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16 Devices Connectable via MECHATROLINK-III

YASKAWA America, Inc. MP3200iec Hardware Manual YAI-SIA-IEC-5

Devices Connectable via MECHATROLINK-III



Servopacks

The following table shows Servopacks that are compatible with MECHATROLINK-III and can be connected to the
controller.



I/O Modules

The following table shows the module that is compatible with MECHATROLINK-III and can be connected to the
controller.

Model

Details

SGDV-





-V Series AC Servo amplifiers for rotary motors

SGDV-



E21



-V Series Mini AC Servo amplifiers for rotary motors

SGDV-



H21A



-V Series 200 VAC Large Capacity AC Servo amplifiers for rotary motors

SGDV-



J21A



-V Series 400 VAC Large Capacity AC Servo amplifiers for rotary motors

SGDV-





-V Series AC Servo amplifiers for linear motors

Model

Details

JEPMC-MTD2310-E

64-point I/O Module
24VDC, 64 inputs, 64 outputs

Содержание MP3200iec

Страница 1: ...ne Controller Hardware Manual MANUAL NO YAI SIA IEC 5 To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this...

Страница 2: ......

Страница 3: ...Specifications 31 14 MECHATROLINK III Network Topologies 32 15 MECHATROLINK III Synchronization between Modules 35 16 Devices Connectable via MECHATROLINK III 37 17 Connecting the RLY OUT Connector 3...

Страница 4: ...ssion of Yaskawa No patent 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 inf...

Страница 5: ...ypically connected as shown in the following examples Unit Name Primary Function Power Supply Unit Supplies the power that is needed for the operation of the Units that are connected to each other and...

Страница 6: ...nal Modules MECHATROLINK III Cable SERVOPACK with MECHATROLINK III Communications I O Module with MECHATROLINK III Communications Servomotor Servomotor Servomotor Up to 62 stations including I O I O M...

Страница 7: ...Multi Function I O Module LIO 06 MECHATROLINK Network JEPMC MT2000 E HUB MECHATROLINK III NETWORK 8 SLAVE PORTS JEPMC MT2020 E ADAPTER ETHERNET TO MECHATROLINK JEPMC MTD2310 E I O MODULE MECHATROLINK...

Страница 8: ...d describes the indicators and connectors Appearance and Part Names The following figure shows the appearance of the Power Supply Unit and the part names Indicators These indicators show the load on t...

Страница 9: ...Power Supply Unit Pin Assignments DC Power Supply Unit No Signal Label Description 1 OUT Normal operation Circuit closed Error Circuit open 2 OUT Type Model Color AC Power Supply Unit 721 203 026 304...

Страница 10: ...it is mounted on the Main Rack this output functions as normally closed contacts that are synchronized with the status of the CPU Unit Normal operation Circuit closed Error Circuit open Contact Rating...

Страница 11: ...FF POK signal for 20 ms min POK signal 5 V drop in 2 ms min DC OFF POK signal for 1 ms min POK signal 5 V drop in 2 ms min Dielectric Strength Between primary and secondary sides 1 500 VAC for 1 minut...

Страница 12: ...Overcurrent Warning 1 Status Output is ON No label red Lights when the Overcurrent Warning 2 Status Output is ON Lit Not lit External Dimensions Width 60 mm Height 130 mm Depth 137 mm Weight 350 g Ite...

Страница 13: ...rts USB USB 2 0 Type A host 1 port Compatible devices USB storage Indicators and Displays Seven segment display Status indicators USB status indicator MECHATROLINK III status indicators Ethernet statu...

Страница 14: ...ors that show the operating status and error information Indicator Indicator Name Color Meaning When Lit CN Green MECHATROLINK III communications are established as a slave i e the CONNECT command is...

Страница 15: ...cable ducts and other objects to ensure suitable air circulation Do not mount the Controller in any direction other than the specified direction Do not mount the Controller on top of any device that...

Страница 16: ...1 octave min Shock Resistance Conforms to JIS B 3502 Peak acceleration of 147 m s2 twice for 11 ms each in the X Y and Z directions Item Specification Noise Resistance Conforms to EN 61000 6 2 and EN...

Страница 17: ...ng the Screw Mounting Attachment Note You can install the Unit by using the Screw Mounting Attachment JEPMC OP3001 This Attachment is provided with the Power Supply Unit It can be installed on the PMC...

Страница 18: ...WA America Inc MP3200iec Hardware Manual YAI SIA IEC 5 2 Use screws to secure the 4 places shown in the following figure Note 1 Recommended screws M4 x 14 mm min 2 Use a screwdriver with a shaft that...

Страница 19: ...Hardware Manual YAI SIA IEC 5 19 DIN Rail Mounting Carefully line up the DIN rail locks with the locking positions Note Removal You can remove the Controller by reversing the order of the mounting pro...

Страница 20: ...talling and Replacing the Battery in the CPU on page 24 1 Remove the rubber cap from the connector on the Power Supply Unit Note When the connector is not in use always cover it with the rubber cap Th...

Страница 21: ...bar inside and on the bottom may be damaged if the Module is not inserted along the guide rail 2 After the Optional Module is completely inserted place your hand on the front of the Optional Module an...

Страница 22: ...e to replace or add Optional Modules Note Always create a backup before replacing or adding Optional Modules Use the Web Server to save the Application program image as an Archive Zip 1 Turn OFF the p...

Страница 23: ...the notch in the Optional Module 5 Hold the center of the tool and turn it around the round knob while pushing it toward the back to disconnect the Module from the Mounting Base connectors Then pull...

Страница 24: ...y Replacement Procedure 1 Back up the programs and data stored in the Basic Unit Note The backup can be used to recover the data if the data accidentally gets deleted during Battery replacement 2 Conf...

Страница 25: ...ead connector of the Battery from the connector on the CPU Unit and remove the Battery from the battery holder 5 Insert the Replacement Battery into the battery holder and securely connect the lead co...

Страница 26: ...the CPU Unit Note If this procedure is not followed the battery leads may be pinched between the Battery and the circuit board causing stress on the leads If that occurs the battery holder will bulge...

Страница 27: ...ses only S1 3 CNFG ON Self configuration Mode OFF The controller creates Axes and I O for all connected devices Auto configuration OFF Normal Operation S1 2 LOAD ON USB Mode OFF When ON load either th...

Страница 28: ...IT E PM0 and E PM1 are ON ON OFF respectively the upper nibble and lower nibbles of the last byte are given by the rotary switches X161 and X160 respectively Table A Ethernet Overrides On startup the...

Страница 29: ...e image check sum the seven segment display outputs bOOt ERROR IP Address If the TEST switch is ON then the seven segment display outputs the IP address Firmware update During programming the seven se...

Страница 30: ...iguration was already saved on the controller the self configure function will not allow new devices to be discovered In this case add them offline manually first STOP SUP INIT CNFG MON TEST 1 Turn OF...

Страница 31: ...Messages Not Supported Retries Supported 0 to 4 retries Asynchronous Setting of High speed Scan Cycle and Communications Cycle Not supported An alarm will occur if setting is attempted Item Specificat...

Страница 32: ...used as shown in Figure 1 or two CPU Unit MECHATROLINK III ports are used as shown in Figure 2 these are called cascaded connections Figure 2 Figure 1 Cascaded Connections Using Only One Port Figure 3...

Страница 33: ...ach port on a Hub Module connects to only one slave station You can also connect one additional Hub Module to the first Hub Module Note 1 Terminating resistors are not required 2 The maximum number of...

Страница 34: ...Note 1 Do not connect more than 32 stations to a single CPU Unit port including the Hub Modules 2 The maximum number of stations that you can connect with a mixed cascaded star connections depends on...

Страница 35: ...s 1 to 32 3 ms 1 to 38 If more than 32 stations are connected two ports must be used No more than 32 stations can be connected to a single port 4 ms 1 to 62 If no more than 32 stations are connected t...

Страница 36: ...zed when communications are restored MECHATROLINK communications continue for all other Modules Changing the MECHATROLINK Communications Cycle Operation is automatically synchronized as long as the hi...

Страница 37: ...ws the module that is compatible with MECHATROLINK III and can be connected to the controller Model Details SGDV 21 V Series AC Servo amplifiers for rotary motors SGDV E21 V Series Mini AC Servo ampli...

Страница 38: ...t Circuit closed RDY indicator not lit Circuit open Contact Ratings RLY OUT Connector Connection Cable To connect the RLY OUT connector use a cable with a wire size of AWG28 to AWG14 0 08 to 2 0 mm2 a...

Страница 39: ...elded ethernet cables Connector Name Number of Pins Connector Model Module Side Cable Side Manufacturer Ethernet 8 RJ 45 CAT5 Socket RJ 45 CAT5 Plug Pulse Engineering Pin Number Signal Name Descriptio...

Страница 40: ...ter HUB When Connecting to a Switching HUB Cable Length between Node HUB 100m or less 100 m or less Cable Length between HUBs 100m or less 100 m or less Number of HUBs between Nodes Up to four Unlimit...

Страница 41: ...II cables so that they are well separated from other cable systems such as the main circuit or power lines 2 Communication system Ethernet Communicate data to a remote device through TCP IP communicat...

Страница 42: ...10 to 10V 0 to 10V 0 to 20 mA Number of Channels 8 4 connector 2 Number of Channels to be Used Any number from 1 to 8 Isolation Between channels Not isolated Between input connector and system power s...

Страница 43: ...tatus when Lit Status when not Lit RUN Green Normal operation Operation stopped no access from CPU Connector Name of Pins Connector Model Module Side Cable Side Manufacturer CN1 CN2 26 10226 52A3PL Co...

Страница 44: ...y Red V1 V5 V1 V5 Voltage input 1 5 2 Gray Black G1V G5V G1 G5 Ground 1 5 Orange Red G1A G5A 3 Orange Black A1 A5 A1 A5 Current input 1 5 14 Yellow Red DP1 DP5 MDP1 MDP5 Mode switching terminal 1 5 16...

Страница 45: ...20 Gray Red DP3 DP7 MDP3 MDP7 Mode switching terminal 3 7 22 White Black DN3 DN7 MDN3 MDN7 Mode switching terminal 3 7 10 Orange Red V4 V8 V4 V8 Voltage input 4 8 11 Orange Black GV4 GV8 G4 G8 Ground...

Страница 46: ...Converter 5V 0V 15V 15V 0V D A Converter Internal circuit 5V Photocoupler Voltage input Current input Mode 10 12 25 23 GND CH8 11 Multiplexer Ground Voltage input Current input Mode 4 6 19 17 GND CH2...

Страница 47: ...ring distance varies between the AI 01 module and each external device Ground the cable shield between an external device and the relay terminal block on the external device side DC DC Converter 5V 0V...

Страница 48: ...utput Number of Channels 4 Isolation Between channels Not isolated Between output connector and system power supply Photocoupler isolation Analog Output Range 10V 0 to 10V Resolution 16 bit 31276 to 3...

Страница 49: ...odule Side Cable Side Manufacturer Analog Output Connector CN1 20 10220 52A3PL Connector 10126 3000VE Shell 10326 52A0 008 Screw locking or 10326 52F0 008 One touch locking Sumitomo 3M Corporation Mod...

Страница 50: ...Connection Example DANGER Use the AO 01 standard cable JEPMC W6090 for the connection to the external device Use the junction terminal block because the distance between the external devices and the...

Страница 51: ...nk mode output Isolation Method Photocoupler Output Voltage 24VDC 19 2 to 28 8V Output Current 100 mA Max Leakage Current When OFF 0 1 mA Max ON Time OFF Time ON 0 5 ms Max OFF 1 ms Max Number of Comm...

Страница 52: ...10150 3000VE Shell 10350 52A0 008 Screw locking or 10350 52F0 008 One touch locking Sumitomo 3M Corporation Name Model Length External Appearance JEPMC W6060 oo Cables for DO 01 Modules JEPMC W6060 05...

Страница 53: ...l output 18 50 16 Orange DO_20 52 Digital output 20 52 17 Gray DO_22 54 Digital output 22 54 18 White 0V_3 7 Common ground 3 7 19 Yellow 24V_4 8 24V power supply 4 8 20 Pink DO_24 58 Digital output 24...

Страница 54: ...on ground 3 7 39 Yellow DO_17 49 Digital output 17 49 40 Pink DO_19 51 Digital output 19 51 41 Orange Continuous DO_21 53 Digital output 21 53 42 Gray Continuous DO_23 55 Digital output 23 55 43 White...

Страница 55: ...input The following diagram gives an outline of the LIO 01 Module functions The only functional difference between the LIO 01 and the LIO 02 is the active state of the output circuits Refer to LIO 01...

Страница 56: ...g indicators LD1 to LD8 are lit 3 Digital output indicators When DO00 to DO07 turn ON corresponding indicators LD1 to LD8 are lit 4 Digital output indicators When DO08 to DO15 turn ON corresponding in...

Страница 57: ...Max ON Time OFF Time ON 0 5 ms Max OFF 0 5 ms Max Number of Commons 8 points DI_COM0 DI_00 to DI_07 DI_COM1 DI_08 to DI_15 Other Functions DI_01 is shared with position registration latch If DI_01 is...

Страница 58: ...ch a fuse externally to each output if circuit protection is required Error Detection Blown fuse detection Other Functions DO_01 is shared with encoder position detection Item Specifications Number of...

Страница 59: ...ow Red DO_11 O Output 11 A10 Pink Red DO_09 O Output 9 A11 Orange Red DO_07 O Output 7 A12 Gray Red DO_05 O Output 5 A13 White Red DO_03 O Output 3 A14 Yellow Red DO_01 O Output 1 A15 Pink Red DI_15 I...

Страница 60: ...Black DO_02 O Output 2 B14 Yellow Black DO_00 O Output 0 B15 Pink Black DI_14 I Input 14 B16 Orange Black DI_12 I Input 12 B17 Gray Black DI_10 I Input 10 B18 White Black DI_08 I Input 8 B19 Yellow Bl...

Страница 61: ...input or phase Z pulse Latch input or phase Z pulse Digital input Digital input Digital output External input signals External input signals External output signals Phase B 24 VDC 24 VDC Fuse blown de...

Страница 62: ..._05 DI_06 DI_07 DI_00 A23 B22 A22 B21 A21 B20 A20 B19 A19 24 VDC Digital input R R External input signals DI_COM1 DI_09 DI_10 DI_11 DI_12 DI_13 DI_14 DI_15 DI_08 B23 B18 A18 B17 A17 B16 A16 B15 A15 24...

Страница 63: ...are 32 digital inputs DI and 32 digital outputs DO sink mode outputs for the digital I O function Indicators The following table shows the status of LIO 04 05 Module LED indicators Indicator Name Indi...

Страница 64: ...icators When DI_00 to DI_07 turn ON corresponding indicators LD1 to LD8 are lit 2 Digital input indicators When DI_08 to DI_15 turn ON corresponding indicators LD1 to LD8 are lit 3 Digital output indi...

Страница 65: ...Input Connection Example Item Specifications Inputs 32 points Input Format Sink mode source mode input Isolation Method Photocoupler PS2805 4 Input Voltage 24VDC 19 2 to 28 8V Input Current 4 1 mA ty...

Страница 66: ...LIO 05 Transistor source mode output Isolation Method Photocoupler Output Voltage 24VDC 19 2 to 28 8VDC Output Current 100 mA Max Leakage Current When OFF 0 1 mA Max ON Time OFF Time ON 0 5 ms Max OF...

Страница 67: ...27 29 31 33 35 37 39 41 43 45 47 49 DI_01 DI_05 N C DI_11 DI_15 DO_01 OV_1 DO_05 N C DO_11 N C DO_15 50 49 25 24 26 27 1 2 Pin Arrangement Viewed from Wiring Side 2 4 6 8 10 12 14 16 18 20 22 24 DI_0...

Страница 68: ...2 O Digital output 6 22 18 White N C 19 Yellow DO_08 24 O O Digital output 8 20 Pink DO_10 26 O O Digital output 10 21 Orange Continuous N C 22 Gray Continuous 24V_2 4 P Digital Output 24V supply 2 4...

Страница 69: ...C DANGER Columns Signal Name I O and Function display the values for connectors CN1 and CN2 in the format CN1 CN2 respectively Pin Wire Color Markings Signal Name I O Function 1 3 5 7 9 11 13 15 17 1...

Страница 70: ...Output 24V supply 1 3 16 Orange DO_04 20 O Digital output 4 20 17 Gray DO_06 22 O Digital output 6 22 18 White N C 19 Yellow DO_08 24 O Digital output 8 24 20 Pink DO_10 26 O Digital output 10 26 21 O...

Страница 71: ...on 1 3 40 Pink 24V_1 3 P P Digital Output 24V supply 1 3 41 Orange Continuous DO_05 21 O O Digital output 5 21 42 Gray Continuous DO_07 23 O O Digital output 7 23 43 White Continuous N C 44 Yellow Con...

Страница 72: ...C IO2303 5V 24 VDC Input 0 Input 1 Input 6 Input 7 24 VDC 6 7 32 10 35 1 2 27 5 30 CN1 connector pin No Com mon 1 Com mon 2 Input 8 Input 9 Input 14 Input 15 Internal circuit 5 6 kW Photocoupler R R P...

Страница 73: ...put 17 Input 22 Input 23 24 VDC 6 7 32 10 35 1 2 27 5 30 CN2 connector pin No Com mon 3 Com mon 4 Input 24 Input 25 Input 30 Input 31 Internal circuit 5 6 kW Photocoupler R R Photocoupler 38 12 13 41...

Страница 74: ...nput 0 Input 1 2 27 Input 6 Input 7 5 30 6 7 32 Input 8 Input 9 10 35 Input 14 Input 15 JEPMC IO2304 DC24V 5V 5 6 k Photocoupler Internal circuit R R L L L L L L 15 12 Output 0 37 Output 1 13 Output 2...

Страница 75: ...Input 23 5 30 6 7 32 Input 24 Input 25 10 35 Input 30 Input 31 JEPMC IO2304 24 VDC 5V 5 6 kW Photocoupler Internal circuit R R L L L L L L 15 12 Output 16 37 Output 17 13 Output 18 38 24 VDC 41 17 42...

Страница 76: ...ector LED Indicators and Switch Settings The ALM light indicates the following conditions Fuse fault ASIC error A phase disconnect B phase disconnect DANGER When converting equipment from the prior ge...

Страница 77: ...OFF 0 1mA Max ON OFF Time ON 0 25ms Max OFF 1ms Max Protection Classification Unprotected output Error Detection Blown fuse detection Analog Input Number of Channels 1 Isolation Non isolated Analog I...

Страница 78: ...connector wiring DC24V 20 Input Current DC24V 11mA TYP DC12V 12mA TYP DC5V 13mA TYP 4 1mA TYP ON Voltage DC24V 17V Min DC12V 9V Min DC5V 3 9V Min 15V Min OFF Voltage DC24V 1 6V Max DC12V 1 1V Max DC5V...

Страница 79: ...Isolation External Power Supply Voltage DC24V 20 Output Current 100mA Max Leak Current at OFF 0 1mA Max ON Time OFF Time ON 0 25ms Max OFF 1ms Max Number of Commons 1 Protection Circuit The fuses are...

Страница 80: ...0 0V cannot be assured Item Specification Analog Input Range 10 to 10V Number of Input Channels 1 Isolation Non isolated Maximum Rated Input 15V Input Impedance Approx 20k Resolution 16 bit 31276 to 3...

Страница 81: ...ns of the LIO 06 analog output circuit are shown below Analog Output Circuit Connection Example Item Specification Output Range 10 to 10V Number of Output Channels 1 Isolation Non isolated Maximum Per...

Страница 82: ...ircuit are shown below Analog Output Value Output Register Value 10 5V 32768 10 0V 31276 5 0V 15638 0 0V 0 5 0V 15638 10 0V 31276 10 5V 32767 Item Specification Number of Encoders 1 channel A B C Phas...

Страница 83: ...Connector RoHS compatible Mating Connector 10150 3000VE Sumitomo 3M Connector unit 10150 3000PE Sumitomo 3M Connector Unit RoHS compatible 10350 52A0 008 Sumitomo 3M Shell screw lock type 10350 52F0 0...

Страница 84: ..._24V Digital Output 24V Power Supply 21 Orange Continuous DO_00 Digital Output 0 22 Gray Continuous DO_02 Digital Output 2 23 White Continuous DO_04 Digital Output 4 24 Yellow Continuous DO_06 Digital...

Страница 85: ...oad External Fuse Installed by customer FG Relay Terminal Block 1 L External Device 10 10V V 10 10V FG External Device 5V 0V Pulse Generator FG L L L L L L L L External Input Signal External Output Si...

Страница 86: ...DO_COM Output 0V common A17 DI_11 Input 11 B5 DO_COM Output 0V common B17 DI_10 Input 10 A6 DO_24V Digital output 24V supply A18 DI_09 Input 9 B6 DO_24V Digital output 24V supply B18 DI_08 Input 8 A7...

Страница 87: ...output 2 23 DO_12 Digital output 12 DO_28 Digital output 28 DO_04 Digital output 4 24 DO_14 Digital output 14 DO_30 Digital output 30 DO_06 Digital output 6 25 DO_GND Digital output 0V common 26 AO_G...

Страница 88: ...OUT52 Output 52 B9 IN19 Input 19 IN51 Input 51 OUT19 Output 19 OUT51 Output 51 A10 IN18 Input 18 IN50 Input 50 OUT18 Output 18 OUT50 Output 50 B10 IN17 Input 17 IN49 Input 49 OUT17 Output 17 OUT49 Out...

Страница 89: ...R Shield tied back at terminal block b SMC 3010 Connector Case Terminal Block PROPER Shield connected across terminal block Shields tied back at device a PROPER Shields of field cables grounded at one...

Страница 90: ...ion History The revision dates and the numbers of the revised manuals appear on the bottom of the back cover Date of Publication Revision Number Section Revised Content January 2013 First Edition Dece...

Страница 91: ......

Страница 92: ...2F Carlton Bld No 21 HuangHe Road HuangPu Distr ict Shanghai 200003 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No...

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