of Execution 7 2 3 How to Set up Slave CPU Synchronous Function 7 6 2 Set the synchronous scan to High as a MECHATROLINK link assignment Set the synchronous scan to High ...

Страница 287: ... Usage when transforming from the asynchronous to synchronous state using the slave CPU synchronous function a slave side scan cycle high low speed may delay up to one scan cycle affecting the slave side application To avoid this impact the procedures of Turning on the Master Side Power First and Turning on the Slave Side Power First are suggested In general we recommend that you execute the simpl...

Страница 288: ...led in a slave side optional slot is moving the slave CPU synchronization can be executed by setting control bit SLVSC OFF For more information refer to 7 3 6 Management to Resume Slave CPU Synchronization Operate the master side Turn ON the master power Check the slave status Operate the slave side Turn ON the slave power Check the completion of slave startup Control bit SLVSC ON Check the comple...

Страница 289: ... Note that the use of this area is optional Slave Status Status of MECHATROLINK transmission unit of MP2300S The configuration is shown on the subsequent page Data Up to 6 words of data area for MECHATROLINK II 17Byte and up to 13 words of data area for MECHATROLINK II 32Byte are available Low High Low High Low High Low High Low High Low High 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 IW 0 IW 1 IW 2 IW 3 IW ...

Страница 290: ...nization is in pro cess 1 Transient state SYNCRDY 0 Preparation for slave syn chronization not completed This bit is turned ON when an execution requirement of the slave CPU synchronization is met It is turned OFF in the following conditions An execution requirement of the slave CPU synchronization has not been met A control bit SLVSC is turned ON by MP2300S side 1 Preparation for slave syn chroni...

Страница 291: ... MECHATROLINK transmission unit of a slave status MP2300S It is the same content as reported to the master Data Up to 6 words of data area for MECHATROLINK II 17Byte and up to 13 words of data area for MECHATROLINK II 32Byte are available Low High Low High Low High Low High Low High Low High 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 IW 0 IW 1 IW 2 IW 3 IW 4 IW 5 IW 6 IW 7 IW 14 OW 0 OW 1 OW 2 OW 3 OW 4 OW 5...

Страница 292: ...input output process is carried out without updat ing the scan counter value Control Bit Sets the behavior of the MECHATROLINK transmission unit of the control bit MP2300S The configuration is shown as follows Data Up to 6 words of data area for MECHATROLINK II 17Byte and up to 13 words of data area for MECHATROLINK II 32Byte are available bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Unused SLVSC bit15...

Страница 293: ...Low High 10h 11h IW 8 7 6 5 4 3 2 1 0 Scan counter Unused 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 IW 0 IW 1 IW 2 IW 3 IW 4 IW 5 IW 6 IW 7 Unused Slave status Scan counter Unused Data 1 OW 0 OW 1 OW 2 OW 3 OW 4 OW 5 OW 6 OW 7 Data 2 Data 3 ޓ Data 4 Data 5 Data 6 Low High Low High Low High Low High Low High Low High Data 7 Low High Data 1 Data 2 Data 3 ޓ Data 4 Data 5 Data 6 Low High Low High Low High Low H...

Страница 294: ... OW 4 OW 5 OW 6 OW 7 OW 14 Data 7 Low High Data 1 Data 2 Data 3 ޓ Data 4 Data 5 Data 6 Low High Low High Low High Low High Low High Low High Data 13 Low High Data 7 Low High Data 1 Data 2 Data 3 ޓ Data 4 Data 5 Data 6 Low High Low High Low High Low High Low High Low High Data 13 Low High Data 7 Low High Data 1 Data 2 Data 3 ޓ Data 4 Data 5 Data 6 Low High Low High Low High Low High Low High Low Hi...

Страница 295: ...CPU synchronous state 2 How to Check with a Slave Side Application Use bit7 SYNC of the second word Slave Status IW 1 of an input register assigned to a local station If SYNC ON it is in a slave CPU synchronous state bit7 Bit6 bit5 bit4 bit3 bit2 bit1 bit0 SYNC SYNCRDY SBUSY 0 CMDRDY WARNG 0 Data 1 High Low IW 0 IW 1 IW 2 7 6 5 4 3 2 1 0 MP2000 master Input register Scan counter used by system Sla...

Страница 296: ...ant This delay time is referred to as Slave CPU Synchronous Delay Time and is calculated as follows Setting Example Execute master side application Update output data SVB module processing Slave CPU synchronous delay time MECHATROLINK transmission Execute slave side application Retrieve input data Slave CPU synchronous delay time Master H scan cycle 2 MECHATROLINK cycle Master side H scan setting ...

Страница 297: ...oblem has occurred with the master 2 Checking a Slave Status Using a Master Side Application Master processing A master side application checks that a scan counter value is increased by one from the previous value As the scan counter is one byte of data it only checks the lower byte If not updated normally it determines that a problem has occurred with the slave Slave processing A slave side appli...

Страница 298: ...n input register assigned to the MP2300S is in the following state bit1 WARNG OFF bit2 CMDRDY ON bit7 SYNC ON only when slave synchronous mode is enabled Otherwise a command error is issued by a master or a slave operation error may occur Check the scan counter Checks that the first word Scan Counter of an input register mapped to the MP2300S is updated based on the rules decided by an application...

Страница 299: ...7 3 Operation 7 3 5 How to Determine Input Error 7 19 7 Slave CPU Synchronous Function Application Example Continued on the next page ...

Страница 300: ...7 3 Operation 7 3 5 How to Determine Input Error 7 20 Continued from the previous page ...

Страница 301: ...ed to the MP2300S is in the following state bit1 WARNG OFF bit2 CMDRDY ON bit7 SYNC ON only when slave synchronous mode is enabled Otherwise a command error issued by a master or a slave operation error may be considered Check the scan counter Check that the first word Scan Counter of an input register assigned to the MP2300S is updated based on the rules decided by an application If not updated n...

Страница 302: ...7 3 Operation 7 3 5 How to Determine Input Error 7 22 Application Example Continued on the next page ...

Страница 303: ... page 2 How to Recover from Input Error Recovery is automatic and no particular operation is needed However if input errors occur frequently check the following Are local station addresses duplicated Do scan time overs occur Is a MECHATROLINK terminating resistor attached Is there a problem with MECHATROLINK wiring ...

Страница 304: ...p time occurs When a servo connected to the SVB 01 is running its axis stops and an alarm occurs To avoid these impacts to avoid automatic recovery to the slave CPU synchronous state use the slave side application to operate a control bit SLVSC slave CPU synchronous resume control Operating this bit allows you to control the synchronous process bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Unused SLVSC ...

Страница 305: ...en when entering slave CPU asynchronous state automatic recovery is not carried out If SYNC is turned OFF while monitoring slave status SYNC changes the state to Preparation for slave CPU synchronous resumption Preparation state for slave CPU synchronous resumption Prepares for the resumption of slave CPU synchronization In particular stops an axis connected to the motion module attached to an opt...

Страница 306: ...7 3 Operation 7 3 6 Management to Resume Slave CPU Synchronization 7 26 Application Example Continued on the next page ...

Страница 307: ...7 3 Operation 7 3 6 Management to Resume Slave CPU Synchronization 7 27 7 Slave CPU Synchronous Function Continued from the previous page ...

Страница 308: ...slave CPU syn chronous state disconnect and later reconnect the communication between a slave and its con nected SVB 01 When a slave device such as a servo or inverter is connected stop their operation in advance Due to the disconnection of communications the device may suffer shock when an axis is suddenly stopped The operations below change the slave CPU synchronous state to the asynchronous sta...

Страница 309: ...ntrol bit SLVSC OFF the master side will recover and communication will be resumed and then enters slave CPU synchronous state again A transmission error occurs If only a received data error occurs it may not affect slave CPU synchronization However as the input data is not updated when you are checking the state using a user application a scan counter error may be detected according to the scan c...

Страница 310: ...MEMO ...

Страница 311: ...nspection Items 8 2 8 1 1 Daily Inspections 8 2 8 1 2 Regular Inspections 8 3 8 1 3 Replacing the Basic Module Battery 8 4 8 2 Troubleshooting 8 5 8 2 1 Basic Flow of Troubleshooting 8 5 8 2 2 MP2300S Error Check Flowchart 8 6 8 2 3 LED Indicators 8 6 8 2 4 Troubleshooting System Errors 8 8 8 2 5 Motion Program Alarms 8 25 8 2 6 List of Causes for Command Error Completed Status 8 30 8 2 7 Troubles...

Страница 312: ...gap between crimp terminals There must be an appropriate gap between the terminals Correct as necessary 3 LED Indicators RDY Check whether the indicator is lit The indicator must be lit It is abnormal if the indicator is not lit Refer to 8 2 Troubleshooting on page 8 5 RUN Check whether the indicator is lit while the system is in RUN state The indicator must be lit It is abnormal if the indicator ...

Страница 313: ... the panel as the ambient temperature Ambient Humidity 30 to 95 RH Atmosphere There must be no corrosive gases 2 Power Supply Voltage Check PS Module Measure the voltage between 24 VDC terminals 19 2 to 28 8 VDC Change the power supply as necessary 3 Installation Conditions Looseness and Excess Play Attempt to move the Module The Module must be secured properly Retighten the screws Dust and Other ...

Страница 314: ...y data accidently lost during battery replacement For information on saving methods refer to the MPE720 Programming Device Software for MP900 MP2000 Machine Controllers User s Manual Manual No SIEPC88070005 2 Check that the RDY indicator on the MP2300S 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 c...

Страница 315: ...ooting is illustrated below Step 1 Visually confirm the following items Machine movement or status if stopped Power supply I O device status Wiring status Indicator status LED indicators on each Module Switch settings e g DIP switches Parameter settings and program contents Step 2 Monitor the system to see if the problem changes for the following operations Switching the Controller to STOP status ...

Страница 316: ...ter Display the motion program execution information SW03200 to SW04191 Note2 Check Error Code in Parallel 0 to 7 Information of the corresponding work number s program information Display the registers Note3 below for motion parameters of the used axis Warning ILxx02 Alarm ILxx04 Command Error Completed Status IWxx09 bit3 Servo Driver Status IWxx2C Servo Driver Alarm Code IWxx2D Check alarm conte...

Страница 317: ...ecuted nor mally This is the normal status Errors Not lit Not lit Not lit Lit Not lit A serious error has occurred Refer to 8 2 4 4 Correcting User Program Errors on page 8 12 No lit Not lit Lit Not lit Not lit Not lit Not lit Not lit Blinking Not lit Software Error Number of LED blinks indicates error type 3 Address error read exception 4 Address error write exception 5 FPU exception 6 Illegal ge...

Страница 318: ... Register Allocations on page 8 9 SW00050 System Error Status 8 2 4 b Accessing System Registers on page 8 10 SW00080 User Operation Error Status 8 2 4 c Correcting User Program Errors on page 8 15 SW00090 System Service Execution Status 8 2 4 d Correcting User Program Errors on page 8 16 SW00110 User Operation Error Status Details 8 2 4 c Correcting User Program Errors on page 8 15 SW00190 Alarm ...

Страница 319: ...e Use the following procedure to display the register list 1 Select File Open Tool Register List from the MPE720 Engineering Manager Window to open the Register List Window 2 Select ViewMode HEX 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 cl...

Страница 320: ...iew Quick Reference from the MPE720 Engineering Manager Window 2 Click the Register List Tab to switch to the register list 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 ...

Страница 321: ...ERR indicator blinking Hardware failure watchdog timer timeout Only ERR indicator lit Turn OFF the STOP switch on DIP siwtch SW6 and turn ON the power Online Stop Mode Only RDY indicator lit Check SW00050 Watchdog timer timeout User program error Hardware failure Check CPU Error Status SW00041 User program error Battery alarm indicator BAT lit Replace battery Fatal error Alarm Check the location o...

Страница 322: ... determine the drawing with the error Check the contents of SW00059 Function Referencing Drawing Step No to determine the step number with the operation error ALM indicator lit 5 Check to see whether an oper ation error has occurred Check the error count for each drawing in SW00080 to SW00088 If errors have been counted an operation error has occurred Go to 6 6 Investigate the type of opera tion e...

Страница 323: ...stigating an output point refer to 8 2 4 c How to Forcibly Turn ON OFF Coil on page 8 15 9 Correct Programs Correct the program that causes error 10 Investigate the scan time If no problem is found in the program investigate the scan time Check to see whether the maximum value for high speed scan time is in excess of or equal to the setting value in the scan time screen or whether the maximum valu...

Страница 324: ...guration definition screen of the MPE720 online mode open the M EXECUTOR module definition and check D of the sequence program definition to save the definition Caution When a drawing function or sequence program is disabled the equipment may become unstable causing personal injury or damage to the equipment If carrying out an investigation be aware of the behavior of the equipment when it is disa...

Страница 325: ...ent may become unstable causing personal injury or damage to the equipment If carrying out an investigation be aware of the behavior of the equipment when it is disabled After the investigation make sure you enable the I O service again c How to Forcibly Turn ON OFF Coil In the main menu of the MPE720 online mode select Debug Force ON or Force OFF menus in that order Caution When a coil is set to ...

Страница 326: ...ess of a setting value the scan cannot be performed at every setting value SW00044 is added due to a high speed scan over SW00046 is added due to a low speed scan over Low speed scan setting value High speed scan setting value High speed scan setting value High speed scan setting value High speed scan setting value High speed scan Low speed scan Low speed scan setting value High speed scan setting...

Страница 327: ...d 1 Write enabled SB000408 to SB00040D Reserved by the system SB00040E Operation Stop Request 0 RUN selection 1 STOP selection SB00040F Run Switch Status at Power ON 0 STOP 1 RUN CPU Error Status SW00041 SB000410 Serious Failure 1 WDGE undefined command See SW00050 for details SB000411 Reserved by the system SB000412 Reserved by the system SB000413 Exception Error SB000414 to SB000417 Reserved by ...

Страница 328: ...00H H Child drawing number Ladder program grandchild drawing yyH Hyy Grandchild drawing number Motion program sequence program F0xxH Hxx program number Calling Drawing Type SW00057 Type of drawing that calls the ladder program function in which an error occurred 0001H DWG A 0002H DWG I 0003H DWG H 0005H DWG L 0008H Ladder program function 000FH Motion program sequence program 0010H Reserved by sys...

Страница 329: ... drawing FFFFH Child drawing 00H H Child drawing number Grandchild drawing yyH Hyy Grandchild drawing number Function 8000H Motion program sequence program F0xxH Hxx program number Function Calling Drawing Number Number of the drawing that calls the func tion in which an error occurred Function Calling DWG Step Number Step number of the drawing that calls the function in which an error occurred 0 ...

Страница 330: ...operation division by zero error Yes Operation not executed 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 0033H Real number operation division error non numeric 0 0 No Operation not executed 0034H Real number stor...

Страница 331: ...s Current Alarm SW00190 Cleared when power is turned ON Number of Alarm History Records SW00191 The number of alarms in the alarm history Clear Alarms SW00192 1 Alarm cleared 2 Current alarm and alarm history cleared I O Error Count SW00200 Number of I O errors Input Error Count SW00201 Number of input errors Input Error Address SW00202 Latest input error address IW register number Output Error Co...

Страница 332: ...ted module and error code Slot 1 Error Status SW00224 to SW00231 Depends on the mounted module and error code Reserved by the system Slot 2 Error Status SW00232 to SW00239 Depends on the mounted module and error code Reserved by the system Slot 3 Error Status SW00240 to SW00247 Depends on the mounted module and error code Reserved by the system Slot 4 Error Status SW00248 to SW00255 Depends on the...

Страница 333: ...lot No 1 SW00225 Error Code I O error 2 Sub slot 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 Bit No F 8 7 0 SW00224 Error Code Station error 1 Sub slot No 2 SW00225 ST15 ST 0 SW00226 ST31 ST 16 SW00227 ST47 ST 22 SW00228 ST63 ST 48 Item Code Remarks ST n 0 Normal communication 1 Com...

Страница 334: ... SW00806 I O Function Module ID 8070H SW00807 I O Function Module Status SW00808 SVB Function Module ID 9113H SW00809 SVB Function Module Status SW00810 SVR Function Module ID 9210H SW00811 SVR Function Module Status SW00812 M EXECUTOR function module ID 8430H SW00813 M EXECUTOR function module status SW00814 to SW00815 Reserved by the system SW00816 to SW00823 Slot 1 SW00824 to SW00831 Reserved b...

Страница 335: ... checked on the error information screen This section explains the error information screen and motion alarm codes 1 Error Information Screen The following two options are available for displaying the error information screen a Open from Operation Control Panel Click the Display Button on the Drive Control Panel Window to display error information b Open from Right click Menu on the Motion Editor ...

Страница 336: ...motion program registered in the M EXECUTOR program execution definition the program name registered in M EXECUTOR is shown When an alarm occurs in a motion program referenced by an MSEE command from the ladder program is shown Parallel When a parallel execution command PFORK is used in the motion program multiple alarms may occur at the same time For more information refer to 3 1 11 Parallel Exec...

Страница 337: ...or occurred is shown Block number The number of the block where an error occurred is shown Double clicking the number will bring you to the corresponding program where the error occurred The block number is shown in the motion editor Alarm Contents The alarm content are shown Corrective Action Corrective actions for the alarm are shown Block number ...

Страница 338: ...helical interpolation command Use PLN command to specify the axis 16h Horizontal axis not specified for circular arc plane Horizontal axis was not specified in the circu lar arc or helical interpolation command Use PLN command to specify the axis 17h Specified axis over limit Too many axes were configured in the circular arc two axes or helical three axes interpola tion command Modify the axis in ...

Страница 339: ...eview the program 85h Motion command response error A motion command response different from that instructed by the motion command is reported from a motion module Remove the alarm cause from the destina tion axis If the servo is not turned ON turn ON the servo Check whether another program gave a command to the same axis at the same time If so review the program 87h VEL setting data out of range ...

Страница 340: ...me A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error The selected external signal is out of the setting range W Setting Parameter Error 3 Zero Point Return ZRET In machine lock status In servo OFF status 1 Servo OFF An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error SERVOPACK parameter r...

Страница 341: ...ation Com munication Error Executed while the distribution has not been completed DEN OFF SERVOPACK parameter writing was not com pleted within the specified time A Servo Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error 12 Change Filter Time Con stant SCC An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication E...

Страница 342: ...as not completed within the specified time A Servo Driver Command Timeout Error 23 Speed Reference VELO Commanded when having been connected to MECHATROLINK I An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error 24 Torque Reference TRQ Commanded when having been connected to MECHATROLINK I An alarm is occurring Asynchronous communication statu...

Страница 343: ...elow 1 Refer to a Alarm IL 04 List 2 Refer to a Servo Driver Status IW 2C List 3 Refer to b Servo Driver Status IW 2C List Warning IL 02 Bit 1 Set Parameter Error Bit 2 Fixed Parameter Error Bit 0 Excessive Deviation Bit 3 Servo Driver Error Bit 4 Motion Command Set Error Bit 0 Servo Driver Error Bit 1 Positive Direction Overtravel Bit 2 Negative Direction Overtravel Bit 3 Positive Direction Softw...

Страница 344: ...ning 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 Detection Timi...

Страница 345: ...Check the overtravel signal 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 Detection Timing Enabled when using a motion command and detected by the position management section The ...

Страница 346: ...uted 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 Detection Timing A move command is executed Processing when Alarm Occurs The...

Страница 347: ...it 0 was OFF Correction Correct the program to execute the SCC command after Discharging Completed status i e that IB 0C0 is ON is checked Detection Timing Enabled only when an absolute encoder is used for an infinite length axis and detected when the next com mand is set in the Motion Command Response Code OW 08 Commands Positioning External Positioning Interpolation Interpolation with position d...

Страница 348: ... by the position management section when power is turned ON Processing when Alarm Occurs The absolute position information read from the absolute encoder when the SEN signal turned ON is ignored Error and Cause An operation error occurred when the absolute position information read from the absolute encoder is con verted from pulses to reference units at power ON Correction Check the gear ratio nu...

Страница 349: ...s not in the zero point ON The APOS absolute position is in the zero point range Bit 7 Locating Complete PSET OFF Pulse distribution is not completed or the APOS is not in the positioning completed width ON Pulse distribution is completed and the APOS is within the positioning completed width Bit 8 Command Profile Complete DEN OFF Pulse distribution is being performed for positioning command ON Pu...

Страница 350: ...ted 10 Overcurrent 11 Ground Fault 40 Overvoltage 41 Undervoltage 51 Overspeed 71 Overload Instantaneous 72 Overload Continuous 7A Heat Sink Heating 80 Absolute Encoder Error 81 Absolute Encoder Backup Error 82 Absolute Encoder Checksum Error 83 Absolute Encoder Battery Error 84 Absolute Encoder Data Error 85 Absolute Encoder Overspeed B1 Gate Array 1 Error B2 Gate Array 2 Error B3 Current Feedbac...

Страница 351: ...Circuit Wiring Error 40 Overvoltage 41 Undervoltage 51 Overspeed 71 Overload Instantaneous Maximum Load 72 Overload Continuous Maximum Load 73 DB Overload 74 Inrush Resistance Overload 7A Heat Sink Overheat 81 Encoder Backup Alarm 82 Encoder Checksum Alarm 83 Encoder Battery Alarm 84 Encoder Data Alarm 85 Encoder Overspeed 86 Encoder Overheat B1 Speed Reference A D Error B2 Torque Reference A D Er...

Страница 352: ... 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 Comma...

Страница 353: ...cksum Alarm 880 Fully closed Serial Encoder Data Alarm 8A0 Fully closed Serial Encoder Scale Error 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...

Страница 354: ...ve 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 E00 COM Alarm 0 E01 COM Alarm 1 E02 COM Alarm 2 E07 COM Alarm 7 E08 COM Alarm 8 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 Er...

Страница 355: ... SERVOPACKs A 14 D Initializing the Absolute Encoder A 15 D 1 S III SERVOPACK A 15 D 2 S II SERVOPACK A 16 D 3 S I SERVOPACK A 18 E Motion Parameter Details A 20 E 1 Fixed Parameter List A 20 E 2 Setting Parameter List A 22 E 3 Monitoring Parameter List A 27 F How to Set up Communication Process A 31 F 1 Preparation A 31 F 2 Procedure A 31 G MSG SND MSG RCV Functions A 35 G 1 Message Transmit Func...

Страница 356: ...rted Always ON SB000004 Always ON 1 Reserved Reserved for the system SB000005 to SB00000F Not used Name Register No Remarks 1 scan Flicker Relay SB000010 0 5 s Flicker Relay SB000011 1 0 s Flicker Relay SB000012 2 0 s Flicker Relay SB000013 0 5 s Sampling Relay SB000014 1 0 s Sampling Relay SB000015 2 0 s Sampling Relay SB000016 60 0 s Sampling Relay SB000017 1 0 s After Start of Scan Relay SB0000...

Страница 357: ...0032 2 0 s Flicker Relay SB000033 0 5 s Sampling Relay SB000034 1 0 s Sampling Relay SB000035 2 0 s Sampling Relay SB000036 60 0 s Sampling Relay SB000037 1 0 s After Start of Scan Relay SB000038 2 0 s After Start of Scan Relay SB000039 5 0 s After Start of Scan Relay SB00003A 1 scan 1 scan 0 5s 0 5s 1 0s 1 0s 2 0s 2 0s 0 5s 0 5s 1 scan 1 0s 1 0s 1 scan 1 scan 2 0s 2 0s 1 scan 60 0s 60 0s 1 0s 2 0...

Страница 358: ...lue 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 C...

Страница 359: ...both memory areas B 1 Operations and Parameter Data Flow 1 Power ON 1 Parameter data saved in the SERVOPACK s EEPROM 1 is copied to SERVOPACK s RAM 2 2 Parameter data saved in the MP2300S s flash memory 1 for all axes is copied to SDRAM 2 Some gain related settings are sent from the MP2300S to SERVOPACK RAM 1 EEPROM flash memory and SRAM Store data even when the power is turned OFF 2 RAM SRAM SDRA...

Страница 360: ... tions Window on the MPE720 refer to 2 2 5 5 SVB Definition on page 2 45 for details on how to open the SERVO PACK Tab Page 1 The MPE720 writes and displays the parameters that are held in the SERVOPACK s RAM for the rele vant axis to the Current Value in the SERVOPACK Tab Page It also reads and displays the values that are held in the MP2300S s SDRAM values to the Input Data in the SERVOPACK Tab ...

Страница 361: ...rrently displayed on SERVOPACK Tab Page of the relevant axis to the followings HDD hard disk of the personal computer SDRAM of MP2300S RAM and EEPROM of the SERVOPACK 2 After having completed writing the parameters the MPE720 updates the values in Current Value on the SERVOPACK Tab Page with the SERVOPACK parameter values stored in the RAM MECHATROLINK RAM EEP ROM SRAM SDRAM Input Data MPE720 㧔onl...

Страница 362: ...indow 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 The saving operation of SERVOPACK parameters can be used for writing data after SERVOPACK replacement because it writes all the parameters of the relevant axis Before saving After saving ...

Страница 363: ...CK Tab in the SVB Definition Window on the MPE720 1 The MPE720 copies the values currently displayed in Current Value to Input Data on the SERVO PACK Tab and displays MECHATROLINK RAM EEP ROM SRAM SDRAM MP2300S SERVOPACK SERVOPACK Control Software System Software Parameters Servo Parameters All Axes Flash Memory Input Data MPE720 㧔online㧕 HDD in personal computer Display Current Value Input Data ...

Страница 364: ...lowing figure shows a display example after having selected Edit Copy Current Value on the SERVOPACK Tab in the SVB Definition Window The values in Current Value are copied to Input Data Before copying After copying ...

Страница 365: ...arameters other than those of the relevant axis will not be written Input Data set data on the SERVOPACK Tab Page SDRAM of the MP2300S RAM of the SERVOPACK 2 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 RAM EEP ROM SRAM SDRAM Input Data MPE720 㧔online㧕 HDD in personal c...

Страница 366: ...fter having pressed the Enter Key the values of Speed Loop Gain Speed Loop Integral 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 ...

Страница 367: ...SERVOPACK parameter Precautions When Saving SERVOPACK Parameters Before executing a saving operation in the SERVOPACK Tab Page except during SERVOPACK replacement always select Edit Current Value Setting Value to copy the values in Current Value to Input Data MECHATROLINK RAM EEP ROM SRAM SDRAM Input Data MPE720 㧔online㧕 HDD in personal computer Display Current Value Input Data Flash Memory System...

Страница 368: ... 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...

Страница 369: ...uctions Manual Manual No TOBP S80000001 Follow the setup procedure below using a Digital Operator 1 Press the Key to display the Utility Function Mode main menu Use the Key or Key to select Fn008 2 Press the Key The display is switched to the execution display of Fn008 Absolute encoder multi turn reset and encoder alarm reset If the display is not switched and NO_OP is displayed in the status disp...

Страница 370: ...ay 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 5 Press the DSPL SET Key The display wi...

Страница 371: ...splayed 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 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 This completes initializing...

Страница 372: ...lize a 12 bit absolute encoder 1 Properly connect the SERVOPACK Servomotor and MP2300S 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 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 ...

Страница 373: ...ert 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 3 Connect the cables using normal wiring an...

Страница 374: ...o F Reserved 2 Function Selection Flag 2 Bit 0 Communication Abnormality Detection Mask Yes Bit 1 WDT Abnormality Detection Mask Yes Bits 2 to F Reserved for system use 3 Reserved 4 Reference Unit Selection 0 pulse 1 mm 2 deg 3 inch 4 μm For linear type only valid for 0 pulse 1 mm 4 μm When 2 deg 3 inch is set converted into 1 mm Yes Yes 5 Number of Digits below Decimal Places 1 1 digit Yes Yes 6 ...

Страница 375: ...ulse rev Set the value after multiplication Yes Yes Number of Pulses per Linear Scale Pitch Linear Type 1 1 pulse scale pitch Yes Yes 38 Maximum Number of Absolute Encoder Turns Rotation 1 1 rotation Set to 0 when a direct drive motor is being used Yes 40 to 41 Reserved 42 Feedback Speed Movement Av eraging Time Constant 1 1 ms Yes Yes cont d Slot Number Name Contents SVB SVR ...

Страница 376: ...rust Input Reverse External Limiting Torque Thrust Input 0 OFF 1 ON Yes Bit A Reserved Bit B Integration Reset 0 OFF 1 ON Yes Bits C to D Reserved Bit E Communication Reset 0 OFF 1 ON Yes Bit F Alarm Clear 0 OFF 1 ON Yes Yes OW 01 Mode Setting 1 Bit 0 Excessive Deviation Error Level Setting 0 Alarm 1 Warning Yes Bits 1 to 2 Reserved Bit 3 Speed Loop P PI Switch Yes Bit 4 Gain Switch Yes Bit 5 Gain...

Страница 377: ...ro Point Return 4 INTERPOLATE Interpolation 5 ENDOF_ INTERPOLATE Last Interpolation Segment 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 14 KVS Change Speed Loop Gain 15 KPS Change Position L...

Страница 378: ...ording to OW 03 bits 12 to 15 Torque Unit Yes Yes OW 0E Speed Limit Setting at the Torque Thrust Reference 1 0 01 percentage of rated speed Yes OW 0F Reserved OL 10 Speed Reference Setting Unit is according to OW 03 bits 0 to 3 Speed Unit Yes Yes OW 12 to OW 13 Reserved OL 14 Positive Side Limiting Torque Thrust Setting at the Speed Reference Unit is according to OW 03 bits C to F Torque Unit Yes ...

Страница 379: ...s 0 to 3 Speed Unit Yes OW 3C Zero Point Return Method 0 DEC1 C DEC 1 and C Phase 1 ZERO Zero signal 2 DEC1 ZERO DEC 1 and zero signal 3 C C pulse Yes 4 to 10 Reserved 11 C Pulse 12 POT C Pulse 13 POT Only 14 HOME LS C Pulse 15 HOME Only Yes 16 NOT C Pulse 17 NOT Only 18 INPUT C Pulse 19 INPUT Only Yes OW 3D Width of Starting Point Position Output 1 1 reference unit Yes Yes OL 3E Approach Speed Un...

Страница 380: ... the SERVOPACK parameter Yes OL 56 Servo Driver for Assistance User Constant Set Point Set the setting for the SERVOPACK parameter Yes OW 58 to OW 5B Reserved OW 5C Fixed Parameter Number Set the number of the fixed parameter to read with the FIXPRM_RD motion subcommand Yes Yes OW 5D Reserved OL 5E Encoder Position When Power is OFF Lower 2 Words 1 1 pulse Do not set in the linear type Yes OL 60 E...

Страница 381: ...e Yes Bit 9 Servo Driver Communication Warning Yes Bits A to 1F Reserved IL 04 Alarm 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 ...

Страница 382: ...s Bit 5 Zero Point Return Setting Completed Yes Yes Bit 6 During Machine Lock Yes Bit 7 Reserved Bit 8 ABS Rotary Pos Load Complete ABS System Infinite Length Position Control Information Load Completed Invalid for linear type Yes Bit 9 POSMAX Turn Preset Complete TPRSE Invalid for linear type Yes Yes Bits A to F Reserved IW 0D Reserved IL 0E Target Position in Machine Coordinate System TPOS 1 1 r...

Страница 383: ...oder 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 Bit 8 EXT3 Signal Input Bit 9 Brake State Output Bit A Reserved Bit B Reserved Bit C CN1 Input Signal IO12 Bit D CN1 Input Signal IO13 Bit E CN1 Input Signal IO14 Bit F CN1 Input Signal IO15 Yes IW 2F Servo Driver User Monitor Information Bits 0 to 3 Monit...

Страница 384: ...t Unit is according to OW 03 bits 12 to 15 Torque Unit Yes Yes IW 44 to IW 55 Reserved IL 56 Fixed Parameter Monitor Stores the data of the fixed parameter when FIXPRM RD has been specified in the Motion Subcommand Yes Yes IW 58 to IW 5C Reserved IL 5E Encoder Position When the Power is OFF Lower 2 Words 1 1 pulse Yes IL 60 Encoder Position When the Power is OFF Upper 2 Words 1 1 pulse Yes IL 62 P...

Страница 385: ...power supply 2 Wire MPE720 and MP2300S Product Name Model Q ty MP2300S JEPMC MP2300S E 1 Product Name Model Q ty MPE720 CPMC MPE770 Ver 6 04 or later 1 Ethernet Communication Cable Any Commercial product Ethernet cross cable category 5 or more 1 Personal Computer Main Unit Any Commercial product 1 Name Specification Q ty 24 VDC Power Supply Current capacity 2A or more 1 Personal computer with MPE7...

Страница 386: ...on the MP2300S main unit When the IP LED is lit you can confirm that the MP2300S side has successfully retrieved an IP address 5 Double click the icon on the personal computer desktop to start up MPE720 Ver6 6 Create a new PLC folder 7 Click Communications Setting 4 3 E INIT 2 E TEST 1 OFF ON RDY ALM MTX BAT RUN ERR RDY ALM MTX BAT RUN ERR TRX IP TRX IP Lit Unlit ...

Страница 387: ...of the connected controller Select the communication port according to the table below When there are multiple LAN ports on the personal computer If there are multiple LAN ports on the personal computer multiple IP addresses will be shown in the communication port Select the IP address of the LAN port to which the cable is connected Controller search function When Ethernet is selected in the commu...

Страница 388: ...A 34 10 A controller search list will appear Select the found controller and click the Connection Button 11 MPE720 connects to the controller Personal computer IP address ...

Страница 389: ...per word basis Non procedure 2 In non procedural communication data is transmitted on a per byte basis Function Name MSG SND Function Transmits messages to a remote station on the circuit specified by the communication device type Supports multiple protocols Keep the execution command Execute until Complete or Error turns ON Function Defi nition I O Definition No Name I O Option 1 Contents Input I...

Страница 390: ...er program or the like needs to be used to switch it ON OFF 3 Dev Typ communication device type Specify the type code of the communication device refer to the table below 4 Pro Typ communication protocol Specify the type code of the communication device refer to the table below Input Item I O Option Available Register Execute Abort B VAL Every bit type register except C registers Same as above wit...

Страница 391: ... not start up multiple functions at the same time the channel numbers can duplicate each other The following table shows the scope of channel numbers When the communication device is Ethernet 218IFA because the communication buffer common to the trans mission and reception has four channels four transmissions or receptions are available at the same time by using channels 1 to 4 Note 1 As many MSG ...

Страница 392: ...g table shows the registers available for each output item 1 Busy in process Specify a bit that reports a message is transmitting The Busy bit is ON while executing a message transmission or forced abort process Keep Execute or Abort ON while Busy is ON 2 Complete process completed Specify a bit that reports that message transmission has ended When a message transmission or forced abort process is...

Страница 393: ...for one scan or more after the process completion IN Execute executes a transmission IN Abort forcibly ends a transmission OUT Busy in process OUT Complete process completed OUT Error error occurred t One scan To continuously command the transmit execution turn Execute OFF for a scan or more after the process completion IN Execute executes a transmission IN Abort forcibly ends a transmission OUT B...

Страница 394: ...s Description 00 OUT Process result Process result is output 01 OUT Status The status of the communication device is output 02 IN Connection number Specifies the remote destination 03 IN Option Sets a unique setting for each communication device 04 IN Function code Sets a function code to transmit 05 IN Data address Specifies the start address of the data 06 IN Data size Sets the data size for a r...

Страница 395: ... 218IF is used as a communication device follows Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol Set the circuit number in accordance with the line number allocated to the target 218IF Set a unique communication buffer channel for the same circuit For information on the register number refer to G 1 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 Execut...

Страница 396: ...lding register offset 83 H Data size error The transmit or receive data size is out of the setting range Check PARAM04 data size 84 H Error in setting circuit number The circuit number is out of the setting range Check Cir No circuit number of the MSG SND function 85 H Error in setting channel number The communication buffer channel number is out of the setting range Check Ch No communication buff...

Страница 397: ...n 1 Requesting processing 0 The acceptance of the process request is complete Code Abbreviation Meaning 0 CONN_NG In Ethernet communication transmit error or connection error is complete 1 SEND_OK Normal transmission complete 2 REC_OK Normal reception complete 3 ABORT_OK Forced abort complete 4 FMT_NG Parameter format error 5 SEQ_NG Command sequence error 6 RESET_NG Reset state 7 REC_NG Data recep...

Страница 398: ... process result Code Hex Meaning When RESULT process result 4 FMT_NG parameter format error 00 No error 01 Connection number is out of range 02 Time error for monitoring to receive MEMOBUS response 03 Error in setting retransmit count 04 Error in setting cyclic area 05 CPU number error 06 Data address error 07 Data size error 08 Function code error Others xx Connection number ...

Страница 399: ... Window for the MPE720 module con figuration definition Fig G 2 218IFA Parameter Setting Screen for the MPE720 Module Configuration Definition Fig G 3 218IF Parameter Setting Screen for the MPE720 Module Configuration Definition 5 Option PARAM03 Choose a unique setting for each communication device When the protocol is MEMOBUS or Extended MEMOBUS this is not used and no setting is necessary Commun...

Страница 400: ...er are MB MW IB IW respectively Table G 1 Function Code List MEMOBUS Extended MEMOBUS Function Code Target Data Type Function Protocol Type Extended MEMOBUS MEMOBUS 00H Unused 01H B Reads coil state 02H B Reads input relay state 03H W Reads holding register content 04H W Reads input register content 05H B Changes single coil state 06H W Writes to single holding register 07H Unused 08H Loopback tes...

Страница 401: ...d up and written into the remote sta tion s data addresses 1 n The address table used when discontinuously reading writing registers is as follows Table G 2 Valid Range of Data Addresses MEMOBUS Extended MEMOBUS Function Code Target Data Type Function Valid Range of Data Addresses Ethernet 218IF Ethernet 218IFA 00H Unused Disable 01H B Reads coil state 1 0 to 65535 0 to FFFFH 02H B Reads input rel...

Страница 402: ...IF Ethernet 218IFA 00H Unused Disable 01H B Reads coil state 1 1 to 2000 02H B Reads input relay state 1 1 to 2000 03H W Reads holding register content 2 1 to125 04H W Reads input register content 2 1 to 125 05H B Changes single coil state Disable 06H W Writes to single holding register Disable 07H Unused Disable 08H Loopback test Disable 09H W Reads holding register content extended 2 1 to 508 1 ...

Страница 403: ... parameters for each function code Note Available Not available Table G 4 Offset Parameter List Parameter Content Description PARAM08 Coil offset Sets the coil s offset word address PARAM09 Input relay offset Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM11 Holding register offset Sets the offset word address of ...

Страница 404: ... is stored Note Before the first scan during power up make sure to set it to 0 by using a user program After that the register is used by the system so never change the value with the user program 12 Reserved by System 2 PARAM13 to PARAM16 Used by the system Never change the value with the user program etc ...

Страница 405: ...er in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel for the same circuit For information on the register number refer to G 1 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 2 Process Result PARAM00 Refer to G 1 4 2 Process Result PARAM00 on page A 42 3 Status PARAM01 Refer to G 1 4 3 Status PARAM00 on page A 43 4 Connect...

Страница 406: ...mmands are not supported When accessing AnCPU also use the ACPU com mon commands You cannot access the AnCPU extended file register Table G 6 Function Code List Function Code MELSEC ACPU Common Command Target Data Type Function 01H 02H 00H B Reads bit device in units 03H 04H 09H 0AH 01H W Reads word device in units 05H 0FH 02H B Writes to bit device in units 06H 0BH 10H 03H W Writes to word device...

Страница 407: ...00271F B B0000 to B03FF Hexadecimal 01H 05H 0FH Coil 4352 to 5375 MB002720 to MB00335F F F0000 to F0255 Decimal 01H 05H 0FH Coil 5376 to 631 MB003360 to MB00351F TS TS000 to TS255 Decimal 02H Input relay 2048 to 2303 MB001280 to MB00143F TC TC000 to TC255 Decimal 02H Input relay 2304 to 2559 MB001440 to MB00159F CS CS000 to CS255 Decimal 02H Input relay 2560 to 2815 MB001660 to MB00175F CC CC000 t...

Страница 408: ...e in units 1 to 256 units 05H 0FH 02H Writes to bit device in units 1 to 256 units 06H 0BH 10H 03H Writes to word device in units 1 to 256 units 08H 16H Loopback test 0EH 05H Specifies a device number for each word device at random and sets resets each word device 1 to 40 units 31H 60H Writes to the fixed buffer in words See the table below 32H 61H Reads from the random access buffer in words 33H ...

Страница 409: ...r with the user program 12 Reserved by System 2 PARAM13 PARAM16 Used by system Never change this value with the user program etc Table G 10 Offset Parameter List Parameter Contents Description PARAM08 Coil offset Sets the coil s offset word address PARAM09 Input relay offset Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input regist...

Страница 410: ...TCP protocol Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 1 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 2 Process Result PARAM00 Refer to G 1 4 2 Process Result PARAM00 on page A 42 3 Status PARAM01 Refer to G 1 4...

Страница 411: ...are MW MB only 4 In the slave operation mode coil holding register input relay and input register are MB MW IB IW respectively Communication Device Valid Range Remarks Ethernet 218IF or 218IFA 0 to 247 255 Set a remote unit ID when MODBUS TCP protocol is used When the transmission target is MP2 00 series specify 0 Table G 12 Function Code List MODBUS TCP Function Code TargetData Type Function Comm...

Страница 412: ...sk write request to the holding register doubles as the start M register number in the local station which is also used for specifying the start data address and as the data table in the remote station for mask writing The contents of the data table used when mask writing to the holding register is as follows Table G 13 Valid Range of Data Addresses MODBUS TCP Function Code Target Data Type Functi...

Страница 413: ...ay differ depending on the function code The following table gives the valid ranges of data sizes when using MODBUS TCP as a protocol 1 Specify the number of bits 2 Specify the number of words 3 Invalid when Ethernet 218IF is used Note The data size in the table is represented in decimal number MW MW 1 MW 2 MW 3 PARAM05 For reading For writing Address table for reading writing multiple holding reg...

Страница 414: ...it to 0 by using the user program After that the reg ister is used by system Do not change the value thereafter with the user program 12 Reserved by System 2 PARAM13 to PARAM16 Used by system Never change the value with the user program etc Table G 15 Offset Parameter List Parameter Contents Description PARAM08 Coil offset Sets the coil s offset word address PARAM09 Input relay offset Sets the off...

Страница 415: ...b 218IF Setting Example An example of a function setting when 218IF is used as a communication device follows When non procedure 2 per byte is used set the Pro Typ field to 00003 non procedure 1 per word Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register num...

Страница 416: ...nt is out of range Check PARAM06 data size 84 H Error in setting circuit number The circuit number is out of range Check Cir No circuit number of the MSG SND function 85 H Error in setting channel number The communication buffer channel number is out of range Check Ch No communication buffer channel number of the MSG SND function 86 H Connection number error The connection number is out of range C...

Страница 417: ...ting processing 0 The acceptance of process request is completed Code Abbreviation Meaning 0 CONN_NG In Ethernet communications transmit error or connection error is complete 1 SEND_OK Normal transmission complete 2 REC_OK Normal reception complete 3 ABORT_OK Forced abort complete 4 FMT_NG Parameter format error 5 SEQ_NG Command sequence error 6 RESET_NG Reset state 7 REC_NG Data reception error e...

Страница 418: ...ress setting is word address RESULT process result Code Hex Meaning When RESULT process result 4 FMT_NG parameter format error 00 No error 01 Connection number is out of range 02 Time error while monitoring to receive MEMOBUS response for MEMOBUS protocol 03 Error in setting retransmit count 04 Error in setting cyclic area 05 CPU number error 06 Data address error 07 Data size error 08 Function co...

Страница 419: ... between Data Address Data Size and Offset for MSG SND Function on page A 66 2 The offset cannot be a negative value Example When specifying 1000 words of offset for the register address PARAM11 1000 8 Reserved by System 1 PARAM12 Used by system the channel number of the communication buffer in use is stored Note At the first scan during power up make sure to set this to 0 by the user program Afte...

Страница 420: ...fset A Data address B Data size C Data M register MP2 00 series transmission master Remote device reception slave Data address B Data size C Data Start address of the read data storage area Coil input relay input register and holding registers MSG SND function Parameter list PARAM00 PARAM01 PARAM05 PARAM06 PARAM07 PARAM08 PARAM09 PARAM10 PARAM11 PARAM16 Data address B Data size C Offset A Valid pa...

Страница 421: ...emote device reception slave Data address B Data size C Data Start address of the write data source The data type of the remote device is not determined in non procedural protocol mode MSG SND function Parameter list PARAM00 PARAM01 PARAM05 PARAM06 PARAM07 PARAM08 PARAM09 PARAM10 PARAM11 PARAM16 Data address B data size C Offset A Valid parameter may differ depending on the function code and commu...

Страница 422: ...n code 1 reads coil state DW00005 08192 PARAM05 IN Data address 8192 bits 512 words DW00006 00100 PARAM06 IN Data size 100 DW00007 00001 PARAM07 IN Remote CPU number 1 DW00008 01000 PARAM08 IN Coil offset 1000 words DW00009 00000 PARAM09 IN Input relay offset 0 word DW00010 00000 PARAM10 IN Input register offset 0 word DW00011 00000 PARAM11 IN Holding register offset 0 word DW00012 PARAM12 SYS Res...

Страница 423: ...n are carried out normally in the figure below the coil state in the device is stored in MW01512 and after of MP2300S Fig G 8 Reading Example of Coil State MW00000 MW01000 MW01512 Data M register Coil MP2300S series transmission master Remote device reception slave Data address 8192 bits Data size 100 points Data Offset 1000 words Data size 100 points Data address 8192 bits 512 words ...

Страница 424: ...procedure 2 In non procedural communication data is received on a per byte basis Function Name MSG RCV Function Receives messages from the remote station on the circuit specified by the communication device type Supports multiple protocol types Keep the execution command Execute until Complete or Error turns ON Function Defi nition I O Definition No Name I O Option 1 Contents Input Item 1 Execute ...

Страница 425: ...ort a ladder program or the like needs to be used to switch the bit ON OFF 3 Dev Typ communication device type Specify the type of communication device refer to the table below 4 Pro Typ communication protocol Specify the communication protocol refer to the table below Input Item I O Option Available Register Execute Abort B VAL Every bit type register except C registers Same as above with subscri...

Страница 426: ...t start up multiple functions at the same time the channel numbers can duplicate each other The following table indicates the range of valid channel numbers When the communication device is Ethernet 218IFA because the communication buffer common to the trans mission and reception have four channels four receptions or transmissions are available at the same time by using channel numbers 1 to 4 Note...

Страница 427: ...em 1 Busy in process Specify a bit to report message reception The Busy bit is turned ON while executing message reception or a forced abort process Keep Execute or Abort ON while Busy is ON 2 Complete process completed Specify a bit to report message reception ended When message reception or a forced abort process is completed properly the Complete bit will turn ON only for one scan 3 Error error...

Страница 428: ...T Error error occurred To continuously command the receive execution keep Execute ON after the process is completed One scan t IN Execute executes a reception IN Abort forcibly ends a reception OUT Busy in process OUT Complete process completed OUT Error error occurred To continuously command the receive execution keep Execute ON after the process is completed One scan t IN Execute executes a rece...

Страница 429: ...hen MEMOBUS and non procedure are used as a transmission protocol the parameter list is as follows Note Parameter details are explained in the parameter details for each protocol type Refer to the following items G 2 4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols on page A 77 G 2 5 Function Setting and Parameter Details for MELSEC Protocol on page A 85 G 2 6 Fu...

Страница 430: ...ffset Sets the coil s offset word address 09 IN Input relay offset Sets the offset word address of an input relay 10 IN Input register offset Sets the offset word address of an input register 11 IN Holding register offset Sets the offset word address of a holding register 12 IN Write range LO Sets the start address for a write range 13 IN Write range HI Sets the last address for a write range 14 S...

Страница 431: ...is used as a communication device follows Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 Exe...

Страница 432: ... register offset PARAM11 holding register offset 83 H Data size error The received data size is out of range Check the source data size 84 H Error in setting circuit number The circuit number is out of range Check Cir No circuit number of the MSG RCV function 85 H Error in setting channel number The communication buffer channel number is out of range Check Ch No communication buffer channel number...

Страница 433: ...Requesting processing 0 The acceptance of process request is completed Code Abbreviation Meaning 0 CONN_NG In Ethernet communication transmission or connection error is completed 1 SEND_OK Normal transmission complete 2 REC_OK Normal reception complete 3 ABORT_OK Forced abort complete 4 FMT_NG Parameter format error 5 SEQ_NG Command sequence error 6 RESET_NG Reset state 7 REC_NG Data reception err...

Страница 434: ...g Window for the MPE720 module con figuration definition Fig G 10 218IFA Parameter Setting Screen for the MPE720 Module Configuration Definition Window RESULT process result Code Hex Meaning When RESULT process re sult 4 FMT_NG parameter format error 00 No error 01 Connection number is out of range 02 Time error for monitoring to receive MEMOBUS response 03 Error in setting retransmit count 04 Err...

Страница 435: ...Fig G 11 218IF Parameter Setting Screen for the MPE720 Module Configuration Definition Window 5 Option PARAM03 A unique value is output for each communication device Not used for the MEMOBUS or Extended MEMOBUS protocols ...

Страница 436: ...n the remote equipment is a controller manufactured by YASKAWA Electric Corporation other than MP2 00 series and is comprised of multiple CPU modules the remote CPU number is output Otherwise 0 is output Table G 20 Function Code List MEMOBUS Extended MEMOBUS Function Code Target Data Type Function Protocol Extended MEMO BUS MEMOBUS 00H Unused 01H B Reads coil state 02H B Reads input relay state 03...

Страница 437: ...ess PARAM09 Input relay offset Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM11 Holding register offset Sets the offset word address of a holding register Table G 22 Valid Parameter List for Offset of Each Function Code Function Code Function Valid Offset Parameter Protocol Type Extended MEMOBUS MEMOBUS 01H Reads...

Страница 438: ...ter 0BH writes to holding register write 0EH discontinuously writes to holding register extended 0FH changes multiple coil states 10H writes to multiple holding registers Example When setting the address of M register which permits writing to 1000 to 1999 PARAM12 1000 PARAM13 1999 The reception side will return an error against a write request to an address other than MW01000 to MW01999 and will n...

Страница 439: ...dance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 2 Process Result PARAM00 Refer to G 2 4 2 Process Result PARAM00 on page A 78 3 Status PARAM01 Refer to G 2 4 3 Status PARAM01 on page A 79 4 Connection ...

Страница 440: ...words requested from the transmission side is output 9 Remote CPU Number PARAM07 Refer to G 2 4 9 Remote CPU Number PARAM07 on page A 82 Table G 24 Function Code List MELSEC Function Code MELSEC ACPU Common Command Target Data Type Function 01H 02H 00H B Reads bit device in units 03H 04H 09H 0AH 01H W Reads word device in units 05H 0FH 02H B Writes to bit device in units 06H 0BH 10H 03H W Writes t...

Страница 441: ...set Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM11 Holding register offset Sets the offset word address of a holding register Table G 26 Valid Parameter List for Offset of Each Function Code Function Code Function Valid Offset Parameter 01H Reads coil state PARAM08 02H Reads input relay state PARAM09 03H Reads ...

Страница 442: ...er write 0EH discontinuously writes to holding register extended 0FH changes multiple coil states 10H writes to multiple holding registers 31H writes to fixed buffer 33H writes to the random access buffer Example When setting the address of the M register which permits writing to 1000 to 1999 PARAM12 1000 PARAM13 1999 The reception side will return an error against a write request to an address ot...

Страница 443: ...l type to MEMOBUS when used in MODBUS TCP protocol Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 2 Process Result PARAM00 Refer to G 2 4 2 Process Result PARAM00 on pag...

Страница 444: ...lave operation mode coil holding register input relay and input register are MB MW IB IW respectively Communication device Output Details Ethernet 218IF 218IFA A remote unit ID is output when MODBUS TCP protocol is used Table G 28 Function Code List MODBUS TCP Function Code Target Data Type Function Protocol Type Ethernet 218IF Ethernet 218IFA 00H Not used 01H B Reads coil state 02H B Reads input ...

Страница 445: ...value The offset parameter is prepared for each target data type The following table lists the offset parameters The valid offset parameter may differ according to the function code The following table lists the valid parameters for each function code 11 Write Range PARAM12 PARAM13 Sets an available address range for the write request from the transmission side A write request which is out of this...

Страница 446: ...g register 17H reads writes multiple holding registers Example When setting the address of the M register which permits writing to 1000 to 1999 PARAM12 1000 PARAM12 1000 PARAM13 1999 The reception side will return an error against a write request to an address other than MW01000 to MW01999 and will not write it 12 Reserved by System 1 PARAM14 Used by system the channel number of the communication ...

Страница 447: ...b 218IF Setting Example An example of a function setting when 218IF is used as a communication device follows When non procedure 2 per byte is used set the Pro Typ field to 00003 non procedure 1 per word Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register num...

Страница 448: ...e Check the source data size 84 H Error in setting circuit number The circuit number is out of range Check Cir No circuit number of the MSG RCV function 85 H Error in setting channel number The communication buffer channel number is out of range Check Ch No communication buffer channel number for the MSG RCV function 86 H Connection number error The connection number is out of range Check PARAM02 ...

Страница 449: ...nts 1 Requesting to process 0 The acceptance of process request is completed Code Abbreviation Meaning 0 CONN_NG In Ethernet communications transmit error or connection error is com pleted 1 SEND_OK Normal transmission completed 2 REC_OK Normal reception completed 3 ABORT_OK Forced abort completed 4 FMT_NG Parameter format error 5 SEQ_NG Command sequence error 6 RESET_NG Reset state 7 REC_NG Data ...

Страница 450: ...n refer to G 2 8 Relationship between Data Address Data Size and Offset for MSG RCV Function on page A 98 2 The offset cannot be a negative value In case of non procedure received continuous data is stored in the M register Setting the register offset enables you to specify a start address of the M register as a storage area Example When specifying MW01000 for the start address of the M register f...

Страница 451: ... Maximum address of M register Example When setting the last address of the M register which permits writing to 1999 PARAM13 1999 The reception side will return an error against a write request to an address other than MW00000 to MW01999 and will not write it 8 Reserved by System 1 PARAM14 Used by system the channel number of the communication buffer in use is stored Note At the first scan during ...

Страница 452: ...00000 IW Data address B Offset A Data size C Data I register Remote device transmission master Data size C Data Data flow when reading Parameter list PARAM00 PARAM01 PARAM08 PARAM09 PARAM10 PARAM11 PARAM12 PARAM13 PARAM16 Offset A Write range Transmission side sets the data address B and the data size C In case of non procedure read cannot be received The valid offset parameter may differ accordin...

Страница 453: ...ter list PARAM00 PARAM01 PARAM08 PARAM09 PARAM10 PARAM11 PARAM12 PARAM13 PARAM16 Offset A Write range MSG RCV function Communication protocol non procedure Parameter list PARAM00 PARAM01 PARAM08 PARAM09 PARAM10 PARAM11 PARAM12 PARAM13 PARAM16 Offset A Write range Transmission side sets the data address B and the data size C In case of non procedure write cannot be received The valid offset paramet...

Страница 454: ... DW00004 PARAM04 OUT Function Code DW00005 PARAM05 OUT Data address DW00006 PARAM06 OUT Data size DW00007 PARAM07 OUT Remote CPU number DW00008 00000 PARAM08 IN Coil offset 0 word DW00009 00000 PARAM09 IN Input relay offset 0 word DW00010 00000 PARAM10 IN Input register offset 0 word DW00011 01000 PARAM11 IN Holding register offset 1000 words DW00012 00000 PARAM12 IN Write range LO 0 DW00013 65534...

Страница 455: ...ried out normally in the figure below the data in the remote device is stored in MW03000 and after of MP2300S Fig G 12 Writing Example to Multiple Holding Registers MW00000 MW01000 MW03000 MW03100 Data M register Write range LO Write range HI MP2300S series reception Remote device transmission Data size 100 words Data Offset 1000 words Data size 100 words Data address 2000 words Data address 2000 ...

Страница 456: ...put item Ch No communication buffer channel number of the MSG SND MSG RCV function and PARAM02 connection number in Param param eter list A connection is configuration information for communication between local and remote stations and is set in the 218IF 218IFA Parameter Setting Window of the MPE720 module configuration definition Fig G 13 218IFA Parameter Setting Window for the MPE720 Module Con...

Страница 457: ...01 CNO 02 Port number 10010 Port number 10020 Port No 10030 Port No 10040 Port No 20020 Connection setting UDP Extended MEMOBUS BIN Connection setting TCP MELSEC ASCII Remote device 2 Ethernet Remote IP Address 192 168 1 z Port No 20010 Remote device 1 Ethernet Remote IP Address 192 168 1 y The connection is set in the 218IFA Parameter Setting screen of the MPE720 Module Configuration Definition W...

Страница 458: ...tion information updated with self configuration 5 51 details of program information used by work n 5 27 difference between Ethernet LP and Ethernet A 33 differences from SVB simulation mode 2 49 digital operator A 14 DIN rail mounting 3 2 DIN rail mounting clips 3 3 DIN Rail Mounting Parts 1 9 DIP switch settings 5 2 direct designation 5 12 distributed synchronizing system 1 6 double length integ...

Страница 459: ...s 8 34 motion parameter details A 20 motion program 5 7 motion program alarm codes 8 28 motion program alarms 8 25 motion program executor 2 50 mounting clamp 3 5 mounting to DIN rail 3 3 MP2300S appearance 2 63 error check flow 8 6 Features 1 2 general specifications 2 2 method 3 2 mount direction 3 7 product specifications 2 3 space required for mounting 3 8 MP2300S Modules 1 4 MPE720 1 9 MSG RC...

Страница 460: ...ram 5 7 5 28 subscripts i j 5 40 SVB features 2 30 specifications 2 34 SVB definition window 2 45 SVR 2 47 SVR execution timing 2 49 symbol designation 5 41 synchronization between modules 2 32 system configuration example 1 5 2 31 system connection example 3 25 system error status 8 18 system errors 8 8 system I O error status 8 21 system register accessing 8 9 allocations 8 8 system register con...

Страница 461: ...ed manuals are given on the bottom of the back cover Date of Publication Rev No WEB Rev No Section Revised Contents November 2007 First edition MANUAL NO ޓ SIEP C880732 00A Published in Japan November 2007 07 11 C Date of publication Date of original publication ...

Страница 462: ... 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 英文 No 4 5 ...

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