MP2200 User's Manual

YASKAWA
Machine Controller MP2200

USER'S MANUAL
YASKAWA MANUAL NO. SIEP C880700 14A

Copyright © 2004 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
Using this Manual
Please read this manual to ensure correct usage of the MP2200 system. Keep this manual in a safe place for
future reference.
Basic Terms
Unless otherwise specified, the following definitions are used:
• MP2200: Machine Controller MP2200

The Programming Device Software or a Programming Device (i.e., a personal computer) running the Pro-
• MPE720:
gramming Device Software
• PC: Programmable Logic Controller
Manual Configuration
Read the chapters of this manual as required by the purpose.
Selecting
Studying Maintenance
Models and Designing Installation Trial
Chapter Specifications and
Peripheral the System and Wiring Operation
and Ratings Inspection
Devices
Chapter 1
Applicable − − − − −
Overview of the MP2200
Chapter 2
Applicable − − − − −
System Configuration
Chapter 3
− − − − Applicable −
System Startup
Chapter 4
Applicable Applicable Applicable Applicable − −
Module Specifications
Chapter 5
− Applicable Applicable Applicable − −
Mounting and Wiring
Chapter 6
− − Applicable − Applicable −
Basic System Operation
Chapter 7
Maintenance and − − − − − Applicable
Inspection
Chapter 8
− − − − Applicable Applicable
Troubleshooting
iii
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
IMPORTANT Indicates important information that should be memorized.
INFO Indicates supplemental information.
EXAMPLE Indicates application examples.
Describes technical terms that are difficult to understand, or appear in the text without an explana-
TERMS
tion being given.
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:
• S-ON = /S-ON
• P-CON = /P-CON
Copyrights
• DeviceNet is a registered trademark of the ODVA (Open DeviceNet Venders Association).

• PROFIBUS is a trademark of the PROFIBUS User Organization.
• Ethernet is a registered trademark of the Xerox Corporation.
• Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation.
• Pentium is a registered trademark of the Intel Corporation.
• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM”
and the  mark do not appear with product or company names in this manual.
iv
Related Manuals
Refer to the following related manuals as required.
Thoroughly check the specifications, restrictions, and other conditions of the product before attempting to
use it.
Manual Name Manual Number Contents

Machine Controller MP2200/MP2300 Motion Describes functions, specifications, and how to use
Module SIEPC88070016 the MP2200/MP2300 Motion Modules (SVB-01, SVA-
User’s Manual 01, SVR).
Machine Controller MP2200 Communication Describes the functions, specifications, and
Module SIEPC88070004 application methods of the MP2200 Communication
User’s Manual Modules (217IF, 218IF, 260IF, 261IF).
Machine Controller MP900 Series Describes the communication functions,

specifications, and application methods of the
User’s Manual SIEZ-C887-5.1
MECHATORLINK Modules for MP900 Machine
MECHATROLINK System Controllers.
Machine Controller MP900 Series
Describes the instructions used in MP900/MP2000
User's Manual SIEZ-C887-1.2
ladder programming.
Ladder Programming
Machine Controller MP
Describes the instructions used in MP900/MP2000
User's Manual SIEZ-C887-1.3
motion programming.
Motion Programming
Machine Controller MP900/MP2000 Series
Describes how to install and operate the MP900/
User’s Manual SIEPC88070005
MP2000 Series programming system (MPE720).
MPE720 Software for Programming Device
Machine Controller MP900 Series Describes the programming instructions of the New
New Ladder Editor SIE-C887-13.1 Ladder Editor, which assists MP900/MP2000 Series
Programming Manual design and maintenance.
Machine Controller MP900 Series Describes the operating methods of the New Ladder
New Ladder Editor SIE-C887-13.2 Editor, which assists MP900/MP2000 Series design
User’s Manual and maintenance.
v
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-
vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related
equipment and systems.
Indicates precautions that, if not heeded, could possibly result in loss of life or serious
WARNING
injury.
Indicates precautions that, if not heeded, could result in relatively serious or minor
CAUTION
injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious consequences if not heeded.
Indicates prohibited actions that must not be performed. For example, this symbol
PROHIBITED
would be used as follows to indicate that fire is prohibited: .
Indicates compulsory actions that must be performed. For example, this symbol would
MANDATORY
be used as follows to indicate that grounding is compulsory: .
vi
Safety Precautions
The following precautions are for checking products on delivery, storage, transportation, installation, wiring,
operation, maintenance, inspection, and disposal. These precautions are important and must be observed.
WARNING
• Before starting operation in combination with the machine, ensure that an emergency stop procedure
has been provided and is working correctly.
There is a risk of injury.
• Do not touch anything inside the MP2200.
There is a risk of electrical shock.
• Always keep the front cover attached when power is being supplied.
• Observe all procedures and precautions given in this manual for trial operation.
Operating mistakes while the servomotor and machine are connected can cause damage to the machine or even
accidents resulting in injury or death.
• Do not remove the front cover, cables, connector, or options while power is being supplied.
• Do not allow installation, disassembly, or repairs to be performed by anyone other than specified per-
sonnel.
There is a risk of electrical shock or injury.
• 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 MP2200.
• Do not attempt to modify the MP2200 in any way.
There is a risk of injury or device damage.
• Do not approach the machine when there is a momentary interruption to the power supply. When
power is restored, the machine may start operation suddenly. Provide suitable safety measures to
protect people when operation restarts.
vii
Storage and Transportation
CAUTION
• Do not store or install the MP2200 in the following locations.
There is a risk of fire, electrical shock, or device damage.
• Direct sunlight
• Ambient temperature exceeds the storage or operating conditions
• Ambient humidity exceeds the storage or operating conditions
• Rapid changes in temperature or locations subject to condensation
• Corrosive or flammable gas
• Excessive dust, dirt, salt, or metallic powder
• Water, oil, or chemicals
• Vibration or shock
• Do not overload the MP2200 during transportation.
There is a risk of injury or an accident.
Installation
CAUTION
• Never use the MP2200 in locations subject to water, corrosive atmospheres, or flammable gas, or
near burnable objects.
There is a risk of electrical shock or fire.
• Do not step on the MP2200 or place heavy objects on the MP2200.
• Do not block the air exhaust port or allow foreign objects to enter the MP2200.
There is a risk of element deterioration inside, an accident, or fire.
• Always mount the MP2200 in the specified orientation.
There is a risk of an accident.
• Do not subject the MP2200 to strong shock.
There is a risk of an accident.
viii
Wiring
CAUTION
• Check the wiring to be sure it has been performed correctly.
There is a risk of motor run-away, injury, or an accident.
• Always use a power supply of the specified voltage.
There is a risk of burning.
• In places with poor power supply conditions, take all steps necessary to ensure that the input power
supply is within the specified voltage range.
There is a risk of device damage.
• Install breakers and other safety measure to provide protection against shorts in external wiring.
There is a risk of fire.
• Provide sufficient shielding when using the MP2200 in the following locations.
• 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.
Selecting, Separating, and Laying External Cables
CAUTION
• Consider the following items when selecting the I/O signal lines (external cables) to connect the
MP2200 to external devices.
• Mechanical strength
• Noise interference
• Wiring distance
• Signal voltage, etc.
• Separate the I/O signal lines from the power lines both inside and outside the control box to reduce
the influence of noise from the power lines.
If the I/O signal lines and power lines are not separated properly, malfunctioning may result.
Example
外部配線の分離例of Separated External Cables
Steel separator
鉄板製のセパレータ
Power General Digital I/O

circuit control cir- signal
ディジタル
動力回路の一般制御回路入出力信号
cables
ケーブル cuit cables
のケーブル cables
ケーブル
ix
Maintenance and Inspection Precautions
CAUTION
• Do not attempt to disassemble the MP2200.
• Do not change wiring while power is being supplied.
• When replacing the MP2200, restart operation only after transferring the programs and parameters
from the old Module to the new Module.
Disposal Precautions
CAUTION
• Dispose of the MP2200 as general industrial waste.
x
CONTENTS
Using this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
1 Outline of MP2200
1.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
2 System Configuration
2.1 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Basic System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 System Configuration Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2 List of Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.2.1 MP2200 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.3 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

2.4 Cables and Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.4.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.4.2 Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.5 Software - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8

2.5.1 Software for Programming Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
3 System Startup
3.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.1 System Startup Flowchart- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.3 Device Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.1.4 Connecting and Wiring the System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.1.5 Initializing the System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.1.6 Starting the MPE720 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.2 Sample Program 1: Manual Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-36

3.2.1 Description - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-36
3.2.2 Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-37
3.2.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40
3.3 Sample Program 2: Positioning Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47

3.3.1 Description - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
3.3.2 Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48
3.3.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
3.4 Sample Program 3: Phase Control with an Electronic Shaft - - - - - - - - - - - - - - 3-52

3.4.1 Description - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-52
xi
3.4.2 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
3.4.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
3.5 Sample Program 4: Phase Control with an Electronic Cam- - - - - - - - - - - - - - - 3-57

3.5.1 Description- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-57
3.5.2 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-58
3.5.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-60
4 Module Specifications
4.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3
4.1.2 Function List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-4
4.2 Base Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-5
4.2.2 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-5
4.3 CPU-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

4.3.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7
4.3.2 LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7
4.3.4 Functions and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.4 SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.4.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.4.2 LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.4.3 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
4.4.4 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.5 SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18

4.5.4 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.6 LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22

4.7 LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25

4.8 LIO-01 and LIO-02 Module Counter Functions - - - - - - - - - - - - - - - - - - - - - - - 4-28

4.8.2 Counter Function Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30
4.8.3 Electronic Gear Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33
4.8.4 Counter Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37
xii
4.9 LIO-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
4.9.1 Outline of Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
4.9.2 LED Indicators and Switch Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
4.9.3 Hardware Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41
4.10 218IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42

4.10.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
4.10.2 LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
4.10.3 Hardware Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44
4.11 217IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45

4.11.3 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47
4.12 260IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48

4.13 261IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52

4.14 EXIOIF Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56

4.15 External Appearance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57

4.15.1 Basic Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57
4.15.2 Mounting Optional Module Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58
5 Mounting and Wiring

5.1 Handling the MP2200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 Mounting the MP2200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Replacing and Adding Optional Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
5.2 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8

5.2.1 Connecting Power Supply - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.2.2 SVB-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
5.2.3 SVA-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
5.2.4 LIO Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
5.2.5 LIO-04 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.2.6 218IF-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47
5.2.10 EXIOIF Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61
xiii
6 Basic System Operation
6.1 Operating Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Online Operating Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2
6.1.2 Offline Stop Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2
6.2 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3

6.2.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3
6.2.2 Indicator Patterns - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-4
6.2.3 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-5
6.3 User Program- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.3.1 Drawings (DWGs)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-7
6.3.2 Execution Control of Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-8
6.3.3 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.3.4 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
6.4 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20

6.4.1 Data Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.4.2 Types of Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
6.4.3 Register Designation Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
6.4.4 Subscripts i and j - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
6.5 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29

6.5.1 Overview of Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29
6.5.2 SVB-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
6.5.3 SVA-01 Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-39
6.5.4 LIO-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-40
6.5.5 LIO-02 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-41
6.5.6 LIO-04 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42
6.5.7 218IF-01 Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43
6.5.8 217IF-01 Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44
6.5.9 260IF-01 Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-46
6.5.10 261IF-01 Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47
6.6 Setting and Changing User-defined Files or Data - - - - - - - - - - - - - - - - - - - - - 6-48

6.6.1 Saving User-defined Files or Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-48
6.6.2 Setting and Changing the Scan Times - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-48
6.6.3 Setting and Changing the Module Configuration Definition - - - - - - - - - - - - - - - - - - - - - - - - - 6-49
7 Maintenance and Inspection

7.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2
7.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3
7.2 MBU-01/MBU-02 Unit Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4

7.2.1 Battery Life - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4
7.2.2 Replacing the Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4
xiv
8 Troubleshooting
8.1 Overview of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.1 Troubleshooting Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.2 Basic Troubleshooting Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.1.3 Indicator Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.2 System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5

8.2.1 Overview of System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.2.2 Processing Flow When a System Error Occurs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
8.2.3 Processing Flow for a User Program Error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-7
8.2.4 System Register Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
Appendices
A List of System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1 System Service Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
A.3 Program Software Numbers and Remaining Program Memory Capacity - - - - - - - - - - - - - - - - - A-5
INDEX
Revision History
xv
1
1
Outline of MP2200
This chapter provides an overview and describes the features of the MP2200 Machine Control-
ler.
1.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1-1
1 Outline of MP2200
1.1 Features
The MP2200 is a high-performance, multi-axis Machine Controller for flexible system construction. In addition
to I/O and Communication Modules, it has a wide range of Optional Modules, including various Motion Mod-
ules that support a variety of motor drives. It provides ideal motion control for a range of machines, from stand-
alone machines to FA systems.
(1) Flexibility
• With an option slot configuration that enables expansion to 35 slots, Optional Modules can be selected
freely and the optimum system can be built for your machine.
(2) High Performance

• Control characteristics have been improved by increasing the CPU and Motion Network
(MECHATROLINK-II) speed.
• Completely synchronous operation can be achieved for up to 256 axes.
• MECHATROLINK-II baud rate: 2.5 times faster than MP920
• CPU processing speed: 2.0 times faster than MP920
• Larger user memory area
• High-speed (0.5 ms) motion control is now possible.
• MECHATROLINK-II enables position control, speed control, torque control, and phase control, and
makes precise synchronous control possible. The control mode can also be changed online, facilitating
complicated machine operations. The range of possible motion control applications is increased even
further with the Virtual Motion Module (SVR).
• The following open networks are supported when optional Communication Modules are used.
• Ethernet
• DeviceNet
• PROFIBUS
(3) Easy to Use

• Machine startup times can be greatly reduced by using the self-configuration function that automatically
detects devices connected to MECHATROLINK and sets the required parameters.
• The application program converter can utilize your previous software assets with their accumulated data-
banks of specific knowledge to improve the system further.
(4) Compact
• The mounting area has been reduced to half that of the MP920.
1-2
1.2 Module Appearance

1.2.1 Basic Unit
The following figure shows the external appearance of a Basic Unit.
1
MP2200 MBU-01 CPU-01 218IF-01 SVB-01 LIO-01
POWER
LIO-01 LIO-02 260IF-01 217IF-01 EXIOIF
YASKAWA
1-3
1 Outline of MP2200
1.2.2 Modules
1.2.2 Modules
The following figures show the external appearance of the Modules.
LED indicators
LED indicators
CPU-01 SVB-01
DIP switch
DIP switch RDY RUN RUN ERR
ALM ERR
Switches (station TX
address setting)
BAT
M/S
SIZE
STOP
SPD
SUP
OFF ON
INIT
CNFG 10
MON
TEST
SW1 1
OFF ON
MECHATROLINK M-I/II
connector
CN1
MECHATROLINK
connector
CN2
CPU-01 SVB-01
LED indicators LIO-01 LED indicators LIO-02
Switch Switch
I/O connector I/O connector
LIO-01 LIO-02
LED indicators LED indicators

LIO-04 SVA-01
RUN FU RUN ERR
CN1
CH1
I/O connector Servo connector
CH2
24-V input connector
+24V
ON
CN2 DC IN
LIO-04 SVA-01
1-4

218IF-01 217IF-01
Switch Switch
Serial connector Serial connector

(RS-232C) (RS-232C)
1
Ethernet connector Serial connector
(10Base-T) (RS-422/485)
218IF-01 217IF-01

260IF-01 261IF-01
Switches Switches
Serial connector Serial connector

(RS-232C) (RS-232C)
PROFIBUS
DeviceNet connector PROFIBUS connector
260IF-01 261IF-01
EXIOIF
External input connector
External output connector
EXIOIF
1-5
2
System Configuration
2
This chapter explains the product information required to build MP2200 systems.
2.1 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Basic System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 System Configuration Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2 List of Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.2.1 MP2200 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.3 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - 2-6

2.4 Cables and Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.4.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.4.2 Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.5 Software - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8

2.5.1 Software for Programming Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
2-1
2.1.1 Basic System Configuration
2.1 System Configuration

2.1.1 Basic System Configuration
The following diagram shows the basic system configuration.
(1) One-Rack Configuration
Slot 0 is always the CPU Module.
MP2200
MP2200 MBU-02 CPU-01 SVB-01 LIO-01
24-VDC
power
supply
9 Modules max.
Optional Modules
MECHATROLINK-II Motion Modules
SVB-01 MECHATROLINK
PL2900
PL2910
IO2310
SGDS
SGDH
NS115
SVA-01 Analog outputs
I/O Modules
M M
LIO-01 External I/O
MECHATROLINK- Servodrives LIO-02 External I/O

compatible I/O Modules
LIO-04 External I/O
Communication Modules
218IF-01 Ethernet
217IF-01 RS485/422
260IF-01 DeviceNet
261IF-01 PROFIBUS
RS-232C
2-2
2.1 System Configuration
EXAMPLE
The following diagram shows an example system configuration.

SVB-01
218IF-01
MP2200 LIO-01
MP2200 MBU-02 CPU-01 SVB-01 218IF LIO-01
-01
24-VDC
power
supply
2
External I/O
MECHATROLINK-II
Control panel
RS-232C
PL2900
PL2910
IO2310
SGDS
SGDH
NS115
MPE720
M M
Ethernet
MECHATROLINK- Servodrives
compatible I/O Modules
Note: 1. Up to 21 devices can be connected to MECHATROLINK-II. (The SERVOPACKs can be connected

to up to 16 axes.)
2. Up to 32 I/O can be used (16 inputs and 16 outputs) with the LIO-01.
3. Communication Modules can be used to connect to Ethernet, DeviceNet, PROFIBUS, RS-232C,
and RS-422/485 open networks.
4. In the above example, a 218IF-01 Module is used. The MPE720 is connected to Ethernet and a
Human-Machine Interface (HMI) is connected to RS-232C.
2-3
2.1.2 System Configuration Precautions
(2) Maximum Four-Rack Configuration
Slot 0 (always CPU Module)

Slot 8
Optional Modules
24 VDC
or
100/200
External I/O Modules
VAC
External I/O
LIO-04
LIO-01
LIO-02
Slot 1 External I/O
Slot 9
RS-232C MMI
218IF-01
260IF-01
261IF-01
217IF-01
Ethernet MPE720
DeviceNet
PROFIBUS
Slot 1 Slot 9
RS-422/485
Motion Modules
M
SVB-01
SVA-01
SERVOPACK
PG
Slot 1 Slot 9
Distributed I/O Modules *

SVB-01
External output
External input
* A distributed I/O function is provided by the SVB-01 Modules through MECHATROLINK communication.
2.1.2 System Configuration Precautions

The following precautions must be followed when designing a system using the MP2200.
• Use the connecting cables and connectors recommended by Yaskawa. Yaskawa has a range of cables.
Always check the device to be used and select the correct cable for the device.
• Different SERVOPACKs are connected to MECHATROLINK-I and MECHATROLINK-II. Refer to the
list and select the appropriate SERVOPACKs.
• The user must supply the 24-VDC power supply.
• The battery backs up M registers, system registers, and trace memory. Always save the program to flash
memory whenever it is input or changed.
2-4
2.2 List of Modules
2.2 List of Modules

2.2.1 MP2200 Modules
The following table shows the Modules that make up MP2200 systems.
Occu-
Descrip-
Group Type Model pied Overview
tion
slots
Base Unit (for AC Basic Unit with 85- to 276-VAC power supply
MBU-01 JEPMC-BU2200 −
power supply) (9 slots)
Basic Unit
Base Units
Base Unit (for DC Basic Unit with 24-VDC (±20%) power sup-
MBU-02 JEPMC-BU2210 −
power supply) ply (9 slots)
CPU Mod-
CPU Module CPU-01 JAPMC-CP2200 1 MP2200 system CPU
ules 2
MECHATROLINK MECHATROLINK-I and
Motion Interface Servo SVB-01 JAPMC-MC2310 1 MECHATROLINK-II-compatible
Modules Module SERVOPACKs (16 axes max.)
Analog Servo Inter-
SVA-01 JAPMC-MC2300 1 Analog servo interface (2 axes)
face Module
16 inputs and 16 outputs (sink mode outputs)
I/O Module LIO-01 JAPMC-IO2300 1
1 pulse input
16 inputs and 16 outputs (source mode out-
I/O Modules
I/O Module LIO-02 JAPMC-IO2301 1 puts)
Optional Modules
1 pulse input
I/O Modules LIO-04 JAPMC-IO2303 1 32 inputs and 32 outputs (sink mode outputs)
Ethernet Communi-
218IF-01 JAPMC-CM2300 1 RS-232C/Ethernet communication
cation Module
General-purpose
RS-232C, RS-422, and RS-485 communica-
Communi- Serial Communica- 217IF-01 JAPMC-CM2310 1
tion
cation Mod- tion Module
ules DeviceNet Commu-
260IF-01 JAPMC-IO2320 1 RS-232C and DeviceNet communication
nication Module
PROFIBUS Com-
261IF-01 JAPMC-IO2330 1 RS-232C and PROFIBUS communication
munication Module
Expansion 1
Connection Inter- System bus expansion (maximum 4-Rack con-
Interface EXIOIF JAPMC-EX2200
face figuration)
Modules
2-5
2.3 Devices Connectable to MECHATROLINK

The devices that are compatible with MECHATROLINK and can be connected to the SVB-01 Module are listed
below.
(1) SERVOPACKs
The following table shows SERVOPACKs that are compatible with MECHATROLINK and can be connected to
the SVB-01 Module.
Model Details MECHATROLINK-I MECHATROLINK-II
SGD-N MECHATROLINK-I compatible AC
SERVOPACKs
{ ×
SGDB-AN
SGDH-E Σ-II Series SGDH Servodrives NS100
MECHATROLINK-I Interface Unit
{ ×
JUSP-NS100
SGDH-E Σ-II Series SGDH Servodrives NS115
{ {
JUSP-NS115 MECHATROLINK-II Interface Unit
SGDS-1 Σ-III Series AC Servodrives { {
(2) I/O Modules

The following table shows Modules that are compatible with MECHATROLINK and can be connected to the
SVB-01 Module.
Model Details MECHATROLINK-I MECHATROLINK-II
64-point I/O Module
JEPMC-IO350
24 VDC, 64 inputs, 64 outputs
{ ×
DC Input Module
JAMSC-120DDI34330
12/24 VDC, 16 inputs
{ ×
DC Output Module
JAMSC-120DDO34340
12/24 VDC, 16 outputs
{ ×
AC Input Module
JAMSC-120DAI53330
100 VAC, 8 inputs
{ ×
AC Input Module
JAMSC-120DAI73330
200 VAC, 8 inputs
{ ×
AC Output Module
JAMSC-120DAO83330
100/200 VAC, 8 outputs
{ ×
Relay Module
JAMSC-120DRA83030
Wide voltage range relay contacts, 8 outputs
{ ×
A/D Module
JAMSC-120AVI02030
Analog inputs, −10 to 10 V, 4 channels
{ ×
D/A Module
JAMSC-120AVO01030
Analog outputs, −10 to 10 V, 2 channels
{ ×
Counter Module
JAMSC-120EHC21140
Reversible counter, 2 channels
{ ×
Pulse Output Module
JAMSC-120MMB20230
Pulse output, 2 channels
{ ×
64-point I/O Module
JEPMC-IO2310 { {
24 VDC, 64 inputs, 64 outputs
Counter Module
JEPMC-PL2900 { {
Reversible counter, 2 channels
Pulse Output Module
JEPMC-PL2910 { {
Pulse output, 2 channels
A/D Module
JEPMC-AN2900 { {
Analog inputs, −10 to 10 V, 4 channels
D/A Module
JEPMC-AN2910 { {
Analog outputs, −10 to 10 V, 2 channels
JAPMC-MC2310 SVB-01 Motion Module { {
JEVSA-YV250 MYVIS YV250 Machine Vision System { {
JEPMC-MC400 MP940 Motion Controller { ×
2-6
2.4 Cables and Accessories
2.4 Cables and Accessories

2.4.1 Cables
The following table shows the cables that can be connected to the MP2200.
Module Connector Details Model Specifications
• Between SVB-01 and I/O Unit
• Between SVB-01 and SGDH-
E+NS100
• Between SVB-01 and SGDH-
JEPMC-W6002- E+NS115
JEPMC-W6003- • Between SVB-01 and SGDS-
MECHATROLINK-I 1
SVB-01 M-I/II
and
MECHATROLINK-II
With USB connector on both ends*
Note: The JEPMC-W6003- has a fer-
2
Cables
rite core.
• Between SVB-01 and SGD-N
• Between SVB-01 and SGDB-AN
JEPMC-W6010-
• Between USB connector and loose
wires
JEPMC-W6022 Terminator
• Between SVA-01 and SGDS-
SVA-01 CH1,CH2 SGDS Cable JEPMC-W2040-
1
LIO-01 Between LIO-01 or LIO-02 and external
I/O External I/O Cable JEPMC-W2061-
LIO-02 I/O
LIO-04 CN1,CN2 External I/O Cable JEPMC-W6060- Between LIO-04 and external I/O
Communi- Between RS-232C port and 25-pin, D-sub
JEPMC-W5310-
cation PORT RS-232C Cable connector (male)
Modules JEPMC-W5311- Between RS-232C port and DOS
218IF-01 10Base-T Ethernet Cable Cross cable (Category 3 min.)
Module-side connector (manufactured by
1010214-52A2JL
3M)
RS-422 and RS-485
217IF-01 RS-422/485 Cable-side connector (manufactured by
Cable 10114-3000VE
3M)
10314-52A0-008 Shell (manufactured by 3M)
MSTB2-5/5-GF- Module-side connector (manufactured by
260IF-01 DeviceNet DeviceNet Cable
5.08AM Phoenix Contact)
17LE-13090- Module-side connector (manufactured by
261IF-01 PROFIBUS PROFIBUS Cable
27(D33C) Daiichi Denshi Kogyo)
CN1IN,
EXIOIF EXIOIF Cable JEPMC-W2091- Between EXIOIF and EXIOIF
CN2OUT
* Commercially-available USB cables cannot be used. Always use Yaskawa cables.
2.4.2 Accessories
Name Model Remarks
DIN Rail Mounting Clips JEPMC-OP300 −
Battery ZZK000064 ER3VC + Special Connector (BA000517)
721-863/001-034 MBU-01 Unit Cable side (manufactured by WAGO, black)
Power Supply Connector
721-863/001-000 MBU-02 Unit Cable side (manufactured by WAGO, white)
2-7
2.5.1 Software for Programming Devices
2.5 Software
2.5.1 Software for Programming Devices
Name Model Remarks
MPE720 CPMC-MPE720 (Ver. 5.10 or later)* CD-ROM (1 disk)
* Older versions cannot be used. Always use Ver. 5.10 or later.
2-8
3
System Startup
This chapter describes the startup procedure for the MP2200 system and provides sample pro- 3
grams for typical operation and control.
3.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.1 System Startup Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.3 Device Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.1.4 Connecting and Wiring the System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.1.5 Initializing the System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.1.6 Starting the MPE720 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.2 Sample Program 1: Manual Operation - - - - - - - - - - - - - - - - - - - - - - - - - 3-36

3.2.1 Description - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-36
3.2.2 Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-37
3.2.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40
3.3 Sample Program 2: Positioning Control - - - - - - - - - - - - - - - - - - - - - - - - 3-47

3.3.1 Description - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
3.3.2 Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48
3.3.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
3.4 Sample Program 3: Phase Control with an Electronic Shaft - - - - - - - - - - 3-52

3.4.1 Description - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-52
3.4.2 Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
3.4.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
3.5 Sample Program 4: Phase Control with an Electronic Cam - - - - - - - - - - - 3-57

3.5.1 Description - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-57
3.5.2 Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-58
3.5.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-60
3-1
3 System Startup
3.1.1 System Startup Flowchart
3.1 Outline
This section explains the system startup procedure when the sample program on the MPE720 installation disk is
used. Details on the machine system design have been omitted here.
3.1.1 System Startup Flowchart

The system startup procedure is outlined below.
Refer to the references given in the right-hand column for information on each step.
1. Prepare the equipment needed for testing. 3.1.3 Device Preparation
2. Mount the 218IF-01 to the MP2200. Chapter 5 Mounting and Wiring
Connect the MPE720, and wire the Servomotors

3. 3.1.4 Connecting and Wiring the System
and SERVOPACKs.
4. Initialize the SERVOPACKs. 3.1.5 Initializing the System
The connected devices are automatically con-

5. 3.1.5 Initializing the System
firmed.
Install the sample programs and start the

6. 3.1.6 Starting the MPE720
MPE720.
Save the sample program and configuration defi-

7. 3.1.6 Starting the MPE720
nitions to flash memory.
3.2 Sample Program 1: Manual Operation

3.3 Sample Program 2: Positioning Control
Execute the program and check the test opera- 3.4 Sample Program 3: Phase Control with an
8.
tion. Electronic Shaft
3.5 Sample Program 4: Phase Control with an
Electronic Cam
3-2
3.1 Outline
3.1.2 System Configuration

The following diagram shows the configuration of devices to help describe the MP2200 system startup.
The following description uses a Basic Unit with a 24-VDC power supply input as an example.
218IF-01
SVB-01
MP2200
MP2200 MBU-02 CPU-01 218IF-01 SVB-01 LIO-01
24-VDC POWER
power
supply
I/O
Optional Module
Optional Module
Optional Module
Optional Module
Optional Module
PORT
BATTEY CN1
10Base-T
DC CN2
POWER
MECHATROLINK-II
3
SERVOPACK SERVOPACK
YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V
SGDS-01A12A SGDS-01A12A
Terminator
SW1 SW1
C C
N N
CHARGE 6
A/B
JEPMC-W6002-01 CHARGE 6
A/B
L1 L1
L2 L2
L1C C L1C C
N N
L2C 3 L2C 3
B1/ B1/
B2 B2
C C
U N U N
1 1
V V
W W
MPE720 C
N
C
N
2 2
C C
N N
4 4
200 VAC
Servomotor Servomotor
* The 24-VDC power supply is not required for a Basic Unit with a 100-VAC power supply input.
INFO Refer to Chapter 5 Mounting and Wiring for information on mounting Modules.
3-3
3 System Startup
3.1.3 Device Preparation
3.1.3 Device Preparation

Prepare the devices shown in the following tables. These devices are required for checking operation using the
sample program.
(1) Controller-related Equipment
Name Model Quantity

Base Unit JEPMC-BU2210 or JEPMC-BU2200 1
CPU-01 Module JAPMC-CP2200 1
218IF-01 JAPMC-CM2300 1
SVB-01 Module JAPMC-MC2310 1
MECHATROLINK Cable (1 mÅj JEPMC-W6002-01 2
Terminator JEPMC-W6022 1
MP2200 MBU-02 CPU-01 218IF-01 SVB-01

POWER
JEPMC-W6022
JEPMC-W6002-01
DC
(2) Programming Device-related Equipment
Name Model Quantity

MPE720 CPMC-MPE720 1
RS-232C Cable JEPMC-W5311-03
or 1
Ethernet Cable Commercially available cross cable
Computer Commercially available product 1
Note: The MP2200 can be connected via RS-232C or Ethernet connections.
Computer
JEPMC-W5311-03
MPE720
3-4
3.1 Outline
(3) Servodrive-related Equipment
Name Model Quantity

Σ-III SERVOPACKs SGDS-01A12A 2
Σ-III Servomotors SGMAS-01ACA21 2
Motor Cables (3 m) JZSP-CSM01-03 2
Encoder Cables (3 m) JZSP-CSP01-03 2
Digital Operator JUSP-OP05A 1
1 12
3
SVON COIN TGON REF CHARGE
VCMP
YASKAWA
ALARM SCROLL MODE/SET

RESET
JOG
DATA
SVON
READ WRITE
SERVO SERVO
DIGITAL OPERATOR JUSP-OP05A
SERVOPACK Servomotor Digital Operator
(4) Other Required Equipment
Name Specifications Quantity

24-VDC power supply Current capacity of 2 A or greater 1
3-5
3 System Startup
3.1.4 Connecting and Wiring the System
3.1.4 Connecting and Wiring the System

(1) Connecting the MPE720 and MP2200
The following figure shows how to connect the MPE720 and the 218IF-01 Module using a PP Cable.
218IF-01
MP2200
MP2200 MBU-02 CPU-01 218IF-01 SVB-01
POWER
PORT
Optional Module
Optional Module
Optional Module
Optional Module
Optional Module
Optional Module
M- /
BATTEY CN1
10Base-T
DC CN2
POWER
JEPMC-W5311-03
(2) Connecting the MP2200 and SERVOPACKs

Use a MECHATROLINK Cable to connect the MP2200 and SERVOPACKs.
SVB-01
MP2200
MP2200 MBU-02 CPU-01 218IF-01 SVB-01
POWER
PORT
Optional Module
Optional Module
Optional Module
Optional Module
Optional Module
Optional Module
M- /
BATTEY CN1
10Base-T
DC CN2
POWER
SERVOPACK SERVOPACK
SW1 SW1
C
N
C
N Terminator
MECHATROLINK-II CHARGE
A/B
6
JEPMC-W6002-01 CHARGE 6
A/B
L1 L1
L2 L2
L1C C L1C C
N N
L2C 3 L2C 3
B1/ B1/
B2 B2
C C
U N U N
1 1
V V
W W
C C
N N
2 2
C C
N N
4 4
Set the SERVOPACK MECHATROLINK station numbers to 1 and 2.

The sample program is designed to operate with station numbers 1 and 2.
3-6
3.1 Outline
(3) Connecting SERVOPACKs and Servomotors

Use the motor cable and encoder cable to connect SERVOPACKs and Servomotors.
SVB-01
MP2200
MP2200 MBU-02 CPU-01 218IF-01 SVB-01
POWER
PORT
Optional Module
Optional Module
Optional Module
Optional Module
Optional Module
Optional Module
M- /
BATTEY CN1
10Base-T
DC
CN2
POWER
SERVOPACK SERVOPACK
MECHATROLINK-II
SW1
CHARGE
C
N
6
A/B
SW1
CHARGE
C
N
6
A/B
Terminator 3
L1 L1
L2 L2
L1C C L1C C
N N
L2C 3 L2C 3
B1/ B1/
B2 B2
C C
U N U N
1 1
V V
W W
C C
N N
2 2
C C
N N
4 4
JZSP-CSM01-03 JZSP-CSP01-03
Servomotor Servomotor
3-7
3 System Startup
3.1.5 Initializing the System

This section describes the Σ-III SERVOPACK initialization and self-configuration procedures required when
first starting a MP2200 system.
(1) Initializing Σ-III SERVOPACKs
This section explains the procedure for initializing the SERVOPACKs. Always initialize SERVOPACKs that
have been brought from other systems. This initialization procedure is not required for SERVOPACKs that have
not been used before.
1. Turn ON SERVOPACK.
Turn ON the control power supply and main power supply for the SERVOPACK.
2. Initialize parameter settings.

Return the parameter settings to the standard default settings using Fn005.
3. Disconnect SERVOPACK power.

Turn OFF the control and main power supplies.
4. Turn ON SERVOPACK.
Turn ON the control power supply and main power supply for the SERVOPACK.
The method for initializing the parameter settings (step 2, above) from the SERVOPACK Digital Operator is
shown below.
(2) Initializing Parameter Settings (Fn005)

Initialize the parameters to return them to the default settings.
Note: The settings cannot be initialized if writing is prohibited using Fn010 or if the Servo ON signal is ON.
3-8
3.1 Outline
(a) Operation Procedure

Operation Keys Display Example Description
Press the Key to display the Utility

Function Mode main menu. Press the
Keys to select Fn005.
Press the Key.

The display is switched to the Fn005 Parameter
Initialization Screen.
• If the display is not switched and NO-OP is
displayed in the status display, the Write Pro-
hibited Setting (Fn010 = 0001) is set. Check
the setting and reset. 3
Press the Key to initialize the parame-
ters.
Parameter Init will blink during initialization.
When initialization has been completed,
Parameter Init will stop blinking and the status
display will change as shown below.
BB → Done → A.941
Note: A.941 is a warning to indicate that the
power must be cycled for a parameter that
has been changed. Cycle the power after
initializing the parameters.
• Press the Key if you do not want to

initialize parameters. The display will return
to the Utility Function Mode main menu.
(3) Turning ON the Power Supply Again

Parameter settings will be initialized but some of the parameters need the power to be cycled to enable the set-
tings. Always turn OFF the power and then turn it ON again.
3-9
3 System Startup
(4) Executing MP2200 Self-configuration

Execute self-configuration to automatically configure the Optional Modules mounted to the Basic Unit and the
devices connected to the MECHATROLINK.
This section explains the method for executing self-configuration. The power to Σ-III SERVOPACKs has already
been turned ON prior in this procedure.
1. Turn OFF the power.
Turn OFF the Basic Unit 24-VDC power supply.
STOP
SUP
INIT 2. Set DIP switches.
CNFG
Turn ON the INIT and CNFG pins on the DIP switch (SW1) on the
MON
TEST Basic Unit.
SW1
OFF ON
3. Turn ON the power.
Turn ON the Basic Unit 24-VDC power supply.
4. Check the display.

Check that the LED indicators on the Basic Unit change as shown
below.
RDY RUN RDY RUN RDY RUN
ALM ERR ALM ERR ALM ERR
TX BAT TX BAT TX BAT
Not lit Lit Flashing
STOP
SUP
INIT 5. Reset DIP switch.
CNFG
Turn OFF the INIT and CNFG pins on the DIP switch (SW1) on the
MON
TEST Basic Unit.
SW1
OFF ON
• INIT Switch
IMPORTANT
RAM data will be cleared if the INIT pin on the DIP switch on the CPU Module is turned ON and the
power is turned ON. Flash memory data is read when the INIT switch is turned OFF and the power is
turned ON. Therefore, always save data to the MP2200 flash memory before turning OFF the power when
writing or editing programs.
Refer to 3.1.6 Starting the MPE720 for information on saving data to flash memory.
• Turning OFF Power after Executing Self-configuration

Do not turn OFF the 24-V power supply to the MP2200 after executing self-configuration until the defini-
tions data has been saved to flash memory in the MP2200. If the power is turned OFF somehow before the
data is saved to flash memory, execute self-configuration again.
3-10
3.1 Outline
3.1.6 Starting the MPE720

This section describes the preparations for connecting the MPE720 to the MP2200, and the method for installing
the sample program for the MP2200.
(1) MPE720 Startup Procedure
Make sure the MPE720 System Software is installed in advance. Refer to the Machine Controller MP900/
MP2000 Series Programming Device Software MPE720 User’s Manual (Ref. No. SIEPC88070005) for informa-
tion on installing the MPE720. The startup procedure is shown in the following flow-chart.
1. Starting the MPE720
Start the MPE720.
2. Communication settings
Define communications with the MP2200.
3. Creating group folders

Create a group folder.
3
4. Creating an order folder
Create an order folder.
5. Creating a controller folder

Create a controller folder.
6. Logging on online
Log on online to the MP2200.
7. Loading the sample programs

Load the sample programs from the MPE720 system CD-ROM.
8. Transferring individual sample programs

Transfer the sample programs individually.
9. Setting individual parameters

Set the individual parameters to match the sample program.
10. Saving to flash memory

Save the sample program to the MP2200 flash memory.
11. All program file dump

Back up MP2200 data on the computer hard disk.
3-11
3 System Startup
(2) Starting the MPE720

Start the MPE720 using the procedure below.
1. Double-click the MPE720 icon in the YE_Applications Folder.
Double-click
2. The File Manager Window will be displayed.
(3) Communication Settings

Make communication settings for connecting the MPE720 and the MP2200 using the procedure below. These
settings are not required if the communication settings have already been made.
1. When the MPE720 is started, the File Manager and Communication Process Button will be displayed on
the Toolbar at the bottom of the screen. Click the Communication Process button to open the Communi-
cation Process Window.
Click
3-12
3.1 Outline
2. Double-click Logical PT number 1 in the Communication Process Window to display the Logical Port
Setting Window.
Double-click
3. For RS-232C connections, select Port Kind - Serial in the Logical Port Setting Window.
4. Setting Serial Communication Ports

a) Click the Detail button in the Logical Port Setting Window.
3-13
3 System Startup
b) The Serial Port Setting Window will be displayed. Match the settings under Physical Port to the com-
puter’s serial communication port. Leave the other items on the default settings. Once the settings have
been completed and checked, click the OK button.
c) The Logical Port Setting Window will be displayed. Click the OK button again. The screen will return
to the Communication Process Window. Check that Serial has been allocated to the Logical PT number
1.
5. Ethernet Connections
Double-click Logical PT number 2 in the Communication Process Window to display the Logical Port
Setting Window.
Double-click
3-14
3.1 Outline
6. Ethernet Settings
a) Select Port Kind - CP-218 in the Logical Port Setting Window and click the Detail button.
b) The CP-218 Port Setting Window will be displayed. Select OFF for Default and enter the computer IP
address in the IP Address (First) field. Leave the other items on the default settings. Once the settings
have been completed and checked, click the OK button.
c) The Logical Port Setting Window will be displayed. Click the OK button again. The screen will return
to the Communication Process Window. Check that CP-218 has been allocated to the Logical PT num-
ber 2.
3-15
3 System Startup
7. Saving Communication Port Settings

Save the communication port settings. These settings will be used as the communication port information
whenever the communication process is started. The procedure for saving the communication port set-
tings is shown below.
a) Click File - Save.
b) A save confirmation window will be displayed. Click the Yes button.
8. Starting the Communication Process Again

The communication process must be started again when settings have been made or changed.
a) Select File - Exit to close the Communication Process Window.
b) A confirmation message will be displayed. Click the Yes button.
c) Double-click the Communication Manager icon in the YE_Applications Folder to reopen the Com-
munication Process Window.
Double-click
3-16
3.1 Outline
(4) Creating Group Folders

Create a group folder in the File Manager Window, using the procedure below.
Example: Folder name: MP2200
Create a group folder using the procedure below.
1. Right-click the root directory and select New - Group folder.
2. Enter the group folder name in the Make New Folder Window and click the OK button. The group folder
name must be 8 characters or less.
3. The new group folder MP2200 will be created. Double-click the root directory or click the button to
display the MP2200 Group Folder.
3-17
3 System Startup
(5) Creating an Order Folder

Create an order folder using the procedure below.
Example: Folder name: YESAMPLE
1. Right-click the MP2200 Group Folder and select New - Order Folder.
2. Enter the order folder name in the Make New Folder Window and click the OK button. The order folder
name must be 8 characters or less.
3. The new “YESAMPLE” Order Folder will be created. Double-click the MP2200 Group Folder or click
the button to display the YESAMPLE order folder.
(6) Creating a Controller Folder

Register the new controller to be used to create the program using the procedure below.
Controller name: 2200SMPL
Controller type: MP2200
Create a controller folder using the procedure below.
1. Right-click the YESAMPLE Order Folder and select Create New Folder - Controller Folder.
3-18
3.1 Outline
2. Set the Controller Name and Controller Type shown below, and click the OK button.
Controller name: 2200SMPL
Controller type: MP2200
3. A new controller folder 2200SMPL will be created. Double-click the YESAMPLE Order Folder or click
the button to display the 2200SMPL Controller Folder.
(7) Logging On Online

Log on online to the MP2200 using the procedure outlined below.
1. Right-click the 2200SMPL Controller Folder and select Online. The mode will change from offline to
online.
3-19
3 System Startup
2. Right-click the 2200SMPL Controller Folder and check that there is a check mark next to Online. Also
check that Online at the bottom right of the screen is listed as Connected, then select Properties.
3. The Controller Configuration Window will be opened. Select the Network Tab. Online should be set to
Yes.
Under Logical Port Number (Device Type), select the same Logical PT that was set for the communica-
tion process.
Note: CP-217: RS-232C connection

CP-218: Ethernet connection
3-20
3.1 Outline
4. For RS-232C connections, leave all settings other than Logical Port Number (Device Type) on the default
settings.
3
5. For Ethernet connections, make the settings shown below.
6. A confirmation message will be displayed. Click the Yes button.
3-21
3 System Startup
7. Logging On Online
a) Right-click the 2200SMPL Controller Folder and select Log On.
b) Input the user name USER-A and the password USER-A and click the OK button.
3-22
3.1 Outline
(8) Loading the Sample Programs

Load the sample programs on the MPE720 system CD-ROM using the procedure below. Insert MPE720 system
CD-ROM into the computer CD-ROM drive.
1. Double-click the 2200 SMPL-E.EXE file in the SAMPLE Folder on the CD-ROM.
Double-click
2. The window for specifying the destination of the file will be displayed. Specify the destination of the file
and click the Decompress button. 3
3. Right-click the 2200SMPL Controller Folder and select File Transfer - All File Transfer - All Program
File Transfer (Other Media - HD).
3-23
3 System Startup
4. The Execute Window will be displayed. The transfer source path must be changed, so click the Change
button.
Click
5. The Transfer Path Window will be displayed. Make the settings given below and click the OK button.
Drive: Select the drive where the sample program was stored. (The A drive, in this example.)
Transfer path: 2200SMPL
6. The Execute Window will be displayed. Click the OK button.
7. The Execute Status Window will be displayed. Wait until the transfer has been completed.
8. A message will appear when the transfer has been completed. Click the OK button.
3-24
3.1 Outline
9. The All File Transfer Disk to Disk Window will be displayed. Select File - Exit.
3-25
3 System Startup
(9) Individual Loading of Sample Programs

Transfer sample programs to the MP2200 individually using the procedure below.
1. Right-click the 2200SMPL Controller Folder and select File Transfer - Individual File Transfer - Indi-
vidual Program File Load (HD → CPU).
2. The Individual Load Window will be displayed. Select the following transfer items:
• DWG
• Scan Time
• Data Trace
• Motion Main Program
3-26
3.1 Outline
3. Click the Details button to the right of DWG to display the DWG Detail Data Set Window. Select Select
All and click the OK button.
4. Click the Details button to the right of Motion Main Program to display the Motion Main Program Detail
Set Window. Select Select All and click the OK button.
5. The Individual Load Window will be displayed. Select File - Execute.
3-27
3 System Startup
7. The Execute Status Window will be displayed. Wait until the transfer has been completed.
9. The Individual Load Window will be displayed. Select File - Exit.
3-28
3.1 Outline
(10) Setting Motion Fixed Parameters

Set the MP2200 motion fixed parameters to match the sample program using the procedure below.
1. Opening the Module Configuration Window.
a) Double-click the 2200SMPL Controller Folder in the File Manager Window to display the 5 folders
contained within it.
b) Double-click the Definition Folder to display the 6 folders inside that folder, then double-click the
Module Configuration Folder.
2. Opening the Motion Fixed Parameter Window.

The Engineering Manager Window will open and the Module Configuration Window will be displayed
inside that.
a) Point to 02 in the Controller section of the Module Configuration Window.
b) Double-click 1 in the Module Details section.
a) Point
b) Double-click
3-29
3 System Startup
3. Setting the Fixed Parameters for Axis 1

Display the SVB Definition Window in the Engineering Manager Window. Check that the Fixed Parame-
ters Tab Page has been selected.
a) Select Axis 1 from the list of axes at the top left of the SVB Definition Window.
b) Select mm as the Reference Unit for parameter 4 on the Fixed Parameters Tab Page.
a) Select
b) Set reference unit selection
4. Saving Fixed Parameter Settings

Select File - Save in the Engineering Manager Window.
5. Setting and Saving Axis 2 Fixed Parameters

Referring to steps 3 and 4 in this procedure, select Axis 2 and make the settings the same way as for axis
1.
3-30
3.1 Outline
6. Closing the Engineering Manager Window

Select File - Exit in the Engineering Manager Window.
(11) Saving to Flash Memory

Save sample programs that have been transferred individually to the MP2200 to the MP2200 flash memory using
the procedure below.
1. Right-click the 2200SMPL Controller Folder and select File Transfer - Other - Flash Save.
2. The Save Flash Memory Content Window will be displayed. Select File - Execute.
3-31
3 System Startup
3. A message appears to confirm that the CPU will be stopped. Click the Yes Button.
5. A message will appear when the save has been completed normally. Click the OK button.
6. The Save Flash Memory Content Window will be displayed. Select File - Exit.
3-32
3.1 Outline
(12) All Program File Dump

Execute an All Program File Dump to back up to the computer module configuration definitions self-configured
by and programs edited by the MP2200.
1. Right-click the 2200SMPL Controller Folder and select File Transfer - All File Transfer - All Program
File Dump (CPU → HD).
2. The Execute Window will be displayed. Click the OK button.
3. An Execute Status Window will be displayed. Wait until the transfer has been completed.
3-33
3 System Startup
5. The All Dump Window will be displayed. Select File - Exit.
(13) CPU RUN Settings

The procedure for starting the CPU, which was set to STOP during the flash save process, is explained below.
1. Right-click the 2200SMPL Controller Folder and select CPU Control.
2. The Controller Running Status Window will be displayed. Click the RUN button.
3-34
3.1 Outline
3. A confirmation message will be displayed. Click the Yes button. Check that the RUN LED indicator on
the CPU Module is lit.
4. The Controller Running Status Window will be displayed again. Click the Close button.
(14) Logging Off

Log off when you have finished with the MPE720 using the procedure below.
3
1. Right-click the 2200SMPL Controller Folder and select Log Off.
3-35
3 System Startup
3.2.1 Description

3.2.1 Description
(1) Program Outline
• The H01 drawing (ladder program) turns ON the servo, resets alarms, and sets parameters.
• The H02.01 drawing (ladder program) controls jog and step operation for axis 1.
• The H02.02 drawing (ladder program) controls jog and step operation for axis 2.
• Refer to 3.2.3 Program Details for details on the sample program.
Parent Drawings Child Drawings Grandchild Drawings
H Drawing H01 Drawing
• SERVO ON
SEE
Name H01 • Alarm reset
• Parameter settings
H02.01 Drawing
END
Axis 1
• Jog operation
• Step operation
H02 Drawing
END
SEE
SEE Name H02.01
Name H02
SEE
Name H02.02 H02.02 Drawing
END
Axis 2
END
• Jog operation
• Step operation
High-speed scan
END
This sample program has no power OFF circuit for the SERVOPACK in the event of emergency stops or
IMPORTANT
overtravel. Include a proper emergency stop circuit in actual applications.
3-36
3.2.2 Operation
(1) Display of Tuning Panel Window
In this sample program, run, stop, and other operations can be checked from a Tuning Panel Window.
Use the following procedure to display the Tuning Panel Window.
1. Log on online and open the 2200SMPL Controller Folder, then the Programs and High Scan Programs
folders in the MPE720 File Manager Window.
2. Right-click the H02 drawing in the High Scan Programs Folder and select Open - Tuning Panel.
3-37
3 System Startup
3.2.2 Operation
3. The Tuning Panel Window for the H02 drawing will be displayed.
Input position and current value.
The details on the Tuning Panel Window display are shown in the following table.
Display
No. Data Name S Current Value Units Lower Limit Upper Limit REG-No. DWG
Definition
1 ***************Common monitor*************** XXXXX 00000 00000 32767 DW00010 L
2 Axis 1 operation ready ON/OFF OFF IB80000
3 Axis 2 operation ready ON/OFF OFF IB80000
4 Axis 1 current position XXXXXXXXXX 0000000000 −0214783648 2147483647 IL8016
6 ***************Common operation*************** XXXXX 00000 00000 32767 DW00010 L
7 Servo ON PB S ON/OFF OFF MB300000
8 Alarm reset PB S ON/OFF OFF MB300001
9 ************Manual operation and setting************ XXXXX 00000 00000 32767 DW00010 L
10 Axis 1 Forward Jog S ON/OFF OFF DB000010 H02.01
11 Axis 1 Reverse Jog S ON/OFF OFF DB000011 H02.01
12 Axis 2 Forward Jog S ON/OFF OFF DB000010 H02.02
13 Axis 2 Reverse Jog S ON/OFF OFF DB000011 H02.02
14 Axis 1 Forward Step S ON/OFF OFF DB000012 H02.01
15 Axis 1 Reverse Step S ON/OFF OFF DB000013 H02.01
16 Axis 2 Forward Step S ON/OFF OFF DB000012 H02.02
17 Axis 2 Reverse Step S ON/OFF OFF DB000013 H02.02
18 Axis 1 Step Moving Amount S XXXXXXXXXX 0000000000 −0214783648 2147483647 DL00010 H02.01
19 Axis 2 Step Moving Amount S XXXXXXXXXX 0000000000 −0214783648 2147483647 DL00010 H02.02
3-38
(2) Confirming Operation

Use the following procedure to confirm operation.
Turn ON the Servo.
Start jog or step operation.
Confirm operation.
The following table gives an outline of the operation when the Tuning Panel window is used.
Data Name Tuning Panel Operation Operation Outline

Current value OFF → ON The Servomotor will turn ON and the Servo will be clamped.
Servo ON PB
Current value ON → OFF Servo turned OFF.
Current value OFF → ON Axis 1 rotates forward.
Axis 1 Forward Jog
Current value ON → OFF Axis 1 stops.
Axis 1 Reverse Current value OFF → ON Axis 1 rotates in reverse. 3
Jog Current value ON → OFF Axis 1 stops.
Current value OFF → ON Axis 2 rotates forward.
Axis 2 Forward Jog
Current value ON → OFF Axis 2 stops.
Axis 2 Reverse Current value OFF → ON Axis 2 rotates in reverse.
Jog Current value ON → OFF Axis 2 stops.
Axis 1 starts rotating forward for the moving amount set under Axis 1
Axis 1 Forward Current value OFF → ON
Step Moving Amount.
Step
Current value ON → OFF Axis 1 stops rotating. Input OFF after executing stepping.
Axis 1 starts rotating in reverse for the moving amount set under Axis 1
Axis 1 Reverse Current value OFF → ON
Step Moving Amount.
Step
Axis 2 starts rotating forward for the moving amount set under Axis 2
Axis 2 Forward Current value OFF → ON
Step Moving Amount.
Step
Axis 2 starts rotating in reverse for the moving amount set under Axis 2
Axis 2 Reverse Current value OFF → ON
Step Moving Amount.
Step
Axis 1 Step Moving
Enter any value. Sets the Step moving amount for axis 1.
Amount
Axis 2 Step Moving
Enter any value. Sets the Step moving amount for axis 2.
Amount
INFO Actual Application Programs

Programs must be created in actual applications to monitor and control registers that correspond to the signals and data
listed above.
The register numbers that correspond to the signals used in this sample program will be the register numbers displayed
under REG-No. next to DWG at the right of the Tuning Panel window.
3-39
3 System Startup
3.2.3 Program Details

(1) H Drawing
The H parent drawing controls the overall sample program.
Main Program High-speed Main Progra
########## High-speed main program ##########
########## Servo ON and alarm reset ##########

Servo ON and alarm reset
########## Jog and step operation ##########

Jog and step operation
########## Positioning operation ##########

Positioning operation
########## Phase control ##########

Electronic cam
3-40
(2) H01 Drawing

The H01 child drawing turns ON the Servo, resets alarms, and sets common parameters.
Main Program Processing of Common Axis Setting
########## Processing of common axis settings ##########
########## Motion command detection ##########
Axis 1 motion command 0 detection
Axis 1 motion command 0
Axis 2 motion command 0 detection

Axis 2 motion command 0
########## Servo ON ##########

Axis 1 Servo ON
Servo ON PB Axis 1 SVC_RDY Axis 1 SV_ON
3
Axis 2 Servo ON
Servo ON PB Axis 2 SVC_RDY Axis 2 SV_ON
########## Alarm reset ##########

Axis 1 alarm reset
Alarm reset PB Axis 1 ALM_RST
Axis 2 alarm reset

Alarm reset PB Axis 2 ALM_RST
########## Speed unit and acceleration speed unit selection ##########

Bits 0 to 3: Speed unit selection (0: Reference unit/s2 ; 1: Reference unit/min2 ; 2: %
Bits 4 to 7: Acceleration speed unit selection (0: Reference unit/s2 ; 1: ms)
Axis 1 function setting 1 (units)
Axis 1, function setting 1 workpiece
Axis 1, function setting 1
Axis 2 function setting 1 (units)
Axis 2, function setting 1 workpiece
Axis 2, function setting 1
3-41
3 System Startup
Main Program Processing of Common Axis Setting
########## Linear acceleration/deceleration setting ##########

Axis 1 and 2 linear acceleration/deceleration setting
MPM running
Linear acceleration/deceleration setting
(3) H02 Drawing

The H02 child drawing controls jog and step operation.
Main Program Manual Operation Main Processin
########## Manual operation main processing ##########
3-42
(4) H02.01 Drawing

The H02.01 grandchild drawing controls jog and step operation for axis 1.
Main Program Axis 1 Manual (Jog and Step) Operation Processing
########## Axis 1 manual (jog and step) operation processing ##########
Axis 1 jog operation
Axis 1 Forward Jog Axis 1 Reverse Jog Axis 1 SV_ON Axis 1 jog reference
Axis 1 Forward Jog Axis 1 Reverse Jog
Axis 1 jog reference Axis 1 motion command 0 Axis 1 jog start
Axis 1 jog reference Axis 1 jog stop
Axis 1 jog start

Axis 1 speed reference setting
3
Axis 1 jog start

Axis 1 motion command
Axis 1 jog stop

########## Step operation ##########

Axis 1 step operation
Axis 1 Forward Step Axis 1 Reverse Step Axis 1 SV_ON Axis 1 step reference
Axis 1 Forward Step Axis 1 Reverse Step
Axis 1 step reference Axis 1 motion command 0 Axis 1 step start
Axis 1 step reference Axis 1 step stop
Axis 1step start

Axis 1 step speed and moving amount
Axis 1 step start

3-43
3 System Startup
Axis 1 step stop

########## Reverse rotation selection ##########

Axis 1 jog reference Axis 1 Reverse Jog Axis 1 Reverse
Axis 1 step Axis 1 Reverse

reference Step
3-44
(5) H02.02 Drawing

The H02.02 grandchild drawing controls jog and step operation for axis 2.
########## Axis 2 manual (jog and step) operation processing ##########
Axis 2 jog operation
Axis 2 Forward Jog Axis 2 Reverse Jog Axis 2 SV_ON Axis 2 jog reference
Axis 2 Forward Jog Axis 2 Reverse Jog
Axis 2 jog reference Axis 2 motion command 0 Axis 2 jog start
Axis 2 jog reference Axis 2 jog stop
Axis 2 jog start

3
Axis 2 jog start

Axis 2 jog stop

########## Step operation ##########

Axis 2 step operation
Axis 2 Forward Step Axis 2 Reverse Step Axis 2 SV_ON Axis 2 step reference
Axis 2 Forward Step Axis 2 Reverse Step
Axis 2 step reference Axis 2 step start
Axis 2 step reference Axis 2 step stop
Axis 2 step start

Axis 2 step speed and moving amount
Axis 2 step start

3-45
3 System Startup
Axis 2 step stop

########## Reverse rotation selection ##########

Axis 2 jog reference Axis 2 Reverse Jog Axis 2 Reverse
Axis 2 step Axis 2 Reverse

reference Step
3-46

3.3.1 Description
(1) Machine Outline
Sample program 2 will use a motion program to operate a hypothetical X-Y plotter, such as the one in the follow-
ing diagram.
Servomotor
3
X-Y plotter
(2) Program Outline

• The H04 drawing (ladder program) starts a text-format motion program.
• The motion program executes the commands and operations in the program in order from the beginning.
The following sample motion programs have been prepared.
• Motion program No. 1 (MPM001): Zero point return operation using phase-C pulse
• Motion program No. 2 (MPM002): 2-axis positioning and interpolation
• Motion program No. 3 (MPM003): 2-axis positioning and interpolation
Refer to 3.3.3 Program Details for details on the sample program.
Parent drawing Child drawing Motion program
H drawing H04 drawing MPM003

Motion program MPM002
startup
SEE MSEE MPM001
Name H04 Program No. 001 0W803C=3;
Data DA00020 0W80BC=3;
VEL[X]100[Y]100;
END END ACC[X]100[Y]100;
Text-format
High-speed scan program
• This program is solely for the purpose of describing the MP2200 system startup. Care must be taken
IMPORTANT
because actual applications will differ.
• This program has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel.
Include a proper emergency stop circuit in actual applications.
3-47
3 System Startup
3.3.2 Operation
3.3.2 Operation
(1) Tuning Panel
1. Use the Tuning Panel Window for the H04 drawing to check operations, just as described in 3.2.2 Opera-
tion. Right-click the H04 drawing in the High Scan Programs Folder and select Open - Tuning Panel.
Display
No. Data Name S Current Value Units Lower Limit Upper Limit REG-No. DWG
Definition
1 ***************Common monitor*************** XXXXX 00000 00000 32767 DL00010 L
2 Axis 1 operation ready ON/OFF ON IB80000
9 *********Positioning operation and settings********* XXXXX 00000 00000 32767 DW00010 L
10 Start positioning S ON/OFF OFF DB000010 H04
11 Hold positioning S ON/OFF OFF DB000011 H04
12 Abort positioning S ON/OFF OFF DB000010 H04
13 Motion program No. setting S XXX 001 001 003 DW00030 H04
14 1st target position (X axis) S XXXXXXXXXX 0000010000 −2147483648 2147483647 DL00010 H04
15 1st target position (Y axis) S XXXXXXXXXX 0000020000 −2147483648 2147483647 DL00012 H04
16 2nd target position (X axis) S XXXXXXXXXX 0000040000 −2147483648 2147483647 DL00014 H04
17 2nd target position (Y axis) S XXXXXXXXXX 0000060000 −2147483648 2147483647 DL00016 H04
18 MPM running ON/OFF OFF MB300020
19 MPM alarm ON/OFF OFF MB300028
3-48

Turn ON the Servo.
Input motion program number setting.
Enter target value for each axis.
Positioning starts.
Confirm motion program operation.
The process for confirming operation will be explained based on the above flowchart.
1. Switching between Servo ON and Servo OFF
Change the current value setting for Servo ON PB from OFF to ON on the Tuning Panel Window. The
Servomotor will turn ON and the Servo will be clamped.
3
2. Setting Motion Program Number
Change the current value setting for Motion Program No. Setting to a value between 1 and 3 on the Tun-
ing Panel Window. This sets the motion program number that will be executed. No programs have been
created for numbers 4 onwards, so an MPM alarm will occur if a number other than 1 to 3 is entered.
3. Entering Target Values for Each Axis
Enter any value for the current value for the items listed below. The values entered here will be the posi-
tioning target values when motion program numbers 2 and 3 are executed.
• 1st target value (X axis)
• 1st target value (Y axis)
• 2nd target value (X axis)
• 2nd target value (Y axis)
4. Starting Positioning
Set the current value for Start Positioning to ON on the Tuning Panel Window. Positioning will start based
on the motion program number set earlier (MPM No.). After positioning has been executed, change the
current value to OFF.
5. Confirming Motion Program Operation
When a motion program is started, the current value for MPM Running on the Tuning Panel Window will
change to ON. And when the Servo axis rotates, the values for the current position on the Tuning Panel
Window change.
If an error occurs during execution of a motion program, the current value for MPM Alarm on the Tuning
IMPORTANT
Panel Window will change to ON. Use the following procedure to clear the alarm.
1. Change the current value for Abort of Positioning to ON and then to OFF.
2. Change the current value for Alarm Reset PB to ON and then to OFF.

listed above.
3-49
3 System Startup

(1) H04 drawing
The H04 child drawing manages and controls motion programs (MPM programs).
Main Program Positioning Operation Main Processing
########## Positioning operation main processing ##########
########## Main program startup sequence ##########
Operation start Axis 1 motion command 0 Axis 2 motion command 0 Start request
Holding Hold request
Operation reset Reset request
Alarm reset PB Alarm reset request
MPM number
MPM interpolation override
Travel data setting
MPM***execution
MPM running MPM running
MPM alarm MPM alarm
3-50
(2) Motion Program MPM001

Motion program MPM001 is a text-format program that is started by the MSEE instruction (motion program call
instruction) in the H04 drawing.
EXAMPLE
In this example, the motion program MPM001 performs a zero point return using the phase-C pulse.
YESAMPLE PRG. MPM001 MP text
3
(3) Motion Programs MPM002 and MPM003
Motion programs MPM002 and MPM003 are text-format programs that are started by the MSEE instruction
(motion program call instruction) in the H04 drawing.
EXAMPLE
In this example, motion programs MPM002 and MPM003 perform 2-axis positioning and interpolation.
MPM002 has timer commands in between each travel command to provide clear delimits for each operation.
MPM003 is MPM002 without the timer commands, so that the travel commands are executed continuously.
YESAMPLE PRG. MPM002 MP text
3-51
3 System Startup
3.4.1 Description
3.4 Sample Program 3: Phase Control with an Electronic Shaft

3.4.1 Description
(1) Machine Outline
The same operation for the No. 1 and No. 2 rolls connected to the line shaft is performed using a Servomotor.
Phase synchronization, however, has not been used.
Previous New
method method
Controller Line shaft drive motor
Line shaft
MP2200
Gear
Driver
Clutch
Differential gear
SERVO-
Phase synchronization PACK
mechanism
Servo-
motor
Motor
Moving section
No. 1 roll No. 2 roll
(2) Program Outline

• The H06.01 drawing (ladder program) controls the operation.
• The two axes rotate synchronously according to the entered speed settings.
• The following gear ratio is set in this example.
Axis 1 (No. 1 roll): Axis 2 (No. 2 roll) = 1:1
Parent Drawing Child Drawing Grandchild Drawings
H Drawing H06 Drawing H06.01 Drawing
Phase control
SEE SEE Electronic shaft
Name H06 Name H06.01 • Axis 1
• Axis 2
END END END
High-speed scan
IMPORTANT
3-52
3.4.2 Operation
(1) Tuning Panel
Display Current
No. Data Name S Units Lower Limit Upper Limit REG-No. DWG
Definition Value
9 *************Phase control (Electronic shaft)************* XXXXX 00000 00000 32767 DW00010 L
10 Electronic shaft start S ON/OFF OFF DB000010 H06.01
11 Speed setting (motor rated speed: 30000 mm/min) S XXXXXX 000000 mm/min −030000 030000 DL00010 H06.02
12 *************Phase control (Electronic cam)************* XXXXX 0000 0000 32767 DW00010 L
13 Electronic cam start S ON/OFF OFF DB000010 H06.02
Main axis speed setting (motor rated speed:
14 S XXXXXX 00000 mm/min 00000 030000 DL00010 H06.01
30000 mm/min)
15 Cam axis: amplitude setting (double amplitude) S XXX.XXX 010.000 mm 000.000 999.999 ML30200
16 Cam axis: main axis moving amount per cycle S XXXXX.XXX 00500.000 mm 00000.000 50000.000 ML30202
3-53
3 System Startup
3.4.2 Operation

Turn ON the Servo.
Start the electronic shaft.
Enter speed settings.
Confirm operation.
The process for confirming operation will be explained based on the above procedure.
2. Starting the Electronic Shaft
Change the current value for Electronic Shaft Start to ON in the Tuning Panel Window. The mode will
change to Phase Control (Electronic Shaft) Mode. Change the current value to OFF to exit Phase Control
(Electronic Shaft) Mode.
3. Entering Speed Settings
Change the current value for the Speed Setting (Motor Rated Speed) in the Tuning Panel Window to any
value between 0 and 30000. The value set will be the synchronous speed for both axes and the axes will
start rotating.

listed above.
3-54

(1) H06.01 Drawing
The H06.01 grandchild drawing controls phase control (electronic shaft) operation.
Main Program Phase Control 1 (Electronic Shaft) Processing
########## Phase control 1 (electronic shaft) processing ##########
########## Electronic shaft operation reference ########## Electronic shaft
Electronic shaft startup PB Axis 1 SV_ON Axis 2 SV_ON operation reference
Electronic shaft
operation reference Axis 1 motion command 0 Axis 1 motion command 0 Electronic shaft start
Electronic shaft
operation reference Zero speed Electronic shaft stop
########## Motion command execution ##########

3
Motion command: 25 [phase control] setting
Electronic shaft start
Electronic shaft start

Motion command: 0 [NOP] setting

Electronic shaft stop
Electronic shaft stop

########## S-shaped acceleration/deceleration parameter settings ##########

S-shaped acceleration/deceleration
parameter settings
########## Electronic shaft operation speed switching sequence ##########

A double-integer register is used for the speed reference unit. Therefore, a real number linear acceleration/deceleration reference 2 (SLAU: S-shaped accelerator/decelerator) instruction is applied.
Electronic shaft speed setting
Electronic shaft operation reference
S-shaped accelerator/decelerator input

S-shaped accelerator/decelerator input
3-55
3 System Startup
Main Program Phase Control 1 (Electronic Shaft) Processing
S-shaped accelerator/decelerator output
########## Axis 1 and 2 speed reference settings ##########

Axis 1 and 2 speed reference settings
Zero speed
Zero speed Zero speed
########## Inter-axial error monitor ##########
3-56
3.5 Sample Program 4: Phase Control with an Electronic Cam

3.5.1 Description
(1) Machine Outline
The same operation for the mechanical cam synchronized to the roller connected to the line shaft will be per-
formed using a Servomotor. Phase synchronization, however, has not been used.
Previous New
method method
Controller Line shaft drive motor
Line shaft
MP2200
Gear
Driver
Clutch
Differential
gear SERVO-
Phase synchronization
PACK
Transmis-
3
mechanism sion
Cam Servo-
motor
Motor
Ball
screw
Moving section
(2) Program Outline

• The H06.02 drawing (ladder program) controls the operation.
• The two axes rotate synchronously according to the entered speed settings.
• The following configuration is used in this example.
Axis 1: Roller axis = Master axis 2: Cam axis = Slave axis. Performs cosine cam pattern operation in refer-
ence to the master axis.
• Cam pattern data is generated by the L06 drawing (ladder program).
Parent Drawing Child Drawing Grandchild Drawing
H drawing H06 Drawing H0602 Drawing
Phase control
SEE SEE Electronic shaft
Name H06 Name H0602 • Axis 1
Electronic cam
• Axis 2
END END END
High-speed scan
IMPORTANT
3-57
3 System Startup
3.5.2 Operation
3.5.2 Operation
(1) Tuning Panel
Display Current
No. Data Name S Units Lower Limit Upper Limit REG-No. DWG
Definition Value
9 ************Phase control (electronic shaft))************ XXXXX 00000 00000 32767 DW00010 L
10 Electronic shaft start S ON/OFF OFF DB000010 H06.01
11 Speed setting (motor rated speed: 30000 mm/min) S XXXXXX 000000 mm/min −030000 030000 DL00010 H06.02
12 *************Phase control (electronic cam)************* XXXXX 0000 0000 32767 DW00010 L
13 Electronic cam start S ON/OFF OFF DB000010 H06.02
Main axis speed setting (motor rated speed:
14 S XXXXXX 00000 mm/min 00000 030000 DL00010 H06.01
30000 mm/min)
15 Cam axis: amplitude setting (double amplitude) S XXX.XXX 010.000 mm 000.000 999.999 ML30200
16 Cam axis: main axis moving amount per cycle S XXXXX.XXX 00500.000 mm 00000.000 50000.000 ML30202
3-58

Turn ON the Servo.
Enter electronic cam settings data.
Turn ON electronic cam start.
Enter main axis speed settings.
Confirm operation.
The process for confirming operation will be explained based on the above procedure.
3
2. Entering Cam Data
Enter any value within the setting range for the Tuning Panel Window items listed below. The cam pattern
is generated from these settings. Cam pattern data is not changed, however, if the Electronic Cam Start
(described next) is set to ON.
• Cam axis amplitude setting (double amplitude) . . . . . Setting range: 0 to 999.999
• Cam axis main axis moving amount for one cycle . . . Setting range: 0 to 50000.000
3. Starting Electronic Cam Operation
Change the current value for Electronic Cam Start to ON in the Tuning Panel Window. The second axis
will enter Phase Control (Electronic Cam) Mode. Change the current value to OFF to exit the Phase Con-
trol (Electronic Cam) Mode.
4. Entering Main Axis Speed Settings
Change the current value for the Main Axis Speed Setting in the Tuning Panel Window to any value
between −30000 to 30000. The value set will be the master axis speed and the axis operation will start.

listed above.
3-59
3 System Startup

(1) H06.02 Drawing
The H06.02 grandchild drawing controls phase control (electronic cam) operation.
Main Program Phase Control 2 (Electronic Cam) Processing
########## Phase control 2 (electronic cam) processing ##########
########## Explanation ##########
Axis 1: Master axis = phase control (electronic shaft)
Axis 2: Slave axis = phase control (electronic cam)
########## Phase control operation reference ##########
Startup PB Axis 1 SV_ON Axis 2 SV_ON Operation reference
Operation reference Axis 1 motion command 0 Axis 1 motion command 0 Electronic cam start
Operation reference Zero speed Electronic cam stop
########## Motion command execution ##########

Motion command: 25 [phase control] setting
Electronic cam start
Electronic cam start

Motion command: 0 [NOP] setting

Electronic cam stop
Electronic cam stop

########## Slave axis phase generation calculation disabled (Electronic Cam Mode) ########## Axis 2 phase
Operation reference generation disabled
Cam operation
Zero speed reference
########## Master axis speed reference generation ##########

Master axis linear acceleration/deceleration parameter settings
Linear acceleration/deceleration
parameter settings
Master axis speed settings

Operation reference
Linear accelerator/decelerator input
3-60
Operation reference
Operation reference
Zero speed
Zero speed Zero speed
3
########## Slave axis control circuit ##########
########## Electronic cam phase generation ##########
Cam operation reference
Electronic cam phase
Master axis position FB (previous value)
Increment for one scan by master axis
Master axis position FB (previous value)
Master axis increment calculation

Cycle detection
3-61
3 System Startup
Forward detection
Reverse detection
Slave axis cam displacement generation
Slave axis cam displacement

Axis 2 phase compensation

Axis 2 phase compensation
########## Slave axis reference speed generation ##########

Increment for one scan by slave axis
Slave axis cam displacement (previous)

Cam speed calculation and settings
3-62
(2) L Drawing
The L parent drawing is in the low-speed scan and controls the overall sample program.
Main Program Low-speed Main Program
########## Low-speed main program ##########
########## Electronic cam table data generation ##########
(3) L06 Drawing

The L06 child drawing generates cam pattern data for phase control (electronic cam) operation.
Main Program Electronic Cam Table Data Generation 3
########## Electronic cam table data generation ##########
########## Cam table generation (head data)##########
Cam table (head data)
########## Cam table generation (later data) ##########
Cam displacement calculation
Phase (deg)
Displacement calculation workpiece
Cam displacement calculation and table settings
3-63
4
Module Specifications
This chapter explains detailed specifications for the Basic Unit and Optional Modules of the
MP2200.
4.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4

4.1.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.2 Function List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.2 Base Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.2 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.3 CPU-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

4.3.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
4.3.2 LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
4.3.4 Functions and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.4 SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.4.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.4.2 LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.4.3 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
4.4.4 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.5 SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18

4.5.4 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.6 LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22

4.7 LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25

4-1
4.8 LIO-01 and LIO-02 Module Counter Functions - - - - - - - - - - - - - - - - - - - 4-28

4.8.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-28
4.8.2 Counter Function Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-30
4.8.3 Electronic Gear Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-33
4.8.4 Counter Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-37
4.9 LIO-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40

4.9.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-40
4.9.2 LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-40
4.9.3 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-41
4.10 218IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42

4.10.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-42
4.10.2 LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-42
4.10.3 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-44
4.11 217IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45

4.12 260IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48

4.13 261IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52

4.14 EXIOIF Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56

4.15 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57

4.15.1 Basic Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-57
4.15.2 Mounting Optional Module Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-58
4-2
4.1 General Specifications
4.1 General Specifications

4.1.1 Hardware Specifications
The following table shows the hardware specifications of the MP2200.
Item Specifications
Ambient
Operating 0°C to 55°C
Temperature
Ambient Storage
−25°C to 85°C
Temperature
Ambient
Environmental Operating 30% to 95% (with no condensation)
Conditions Humidity
Ambient Storage
5% to 95% (with no condensation)
Humidity
Pollution Level Pollution level 1 (conforming to JIS B 3501)
Corrosive Gas There must be no combustible or corrosive gas.
Operating
2,000 m above sea level or lower
Altitude
Conforms to JIS B 3502.
Vibration amplitude/acceleration:
4
Vibration 10 ≤ f < 57 Hz Single amplitude: 0.075 mm
Mechanical Resistance 57 ≤ f ≤ 150 Hz Acceleration: 9.8 m/s2
Operating X, Y, and Z directions
Conditions 1 octave/min. sweep × 10 sweeps
Conforms to JIS B 3502.
Shock
Resistance Peak acceleration: 147 m/s2, Usage time: 11 ms
Twice each in X, Y, and Z directions
EN 61000-6-2
Conforms to EN 55011 (Group 1 Class A)
Electrical Power supply noise (FT noise): 2 Kv min., for one minute
Operating Noise Resistance
Radiation noise (FT noise): 1 Kv min., for one minute
Conditions
Ground noise (impulse noise): 1 Kv min., for 10 minutes
Electrostatic noise (contact discharge method): 4 Kv min., 10 times
Installation Ground Ground to 100 Ω max.
Requirements Cooling Method Natural cooling
4-3
4.1.2 Function List
4.1.2 Function List

(1) PLC Functions and Specifications
The following table shows the PLC functions and specifications.
Item Functions and Specifications
Control Method Sequence: High-speed and low-speed scans
Programming Ladder diagram: Relay circuits
Language Text-type language: Numeric operations, logic operations, etc.
Two scan levels: High-speed scan and low-speed scan
High-speed scan time: 0.5 to 32 ms (Integral multiple of MECHATROLINK communica-
Scanning tion cycle)
Low-speed scan time: 2 to 300 ms (Integral multiple of MECHATROLINK communica-
tion cycle)
Startup drawings (DWG.A): 64 drawings max. Up to three hierarchical drawing
levels,
Interrupt drawings (DWG.I): 64 drawings max. Up to three hierarchical drawing
levels,
User Drawings, Func- High-speed scan process drawings 200 drawings max. Up to three hierarchical draw-
tions, and Motion Pro- (DWG.H): ing levels,
grams Low-speed scan process drawings 500 drawings max. Up to three hierarchical draw-
(DWG.L): ing levels,
Number of steps: 1000 steps/drawing max.,
User functions: Up to 500,
Motion programs: Up to 256
Revision history of drawings and motion programs
Security function for drawings and motion programs
Common data (M) registers: 64 Kwords,
System (S) registers: 8 Kwords,
Drawing local (D) registers: 16 Kwords/drawing max.,
Data Memory Drawing constant (#) registers: 16 Kwords/drawing max.,
Input (I) registers: 5 Kwords (including internal input registers),
Output (O) registers: 5 Kwords (including internal output registers),
Constant (C) registers: 16 Kwords
Trace Memory Data trace: 128 Kwords (4 groups with 32 Kwords each). Up to 16 points can be defined.
Program memory: Flash memory: 8 MBytes (User area: 5.5 MBytes), definition files, ladder
programs, motion programs, etc. Data other than battery backup data
Memory Backup
Data memory: Battery backup: 256 Kbytes, M registers, S registers, alarm history, trace
data
Bit (relay): ON/OFF
Integer: −32768 to +32767
Data Type
Double-length integer: −2147483648 to +2147483647
Real number: ± (1.175E-38 to 3.402E+38)
Register number: Direct designation of register number
Register Designation
Symbol designation: Up to 8 alphanumeric characters (200 symbols/drawing max.)
Method
Automatic number assignment and automatic symbols
Program control instructions: 14 instructions,
Direct I/O instructions: 2 instructions,
Relay circuit instructions: 14 instructions (including set and reset coils),
Logic operation instructions: 3 instructions,
Numeric operation instructions: 16 instructions,
Numeric conversion instructions: 9 instructions,
Instructions
Numeric comparison instructions: 7 instructions,
Data manipulation instructions: 14 instructions,
Basic function instructions: 10 instructions,
Table data manipulation instructions: 11 instructions,
DDC instructions: 13 instructions,
System functions: 9 instructions
4-4
4.2 Base Unit
4.2 Base Unit

4.2.1 Outline of Functions
The Base Unit combines the power supply, mounting base board, and frame in one unit. Both AC-input and DC-
input power supply Base Units are available. The Base Unit has a 9-slot Optional Slot configuration, which
allows any Optional Modules to be used to create the perfect system for the machinery.
4.2.2 LED Indicators

(1) External Appearance
The following figure shows the external appearance of the Base Unit.
(a) Base Unit with AC-input Power Supply
MP2200 MBU-01
POWER
BATTEY
4
100/200V
AC
(b) Base Unit with DC-input Power Supply
MP2200 MBU-02
POWER
BATTEY
DC 0
(2) Indicator
The LED indicator that displays the status of the power supply is detailed in the following table.
Indicator
Indicator Color Significance when Lit
Name
Green The power supply is operating nor-
POWER POWER
mally.
4-5

The following table shows the hardware specifications of the Base Unit.
Item Specifications
Name Base Unit (AC-input power supply) Base Unit (DC-input power supply)
Model JEPMC-BU2200 JEPMC-BU2210
Abbreviation MBU-01 MBU-02
One-Rack Configuration
1 slot for CPU Module
Slot Configuration 8 slots for Optional Modules (including slots for Expansion Modules)
Four-Rack Configuration
9 slots for Option Modules (because a CPU Module is not mounted to Racks 2, 3, and 4)
Input Voltage 85 to 276 VAC 24 VDC (±20%)
Input Current 1.5 A max. (at rated I/O) 3.0 A max. (at rated I/O)
10 A max. (when completely discharged, 10 A max. (when completely discharged,
Inrush Current
200-VAC input, rated output) rated output)
Power Supply
Rated Voltage 5.0 V

Rated Current 8.0 A
Output Current
0.0 to 8.0 A
Range
Coordination Error − ±1% max.
Constant Voltage
±2% max. (including input voltage fluctuation and output load fluctuation)
Accuracy
Battery Battery can be installed for memory backup.
Indicators POWER (green)
Dimensions (mm) 240 × 130 × 108 (W × H × D)
Mass 650 g
4-6
4.3 CPU-01 Module
4.3 CPU-01 Module

The CPU-01 is the MP2200 Control Module that controls the Motion, Communication, I/O, and other Optional
Modules.
4.3.2 LED Indicators and Switch Settings

The following figure shows the external appearance of the CPU-01 Module.
LED indicators
CPU-01
DIP switch RDY RUN
ALM ERR
BAT
STOP
SUP
INIT
CNFG
MON
TEST
SW1
OFF ON
(2) Indicators
The LED indicators that display the operating status and error details for the Base Unit are detailed in the follow-
ing table.
Indicator
Indicators Color Significance when Lit
Name
RDY Green Unit operating normally.
RDY RUN
RUN Green User program running.
ALM ERR ALM Red Lights/blinks for warning.
BAT ERR Red Lights/blinks for failures.
BAT Red Battery alarm occurred.
Note: Refer to (2) Indicator Details in 8.1.3 Indicator Errors for details on the meaning of indicators.
4-7
(3) Switch Settings

The DIP switch sets the operating conditions for the CPU-01 Module when the power is turned ON.
STOP
SUP
INIT
CNFG
MON
SW1
TEST
OFF ON
Pin Switch Default

Status Operating Mode Details
Number Name Setting
ON User program stopped Stops the user program execution. Enabled
6 STOP OFF
OFF User program running only when the power is turned ON.
ON System use
5 SUP OFF Always leave set to OFF.
OFF Normal operation
ON Memory clear Set to ON to clear the memory. If this
4 INIT OFF switch is set to OFF, the program stored in
OFF Normal operation flash memory will be executed.
ON Configuration mode Set to ON to execute self-configuration for
3 CNFG OFF
OFF Normal operation connected devices.
ON System use
2 MON OFF Always leave set to OFF.
ON System use
1 TEST OFF Always leave set to OFF.
4-8
4.3 CPU-01 Module

The following table shows the hardware specifications of the CPU-01 Module.
Item Specifications
Name CPU-01 Module
Model JAPMC-CP2200
Abbreviation CPU-01
Flash Memory 12 Mbytes
SDRAM 32 Mbytes
512 Kbytes, M registers, S registers, trace memory, alarm history
SRAM
(battery backup)
Calendar Seconds to year timer (battery backup)
Self-diagnostic Mode (factory test switch)
Watchdog timer
Protective Functions
Software: SH4 internal WDT
Hardware: 0 to 510 ms (register setting)
Reset output for power failure detection signal (POKH) after
Reset Circuit
NMI generation.
RDY (green)
RUN (green) 4
ALM (red)
Indicators
ERR (red)
TX (green)
BAT (red)
STOP
SUP
INIT
Switches
CNFG
MON
TEST
Dimensions (mm) 125 × 95 (H × D)
Mass 90 g
4-9
4.3.4 Functions and Specifications

The differences between the functions and specifications of the MP2200, MP920, and MP2300 are shown in the
following table.
Item MP2200 MP2300 MP920 Remarks

CPU (CPU SH4 (SH7750R) SH4 (SH7750) 486DX4
Control Performance Operations Performance
Performance (240 MHz) (167 MHz) (96 MHz) −

Ratio) (2.0) (1.3) (1.0)
Operation
Performance 2.0 1.0 to 1.1 1.0 −
Ratio
Motion functions Motion functions

No. of Con- Motion function
MOV function: 6 axes/ms MOV function: 4 axes/ms
trolled Axes (MOV): 12 axes/ 2 ms
18 axes/2 ms 12 axes/2 ms
Max. No. of control
4/port (M-II: 0.5 ms) 9/port (M-II: 1 ms)
axes is the value for
9/port (M-II: 1 ms) 16/port (M-II: 2 ms) the SVB Module.
Max. No. Con- 15/port (M-II: 1.5 ms) 15/port (M-II: 1.5 ms)
14/port (M-I)
trol Axes 16/port (M-II: 2 ms) 15/port (M-II: 17 bytes: 1
15/port (M-II: 17 bytes: 1 ms) ms)
14/port (M-I) 14/port (M-I)
Max. No. of Con-
256 48 244 −
trol Axes (Total)
1.0 to 32 ms
Scan Time
High-speed (Integral multiple of 0.4 to 300 ms

0.5 to 32.0 ms (in 0.5 ms units) −
Scan MECHATROLINK commu- (0.1 ms units)
nication cycle)
2.0 to 300 ms
Low-speed 2.0 to 300.0 ms (in 0.5 ms (Integral multiple of 1.0 to 300 ms
−
Scan units) MECHATROLINK commu- (0.1 ms units)
nication cycle)
OS µITRON µITRON CPOS (stand-alone) −
32 MB (16 MB used)
Memory Capacity
32 MB (SDRAM)
RAM Size SDRAM 2/4 MB −
512 Kb (SRAM backup)
512 Kb (SRAM backup)
Flash Memory 12 MB (4 MB firmware; 8 MB
8 MB 2/4 MB −
Size user area)
Shared Memo-
ry (Computer None None None −
Interface)
User Memory 8 MB 6 MB Same as MP2300 −
Average: 50 bytes/
Language Memory Load Capacity
Average: 50 bytes/step Average capacity

step
CP Language Source: 30 bytes Same as MP2200 used when each lan-
Source: 30 bytes
Object: 30 bytes guage is used.
Object: bytes
Average: 240 bytes/
Average: 240 bytes/line
Motion line
Source: 50 bytes Same as MP2200 −
Language Source: 50 bytes
Object: 285 bytes
Object: 190 bytes
Being considered for develop-

C Language Same as MP2200 − −
ment.
4-10
4.3 CPU-01 Module
(cont’d)
MP2200 does not
Trace
Data Trace 128 kW (32 kW × 4 Gr) Same as MP2200 Same as MP2200

have battery backup.
Failure Trace None Same as MP2200 Same as MP2200 −
CP Ladder Approx. 120 Same as MP2200 Same as MP2200 −
Data Type No. of Program Language Instructions
Motion
Approx. 70 Same as MP2200 Same as MP2200 −
Language
Being considered for develop-
C language Same as MP2200 Not supported −
ment.
Motion API
(Provided by Approx. 150 Same as MP2200 Not supported −
System)
User Functions
(Created by 500 Same as MP2200 Same as MP2200 −
User)
Bit Supported Same as MP2200 Same as MP2200 −

Word (Integer) Supported Same as MP2200 Same as MP2200 −
Long (Double-
length Integer)
Supported Same as MP2200 Same as MP2200 − 4
Real Number Supported Same as MP2200 Same as MP2200 −
Text Supported Same as MP2200 Same as MP2200 −
Register No.
Register Size Variable Designation Method
Supported Same as MP2200 Same as MP2200 −

Designation
Symbol
Designation
Subscript
(CP Ladders)
M Registers 64 kW Same as MP2200 32 kW −
S Registers 4096 W Same as MP2200 1024 W −
Memory Backup Flash memory (M registers SRAM (entire SRAM

Same as MP2200 −
(Program, Data) backed up by battery) backed up by battery)
8 DI (1 also used for inter-
On-board I/O (CPU
Not supported rupts) Not supported −
Module)
4 DO
36 Optional Module
35 Optional Module slots 3 Optional Module slots
slots max.
LIO, SVA, SVB, 218, 217, LIO, SVA, SVB, 218, 217, AFMP and CSIF
Optional Module M-I, Ethernet, serial,
PROFI, DeviceNet, EXIF, PROFI, DeviceNet, AFMP, being developed.
LIO, SVA, etc., sup-
AFMP, CSIF CSIF
ported
1 port on CPU (ports
Engineering Port
Optional Module Same as MP2200 can be added with −
(RS-232C)
Optional Module)
4-11
(cont’d)
Servo tuning must be
Engineering Functions
Program considered together

Supported Same as MP2200 Same as MP2200
Loader with M-II message
transmissions.
Variable Set-
tings/Monitor- Supported Same as MP2200 Same as MP2200 −
ing
Traces Supported Same as MP2200 Same as MP2200 −
Servo Tuning Not supported Not supported Not supported −
Self-configura-
Other Functions
Supported Same as MP2200 Not supported −

tion
Remote API Supported Same as MP2200 Not supported −
Calendar Supported Same as MP2200 Same as MP2200 −
Optional Modules
must be able to load
the OS, but this must
Supported (Special tool or
OS Load Same as MP2200 Same as MP2200 be considered
communication)
together with M-II
message transmis-
sions.
Note: M-I: MECHATROLINK-I, M-II: MECHATROLINK-II
4-12
4.4 SVB-01 Module
4.4 SVB-01 Module

The SVB-01 Module is a Motion Module with a MECHATROLINK-II-compatible interface.
If the MECHATROLINK is used, multiple axis control is possible with less wiring. The SVB-01 Module’s com-
patibility with MECHATROLINK-II enables position control, speed control, torque control, and phase control,
and makes precise synchronous control possible. The control mode can also be changed while online, facilitating
complicated machine operations.
MP2200 CPU SVB-01
MECHATROLINK
SERVOPACK
Position
User application
references
Position control
Ladder or
motion Speed
references Speed control
programs
Torque Torque control SERVOPACK
references
Phase control
Phase
references
4
The following figure shows the external appearance of the SVB-01 Module.
LED indicators
DIP switch SVB-01

RUN ERR
Rotary switches TX
(station address settings) M/S

SIZE
SPD
OFF ON
10
MECHATROLINK
connector M-I/II
CN1
MECHATROLINK
connector
CN2
(2) Indicators
The following table shows the indicators that show the operating status of the SVB-01 Module and error infor-
mation.
Indicator
Indicators Color Significance when Lit
Name
Lights during normal operation of the
RUN Green microprocessor used for control.
RUN ERR
Not lit during error.
TX
Lights/blinks for failures.
ERR Red
Not lit during normal operation.
MECHATROLINK transmission in
TX Green
progress.
4-13
(3) Switch Settings

The DIP switch sets the operating conditions for the SVB-01 Module. Use the default settings when using the
Module in Master Mode.
(a) DIP Switch
SIZE and SPD are valid only in Slave Mode. They will be ignored in Master Mode.
M/S
SIZE
SPD
OFF ON
Default
Name Status Operating Mode Details
Setting
ON Reserved OFF
− Not used.
OFF Reserved
ON Slave Mode OFF
M/S Select Master or Slave Mode.
OFF Master Mode
ON 17 bytes OFF
SIZE Select the number of transfer bytes.
OFF 32 bytes
ON 4 Mbps OFF
SPD Select the baud rate.
OFF 10 Mbps
(b) Rotary Switches
10
Default
Name Status Operating Mode Details
Setting
Local station address when in Slave Sets the 10s digit of the local slave
×10 0 to 9 0
Mode (10s digit) address.
Local station address when in Slave Sets the 1s digit of the local slave
×1 0 to 9 1
Mode (1s digit) address.
4-14
4.4 SVB-01 Module

The following table shows the hardware specifications of the SVB-01 Module.
Item Specifications
Name Motion Modules
Model JAPMC-MC2310
Abbreviation SVB-01
Motion network: 1 channel
communication ports: 2 ports
SERVOPACK and I/O for up to 21 stations connectable
Motion Network MECHATROLINK
(SERVOPACKs for up to 16 axes)
Baud rate: 4 Mbps (MECHATROLINK-1) or 10 Mbps
(MECHATROLINK-II)
RUN (green)
Indicators ERR (red)
TX (green)
−
M/S (master/slave)
SIZE (No. of send bytes)
Switches
SPD (baud rate)
× 1 (slave address)
× 10 (slave address)
4
Mass 80 g
4-15
4.4.4 Function Lists

The following table shows the list of motion control functions for the SVB-01 Module.
Item Details
Number of Communication
MECHATROLINK communication
1 line
Lines
Number of Communication
2 ports
Ports (Connectors)
Terminating Resistance JEPMC-W6022 Terminator must be purchased separately.
MECHATROLINK-II: Total Network length of 50 m, minimum distance between
stations of 0.5 m
Transmission Distance
MECHATROLINK-I: Total Network length of 50 m, minimum distance between
stations of 0.3 m
MECHATROLINK-II MECHATROLINK-I
Master Functions
Communication Interface CP-216

(2:N synchronous) (1:N synchronous)
Baud Rate 10 Mbps 4 Mbps 2 Mbps or 4 Mbps
0.5 ms, 1 ms, 1.5 ms, or
Transmission Cycle 2 ms 1 ms, 2 ms, or 4 ms
2 ms
Number of Link Commu-
17 bytes or 32 bytes 17 bytes 17 bytes
nication Bytes
Up to 21 stations
Number of Connectable
(SERVOPACK for up to 16 Up to 14 stations Up to 14 stations
Stations
axes)
C1 Messaging (Master
Supported (selectable) Not supported. Not supported.
Function)
C2 Messaging (Alloca-
Supported (selectable) Not supported. Not supported.
tions)
Retry Function Supported (selectable) Not supported. Not supported.
Supported Slave Devices For details, refer to 2.3 Devices Connectable to MECHATROLINK.
MECHATROLINK-II MECHATROLINK-I
Slave Functions
Communication Interface −
(2:N asynchronous) (1:N asynchronous)
Baud Rate 10 Mbps 4 Mbps −
0.5 ms, 1 ms, 1.5 ms, or
Communication Cycle 2 ms −
2 ms
Number of Link Commu-
17 bytes or 32 bytes 17 bytes −
nication Bytes
Messaging (Slave Func-
Supported Not supported. −
tion)
4-16
4.4 SVB-01 Module
(cont’d)
Item Details
Single transmission (communication cycle = transmission cycle) synchronous com-
Servo Control
munication
Communication Method Transmission/communication error detection (hardware) provided.
Synchronous communication error detection (software) provided.
Automatic recovery function not provided (recovery when alarm cleared).
I/O Registers Input/output using motion registers (synchronized on high-speed scan)
Command Mode Motion Command Mode/MECHATROLINK Transparent Command Mode
Supported Servomotors Standard motors, linear motors, and DD motors
Control Type Position control, speed control, torque control, and phase control
Positioning, External Positioning, Zero Point Return, Interpolation, Interpolation
Motion Commands with Position Detection, Fixed Speed Feed, Fixed Length Feed, Speed Reference*,
Torque Reference*, Phase Control*, etc.
Acceleration/Deceleration One-step asymmetric trapezoidal acceleration/deceleration, exponential accelera-
Method tion/deceleration filter, moving average filter
Position Unit pulse, mm, inch, degree
Speed Unit Reference units/s, 10n reference units/min, percentage of rated speed
Acceleration Unit Reference units/s2, ms (acceleration from 0 until rated speed reached)
Torque Unit Percentage of rated torque 4
Electronic Gear Supported
Finite length position control, infinite length position control, absolute system infi-
Position Control Method nite length position control, and simple absolute system infinite length position con-
trol
Software limit Positive/negative direction for each point
Zero Point Return Method 13 types
Servo Parameter
Parameters can be managed in the MPE720’s SERVOPACK Parameter Window.
Management
Single transmission (communication cycle = transmission cycle) asynchronous com-
Inverter Control
munication
Synchronous communication error detection not provided.
Automatic recovery function provided.
Input/output using motion registers (synchronized on high-speed scan)
I/O Registers
CP-216 communication: Input/Output using I/O registers
Command Mode Motion Command Mode/MECHATROLINK Transparent Command Mode
Speed control only (V/F, vector control and other control methods use inverter set-
Control Type
tings)
Motion Commands Inverter I/O control, etc.
Speed Unit The speed unit depends on the inverter settings.
Inverter Parameter
Parameters can be managed in the MPE720’s Inverter Parameter Window.
Management
Single transmission (communication cycle = transmission cycle) asynchronous com-
I/O Control
munication
Synchronous communication error detection not provided.
Automatic recovery function provided.
Input/output using I/O registers and synchronized on the high-speed scan or low-
I/O Registers
speed scan (selectable).
Self-configuration Function Module and slave devices can be automatically allocated.
Synchronization supported (enabled when power is cycled) when high-speed scan
Synchronization between Modules
cycle = communication cycle times n
* Only with MECHATROLINK-II
4-17
4.5 SVA-01 Module

The SVA-01 Module is a Motion Control Module with analog outputs. Servo drives or inverters for up to 2 axes
can be controlled with a single Module.
The Module provides two connectors (CN1 and CN2) to connect SERVOPACKs and external I/O. Each connec-
tor provides analog outputs for a speed reference and torque reference, analog inputs for feedback speed monitor-
ing and torque monitoring, pulse input phases A/B/C (5-V differential), and general-purpose digital I/O.
The control cycle is fixed at 500 µs to enable high-precision control regardless of the high-speed scan cycle.
Two analog outputs: Speed reference

Servo Controls CN1
• Speed reference Torque reference
• Position control Two analog inputs: Speed monitor
Servo connector
• Torque reference Torque reference monitor
• Phase control
• Zero point return Pulse inputs: Phases A, B, and C (5-V differential)
Monitor Functions Six general-purpose digital inputs (2 latch inputs)
Six general-purpose digital outputs
System bus connector
Sensor ON output: 5 V/24 V
CN2
System bus
above.
Same
Interfaces Same as above.
as
Servo parameters
OW CN3
IW

The following figure shows the external appearance of the SVA-01 Module.
LED indicators
SVA-01
RUN ERR
CH1
Servo connectors
CH2
24-V input connector
+24V
ON
DC IN
(2) Indicators
The following table shows the indicators that show the operating status of the SVA-01 Module and error informa-
tion.
Indicators Indicator Name Color Significance When Lit
Lights when control microprocessor is operating normally.
RUN Green
Not lit during error.
RUN ERR
Lights/blinks for failures.
ERR Red
4-18
4.5 SVA-01 Module

The following table shows the hardware specifications of the SVA-01 Module.
Item Specifications
Name Motion Modules
Model JAPMC-MC2300
Abbreviation SVA-01
6 inputs × 2 channels (source mode/sink mode inputs, 24 V/4.3 mA)
DI_0: General-purpose input (ALM)
DI_1: General-purpose input (RDY)
Digital inputs DI_2: General-purpose input (ZERO: External latch signal input)
DI_3: General-purpose input
DI_4: General-purpose input
DI_5: General-purpose input (EXT: External latch signal input)
6 outputs × 2 channels (sink mode outputs, 24 V/100 mA)
DO_0: General-purpose output (SV_ON)
Servo inter- DO_1: General-purpose output (ALM_RST)
face DO_2: General-purpose output (PCON): Used as the C-SEL
Digital outputs (control mode select) signal.
DO_3: General-purpose output 4
DO_4: General-purpose output
DO_5: General-purpose output (SEN signal): 5-V and 24-V
outputs
1 input × 2 channels, phases A/B/C, 5-V differential input, pulse rate:
Pulse inputs
4 Mpps (16 Mpps for × 4)
Analog outputs 2 outputs × 2 channels, −10 to 10 V, D/A 16 bits
2 inputs × 2 channels, −10 to 10 V (applicable: −9.9 V to 9.9 V), A/D 16
Analog inputs
bits
CN1: Servo connector
Connectors CN2: Servo connector
CN3: 24-V input
RUN (Green)
Indicators
ERR (Red)
Conforms to EN 61000-6-2 and EN 55011 (Group1 ClassA).
Electrical op- Power supply noise (FT noise): 2 Kv min., for one minute
Noise Resis-
erating condi- Radiation noise (FT noise): 1 Kv min., for one minute
tance
tions Ground noise (impulse noise): 1 Kv min., for 10 minutes
Electrostatic noise (air discharge method): 8 Kv min., 10 times
Mass 80 g
4-19

The following table shows the SVA-01 Module motion control functions.
Item Details
According to the torque unit selection parame-
Control functions
Torque Reference
Torque Reference (Open Loop) ter.
Speed Limit at Torque Reference Rated speed percentage designation [0.01%]
According to the speed unit selection parame-
Speed Reference
ter.
According to the acceleration unit selection
Acceleration
parameter.
Deceleration
parameter.
Speed Reference (Open Loop)
Moving Average Filter Time Con-
ms
stant Setting
According to the torque unit selection parame-
Torque Limits
ter.
Positive Speed Limit Rated speed percentage designation [0.01%]
Negative Speed Limit Rated speed percentage designation [0.01%]
Position References mm, inch, deg, pulse
Speed References
ter.
Acceleration
parameter.
Deceleration
parameter.
Moving average or exponential acceleration/
Filter Type
deceleration
Filter Time Constant ms
Position Control Position Compensation mm, inch, deg, pulse
Speed Compensation
ter.
Position Loop Gain 1/s
Position Loop Integration Time
ms
Constant
Speed Feed Forward Compensation Position derivative percentage designation
Primary Delay Time Constant ms
Torque Limit Rated torque percentage designation [0.01%]
Speed References
ter.
Speed Compensation
ter.
Phase Compensation mm, inch, deg, pulse
Phase Control Phase Control Proportional Gain Same as position loop gain parameter.
Phase Control Integral Time Con- Same as position loop integral time constant
stant parameter.
Torque Limit Rated torque percentage designation [0.01%]
4-20
4.5 SVA-01 Module
(cont’d)
Item Details
Positioning, external positioning, zero point return, interpolation, interpolation with
Motion Functions
Motion Commands position detection function, JOG operation, STEP operation, speed references, torque
references, phase control, etc.
Acceleration/Deceleration 1-step asymmetrical trapezoidal acceleration/deceleration, exponential acceleration/
Method deceleration filter, moving average filter
Position Units pulse, mm, inch, degree
Speed Units Reference unit/s, 10n reference unit/min, rated speed percentage designation
Acceleration Units Reference unit/s2, ms (acceleration time from 0 to rated speed)
Torque Units Rated torque percentage designation
Electronic Gear Yes
Finite length position control, infinite length position control, absolute infinite length
Position Control Method
position control, simple absolute infinite length position control
Software Limits 1 each in forward and reverse directions
Home Return Types 17
Latch Function Phase-C latch, external signal input latch
Self-configuration Function Automatic allocation by Module is supported.
4-21
4.6 LIO-01 Module

The LIO-01 Module provides digital I/O and pulse counter functions. There are 16 digital inputs (DI) and 16 dig-
ital outputs (DO) (sink mode outputs) for the digital I/O function. There is also 1 pulse input (PI) channel for the
pulse counter function. I/O is refreshed on a fixed cycle for the digital I/O and pulse counter functions, occurring
every MP2200 high-speed and low-speed scan. The following diagram gives an outline of the LIO-01 Module
functions.
Interrupt
input
16 points
DI-00
Input Input port
processing (isolated DI)
DI-01
Latch 5-V/12-V
I/O connector
Z input
System bus
input
Pulse input
processing 5-V differential
Coinci- A/B input
dence
output
Coinci-
dence in-
terrupt
DO-00
16 points
Output port
Output (isolated DI)
(sink mode
processing outputs)

The following figure shows the external appearance of the LIO-01 Module.
LED indicators LIO-01
Switch
I/O connector
4-22
4.6 LIO-01 Module
(2) LED Indicators and Switch Settings

The LIO-01 Module status display LED indicators (LD1 to LD8) change based on the SW1 rotary switch setting.
The following table shows the ON/OFF indicator display for DI and DO.
Indi-
Color SW1 Status when Lit
cator
Board Status Indicators
LD1 Normal operation: Lit, Error: Not lit
LD2 DI-00 to DI-07 status. Lit when any DI is turned ON.
LD3 DO-00 to DO-07 status. Lit when any DO is turned ON.
0 LD4 Pulse A/B input. Lit when phase A/B is turned ON.
LD1 LD8 Pulse Z input. Lit when phase Z is turned ON.
to Green 1 DI input indicators: When DI00 to DI07 turn ON, corresponding indicators (LD1 to LD8) are lit.
LD8 2 DI input indicators: When DI08 to DI15 turn ON, corresponding indicators (LD1 to LD8) are lit.
DO output indicators: When DO00 to DO07 turn ON, corresponding indicators (LD1 to LD8) are
3
lit.
DO output indicators: When DO08 to DO15 turn ON, corresponding indicators (LD1 to LD8) are
4
lit. 4
PI Input Indicators
LD1 Pulse A input LD5 Coincidence detection
5 LD2 Pulse B input LD6 Phase-Z latch
LD3 Pulse Z input LD7 DI latch
LD4 − LD8 −
7
LD1 LD5
8
9
6
LD2 LD6
0
5
LD3 LD7
1
3
4
LD4 LD8 2
Indicators SW1
4-23

(1) Module Specifications
The following table shows the hardware specifications of the LIO-01 Module.
Item Specifications
Name LIO-01
Model JAPMC-IO2300
16 inputs
Digital Inputs 24 VDC, 4.1 mA, combined sink mode/source mode inputs
(DI-00 also used for interrupts, DI-01 also used for pulse latch inputs.)
16 outputs
Digital Outputs 24 VDC transistor open-collector outputs, sink mode outputs
(DO-00 also used for coincidence outputs.)
Phase A/B/Z inputs
Phase-A/B: 5-V differential input, not isolated, max. frequency: 4 MHz
Pulse Input Phase-Z: 5-V/12-V photocoupler input, max. frequency: 500 kHz
Latch input
Pulse latch on phase-Z or DI-01.
LD1 (green)
LD2 (green)
LD3 (green)
LD4 (green)
Indicators
LD5 (green)
LD6 (green)
LD7 (green)
LD8 (green)
Switches Rotary switch (SW1)
Mass 80 g
4-24
4.7 LIO-02 Module
4.7 LIO-02 Module

The LIO-02 Module provides digital I/O and pulse counter functions. There are 16 digital inputs (DI) and 16 dig-
ital outputs (DO) (source mode outputs) for the digital I/O function. There is also 1 pulse input (PI) channel for
the pulse counter function. I/O is refreshed on a fixed cycle for the digital I/O and pulse counter functions, occur-
ring every MP2200 high-speed and low-speed scan. The following diagram gives an outline of the LIO-02 Mod-
ule functions.
Interrupt
input
16 points
DI-00
Input Input port
processing (isolated DI)
DI-01
I/O connector
Latch 5-V/12-V
System bus
input Z input
Pulse input
processing 5-V differential
Coinci- A/B input
dence
output
Coinci-
dence in-
terrupt DO-00
Output
16 points
Output port
(isolated DO)
4
(source mode
processing output)

LED indicators LIO-02
Switch
I/O connector
4-25
(2) LED Indicators and Switch Settings

The LIO-02 Module status display LED indicators (LD1 to LD8) change based on the SW1 rotary switch set-
tings. The following table shows the ON/OFF indicator display for DI and DO.
Indi-
Color SW1 Status when Lit
cator
Board Status Indicators
0 LD4 Pulse A/B input. Lit when phase A/B is turned ON.
LD8 Pulse Z input. Lit when phase Z is turned ON.
LD1 DI input indicators: When DI00 to DI07 turn ON, corresponding indicators (LD1 to LD8) are
1
to Green lit.
LD8 DI input indicators: When DI08 to DI15 turn ON, corresponding indicators (LD1 to LD8) are
2
lit.
DO output indicators: When DO00 to DO07 turn ON, corresponding indicators (LD1 to LD8)
3
are lit.
DO output indicators: When DO08 to DO15 turn ON, corresponding indicators (LD1 to LD8)
4
are lit.
PI input Indicators
LD1 Pulse A input LD5 Coincidence detection
5 LD2 Pulse B input LD6 Phase-Z latch
LD3 Pulse Z input LD7 DI latch
LD4 − LD8 −
7
LD1 LD5
8
9
6
LD2 LD6
0
5
LD3 LD7
1
3
4
LD4 LD8 2
Indicators SW1
4-26
4.7 LIO-02 Module

Item Specifications
Name LIO-02
Model JAPMC-IO2301
16 inputs
Digital Inputs 24 VDC, 4.1 mA, combined sink mode/source mode inputs
(DI-00 also used for interrupts, DI-01 also used for pulse latch inputs.)
16 outputs
Digital Outputs 24 VDC transistor open-collector outputs, source mode outputs
(DO-00 also used for coincidence outputs.)
Phase A/B/Z inputs
Phase AB: 5-V differential input, not isolated, max. frequency: 4 MHz
Pulse Input Phase-Z: 5-V/12-V photocoupler input, max. frequency: 500 kHz
Latch input
LD1 (green)
LD2 (green)
LD3 (green)
4
LD4 (green)
Indicators
LD5 (green)
LD6 (green)
LD7 (green)
LD8 (green)
Switches Rotary switch (SW1)
Mass 80 g
4-27
4.8 LIO-01 and LIO-02 Module Counter Functions

For the counter function, the command is selected in the counter fixed parameters and counter setting parameters,
and status and the counter value are stored in counter monitor parameters.
The following diagram shows the data flow for the counter function.
MP2200 LIO-01 or LIO-02 Module
I/O
Counter Monitor Information from LIO-01 or connector
Parameters (32 words) LIO-02 Module to MP2200
• Operation status
• Incremental pulse 5-V
• Current counter value differential
• Latch data, etc. interface
Pulse input processing

Pulse input
Counter Setting
Commands from MP2200 to Parameters (32 words)
LIO-01 or LIO-02 Module Phase Z
• Operation mode 5- or 12-V
• Preset count data voltage
• Coincidence detection interface
setting, etc.
Latch input DI-01
Coincidence detection
output DO-00
DI-00 (interrupt input)
Counter Fixed Parameters
Conditions settings for

counter function
• Pulse A/B signal polarity

selection
• Pulse counting modes
• Other function selection
4-28
• Pulse Counting Modes

The following pulse counting modes can be selected using the setting of the Pulse Counting Mode counter
fixed parameter.
Pulse Counting Mode Polarity Up Count (Forward) Down Count (Reverse)
Positive Pulse A Pulse A

logic Pulse B
LOW HIGH
Pulse B
×1
Pulse A Pulse A
Negative
logic HIGH LOW
Pulse B Pulse B
Sign
logic LOW HIGH
Pulse B Pulse B
×2
Pulse A
Pulse A
Negative
logic LOW LOW
Pulse B Pulse B
Positive Pulse A Pulse A Fixed on LOW or HIGH 4

logic Pulse B Fixed on LOW or HIGH Pulse B
×1
Pulse A Pulse A Fixed on LOW or HIGH
Negative
UP/DOWN
Positive Pulse A Pulse A Fixed on LOW or HIGH
logic
Pulse B Fixed on LOW or HIGH Pulse B
×2
Pulse A Pulse A Fixed on LOW or HIGH
Negative

logic Pulse B
Pulse B
×1
Pulse A Pulse A
Negative
logic Pulse B Pulse B

logic
Pulse B Pulse B
A/B ×2
Pulse A Pulse A
Negative

×4
Pulse A Pulse A
Negative
4-29
4.8.2 Counter Function Details

(1) Pulse Count Function
The count is incremented and decremented based on the pulse A and pulse B inputs.
The following functions are supported when specified in the counter setting parameter.
• Count prohibit: Prohibits counting.
• Count preset: Forces the counter value to change.
• PI latch detection: Saves the counter value when an external signal is input.
• Coincidence detection: Outputs an external output signal when the counter setting parameter Coincidence
Detection setting and the counter current value match.
MAX (7FFFFFFFH) MAX (7FFFFFFFH)
Count preset*2
(+)
n3
Counter counting register
n2 Count preset*2
0
n6
n1
n7
n4 n5
(−)
MIN MIN
(80000000H) (80000000H)
A or B pulse UP Stop UP DOWN UP Stop DOWN Stop DOWN
Ts
Current count n1 n2 n3 n4 n5 n6 n7
value*1
Ts: Scan setting
* 1. Current count value = Hardware counter (IL+4)

* 2. Count preset = Count preset data (OL+2)
Note: : Counter fixed parameter No. 1: Leading Register Number
4-30
(2) Coincidence Output and Coincidence Interrupt Functions

The Coincidence Output and Coincidence Interrupt Functions output an external output signal (coincidence
detection signal) and output an interrupt signal to the MP2200 when the current counter value and a preset
counter setting parameter (Coincidence Detection Setting: OL+4) match.
The Coincidence Output Function is enabled when 1 is set to the counter fixed parameter No. 9 (Coincidence
Detection Function Selection).
The Coincidence Interrupt Function is enabled when 1 is set to the counter fixed parameter No. 10 (Coincidence
Interrupt Function Selection).
(+)
COINDATA
(−)
COINDAT
4
Coincidence point
detection*1
Coincidence detection
request*2
Coincidence output
signal
Interrupt request signal T0

3
T1
Interrupt reception 4
* 1. Coincidence point detection value = Coincidence detection setting (OL+4)

* 2. Coincidence detection request = Command setting (OW + 0 Bit 3)
* 3. T0: Max. time from when interrupt request signal received by MP2200 until interrupt processing starts
(70 to 120 ms).
* 4. TI: Time from when interrupt request signal is received until DWG.I (interrupt process drawing) execu-
tion starts.
Normal program execution: Approx. 90 to 170 ms

I/O command executed directly: Approx. 90 to (1,460 + 40 + N) ms
N = No. of direct I/O words (Max. 8)
• Coincidence output signal uses DO-00. Therefore, DO-00 will be masked when 1 is set to fixed parameter
IMPORTANT
No. 9 (Coincidence Detection Function Selection). Actual signal outputs are not affected even if the register
allocated to DO-00 is turned ON or OFF from the ladder program.
• Use counter status (IW + 0 Bit5) to monitor coincidence detection signal outputs.
4-31
(3) PI Latch Function

The PI latch function saves (latches) the current value to a memory register on the rising edge of an external sig-
nal. Select either phase Z or a discrete input as the external signal.
(+)
PINT
Hardware latch
(−)
PI latch detection
request*1
1 µs min.
External signal
or phase Z
PI latch completed
signal
PI detection position PINT

monitor*2
* 1. PI latch detection request = Command setting (OW + 0 Bit 2)

* 2. PI detection position monitor = PI latch data (IL + 6)
4-32
4.8.3 Electronic Gear Function

The Electronic Gear Function can be used when counter fixed parameter No. 15 (Reference Unit Selection) is set
to any value except 0.
(1) Outline
The Electronic Gear Function is used to set the workpiece travel distance per pulse input to the LIO Module
counter to any value.
Workpiece
Reference unit: 1 µm
Encoder pulse: 2048 Ball screw pitch: 6 mm

Workpiece
The machine conditions and reference unit are

Encoder pulse: 2048 Ball screw pitch: 6 mm defined beforehand by the Electronic Gear.
To move the workpiece 10 mm, To move the workpiece 10 mm, with a

6 mm per rotation, therefore reference unit of 1 µm,
10 ÷ 6 = 1.6666 rotations
2,048 × 4 pulses per rotation, therefore 10 mm
= 10000 reference units
1.6666 × 2,048 × 4 = 13,653 pulses. 1µ
13,653 pulses are input as the reference.
This conversion must be made on the
host device. 4
Without Electronic Gear 　　　　With Electronic Gear
(2) Settings
Use steps 1 to 5 in the following procedure to make the settings.
1. Confirm the machine specifications.
Elements relating to the Electronic Gear

• Gear ratio
• Ball screw pitch Ball screw pitch
• Pulley diameter, etc.
Gear ratio
2. Confirm the number of encoder pulses input to the counter and set this value to the counter fixed parame-
ter No. 24 (Number of Pulses Per Encoder Rotation).
3. Decide the reference unit.
The reference unit is the smallest unit for the position data that moves the load. (The smallest reference
unit used by the host device.)
Moving a table in 0.001-mm
increments.
Reference unit: 0.001 mm
Take the machine specifications, positioning accuracy,

and other factors into account when deciding the
reference unit.
EXAMPLE
• When reference unit is 0.01 mm, 0.001 mm, 0.1°, or 0.01 inches:
The workpiece is moved 1 reference unit per pulse reference input.
• When reference unit is 1 µm:
When 50,000 reference pulses are input, the workpiece will be moved by 50,000 × 1 µm = 50 mm.
4-33
4. Find the load travel distance for each rotation of the load axis using the reference unit.
Travel distance when load axis rotated once

Travel distance when load axis rotated once (reference unit) =
Reference unit
EXAMPLE
• For a ball screw pitch of 5 mm and a reference unit of 0.001 mm:
5
= 5000 (Reference unit)
0.001
Ball screw Round table Belt + pulley
Load axis P Load axis πD
D
P: pitch D: Pulley diameter
Load axis
P 360
1 rotation = 1 rotation = πD
Reference unit 1 rotation =
Reference unit Reference unit
5. Set the Encoder Gear Ratio and the Machine Gear Ratio in the counter fixed parameters No. 20 and No.
21.
• No. 18 setting range: 1 to 231-1 [1 = 1 reference unit]
EXAMPLE
Setting Examples
• Load moving amount per load axis rotation = 12 mm
• Smallest reference unit = 0.001 mm (reference unit: mm, to 3 decimal places)
Counter fixed parameter No. 18 = 12 mm/0.001 mm = 12000
• When the encoder axis has rotated m times and the mechanical configuration allows the load axis to
rotate n times, set the following values:
Counter fixed parameter No. 20 = m rotations
Counter fixed parameter No. 21 = n rotations
Setting range: 1 to 65,535 [rotations]
• For the configuration shown in the diagram:
4 rotations
7 rotations
Encoder axis Load axis n rotations

m rotations
9 rotations
3 rotations
Gear ratio = n/m = (3/7) × (4/9) = 4/21

Therefore, set the following values: Counter fixed parameter No. 20 = 21
Counter fixed parameter No. 21 = 4
4-34
(3) Setting Example

The following are parameter setting examples for each kind of load mechanical configuration.
(a) Ball Screws
7 rotations
m
Encoder
5 rotations
n
Ball screw pitch P =
6 mm/rotation
In the above machine system, if the requirement is reference unit = output unit = 0.001 mm, the setting of
each parameter will be as follows:
• No. 18 = 6 mm/0.001 mm = 6000
• Gear ratio = n/m = 5/7
• No. 20 = 7
• No. 21 = 5
(b) Rotating Loads

4
m 30 rotations
Encoder
10
rotations
Rotating load
360°/rotation
In the above machine system, if the requirement is reference unit = output unit = 0.1°, the setting of each
parameter will be as follows:
• No. 18 = 360°/0.1° = 3600
• Gear ratio = n/m = 10/30 = 1/3
• No. 20 = 3
• No. 21 = 1
4-35
(4) Axis Type Selection

There are two types of axis: An infinite length axis that resets the current value with a specified value, and a finite
length axis that does not reset the current value. The finite length axis is used for rotation in one direction only,
where the current value data is not reset after rotation, and for return and other operations that are performed only
within a specified range.
The infinite length axis is used for applications such as resetting the current value data for a conveyor belt or
other device to 0 after one rotation.
If the infinite length axis is selected, the counter current value after conversion (IL + 0x0A) and the PI
latch data after conversion (IL + 0x0C) are reported within the range 0 to (infinite axis reset position -
1).
The axis type selection sets which type of position control is to be used. The axis type selection is set in the
counter fixed parameter No. 14 (Axis Type Selection).
Types Axis Type Selection
Within a set range Finite length axis (= 0)
No reset after 1 rotation Finite length axis (= 0)
Reset after 1 rotation* Infinite length axis (= 1)
* The reset position is set in the counter fixed parameter No. 22 (Infinite Length Axis Reset Position) (POSMAX).
POSMAX
4-36
4.8.4 Counter Parameters

(1) Counter Fixed Parameters
The following table lists the counter fixed parameters.
Parameter Default
Name Details Size Remarks
No. Value
0 Channel Selection Used (= 1)/ Not used (= 0) 1 word 0
Leading Register
1 Specifies the first I/O register to use. 1 word 0
Number
2 Not used 1 word 0
3 Not used 1 word 0
Pulse A/B Signal Polarity Positive logic (= 0)/ Negative logic
4 1 word 0
Selection (= 1)
5 Not used 1 word 0
Specifies the pulse count mode.
0: Sign mode ×1
1: Sign mode ×2
Pulse Count Mode 2: Up/Down mode ×1
6 1 word 6
Selection 3: Up/Down mode ×2
4: Pulse A/B mode ×1
5: Pulse A/B mode ×2 4
6: Pulse A/B mode ×4
7 Not used 1 word 0
8 Not used 1 word 0
Coincidence Detection
9 Not used (= 0)/ Used (= 1) 1 word 0
Function Selection
Valid only when
Coincidence Interrupt the Coincidence
10 Not used (= 0)/ Used (= 1) 1 word 0
Function Selection Detection Func-
tion is enabled.
11 Not used 1 word 0
13 Not used Not used (= 0)/ Used (= 1) 1 word 0
Finite length axis (= 0)/ Infinite
14 Axis Type Selection 1 word 0
length axis (= 1)
0: pulse
1: mm
15 Reference Unit 1 word 0
2: deg
3: inch
Number of Decimal
16 0 to 5 (1 = 1 digit) 1 word 3
Places
Moving Amount Per
18
Machine Rotation 1 to 231 − 1 (1 = 1 reference unit) 2 words 10000
20 Encoder Gear Ratio 1 to 65535 1 word 1

21 Machine Gear Ratio 1 to 65535 1 word 1
Maximum Value of
22 Rotary Counter 1 to 231−1 (1 = 1 reference unit) 2 words 360000
(POSMAX)
Number of Pulses Per
24 Encoder Rotation 1 to 231 − 1 (1 = 1 pulse/rev) 2 words 2048
(before Multiplication)
:
to
:
4-37
4.8.4 Counter Parameters
(2) Counter Setting Parameters

The following table shows the counter setting parameters details.
Name Register Number Setting Range Meaning Remarks
Command Settings*:
OW+000 Bit setting
(RUNMOD)
Function selection (Latch
Detection Signal Selec-
Set Function
tion)
OW+001 Bit setting 0000H: DI latch
Set Function
0000H: DI latch
0002H: Z latch
0002H: Z latch
Count Preset Data (PRS-
DAT)
OL+002 −231 to 231−1 1 = 1 reference unit
Coincidence Detection
Setting (COINDAT)
OL+004 −231 to 231−1 1 = 1 reference unit
Preset data of POSMAX

turns
OL+006 −231 to 231−1 1 = 1 rotation
OL+008
Reserved to
OL+01C
System Monitor OL+0x1E −231 to 231−1 System use
* The following table shows the Command Settings (RUNMOD) details.
Name Bit No. Meaning

Count prohibited 0 1: Count prohibited
Count preset request 1 1: Preset request
PI latch detection request 2 1: Latch detection request
Coincidence detection request 3 1: Coincidence detection request
POSMAX turns preset request 4 1: Preset request
Reserved 5 to F
4-38
(3) Counter Monitor Parameters

The following table shows counter monitor parameters details.
Name Register Number Range Meaning Remarks
Status (RUNSTS) IW+000 Bit settings
Reserved IW+001
Number of Incremental
Pulses (PDV)
IL+002 −231 to 231−1 1 = 1 pulse
Current Counter Value

(PFB)
IL+004 −231 to 231−1 1 = 1 pulse
PI Latch Data (FREQ) IL+006 −231 to 231−1 1 = 1 pulse

Number of Incremental Same as number of incre-
Pulses after Conversion IL+008 −231 to 231−1 1 = 1 reference unit mental pulses when Elec-
(PDVG) tronic Gear not used.
Current Counter Value Same as current counter
after Conversion IL+00A −231 to 231−1 1 = 1 reference unit value when Electronic Gear
(PFBG) not used.
PI Latch Data after Con- Same as PI latch data when
version (FREQG)
IL+00C −231 to 231−1 1 = 1 reference unit
Electronic Gear not used.
POSMAX Turn Number IL+00E −231 to 231−1 1 = 1 rotation
Feedback Speed* IL+010 −231 to 231−1 1 = reference unit/s

When Electronic Gear not
used: 1 = 1 pulse/s
4
IL+012
Reserved to
IL+01C
System monitor IL+01E −231 to 231−1 System use
* Calculation: A moving average of the processing results for 32 scans.

• Without Electronic Gear
Feedback Speed (pulse/s) = (No. of incremental pulses × 1000)/Ts
• With Electronic Gear
Feedback Speed (reference unit/s) = (No. of incremental pulses after conversion × 1000)/Ts
TS: Scan time (ms) for counter synchronized scan.
The following table shows Status (RUNSTS) details.

Name Bit No. Meaning Remarks
Data Setting Error 0 1: Data setting error
ON until normal write
Fixed Parameter Setting Error 1 1: Fixed parameter setting error
completed.
Count Value Preset Completed 2 1: Count value preset completed
PI Latch Completed Signal 3 1: PI latch completed
Pulse-A/B 0 4 1: Feedback pulse is ±1 or less
Coincidence Detection Signal 5 1: Coincidence detection ON Detected in pulse units.
Pulse-A Status Display 6 1: High
Pulse-B Status Display 7 1: High
Reserved 8
Writing Fixed Parameter 9 1: Writing parameter online ON only during writing
Phase-A or -B Disconnect Alarm A
Reserved B
POSMAX Turns Preset Completed C 1: Completed
Reserved D
Reserved E
1: Counter processing being exe-
Module Ready F
cuted
4-39
4.9 LIO-04 Module

The LIO-04 Module is an Optional Board for the MP2200/MP2300 that provides a digital I/O function. There are
32 digital inputs (DI) and 32 digital outputs (DO) (sink mode outputs) for the digital I/O function.
I/O is refreshed on a fixed cycle for the digital I/O function, occurring every MP2200/MP2300 high-speed and
low-speed scan.

LED indicators
LIO-04
RUN FU
CN1
I/O connectors
CN2
(2) Indicators
The following table shows the status of LIO-04 Module LED indicators.
Indicator Indicator
Status
Name Color
Green Lit: Module normal
RUN FU RUN
Not lit: Module error
Red Lit: One of the output protection fuses is blown.
FU
Not lit: All of the output protection fuses are normal.
Note: The burnout detection circuit will not function when there is no external 24-V power supply.
4-40
4.9 LIO-04 Module

Item Specifications
Name LIO-04
Model JAPMC-IO2303
32 inputs
24 VDC, 4.1 mA, combined sink mode/source mode inputs
(DI-00, 01, 16, and 17 also used for interrupts.)
Digital Inputs Simultaneously ON Inputs
16 points (8 inputs/common): At ambient temperature of 55°C and 24 VDC
10 points (5 inputs/common): At ambient temperature of 55°C and 28.8 VDC
Refer to the following characteristics graph for details.
32 outputs
Digital Outputs
24 VDC transistor open-collector outputs, sink mode outputs
RUN (green)
Indicators
ERR (red)
Mass 80 g
4
* Number of ON Inputs vs Ambient Temperature Characteristic
Points (32 inputs, 28°C) (32 inputs, 41°C)

35
Input voltage: 24 VDC

30
Input voltage: 28.8 VDC
25
No. of ON inputs
20
(16 inputs, 55°C)
15
(10 inputs, 55°C)
10
0
0 10 20 30 40 50 60 (°C)
Ambient temperature
4-41
4.10 218IF-01 Module

The 218IF-01 Module has an RS-232C serial interface and an Ethernet interface mounted in it. Personal comput-
ers, HMI devices, and controllers manufactured by other companies can be connected to the 218IF-01 Module
via the PORT or 10Base-T connectors. Communication modes include message communication and engineering
communication, and MEMOBUS, MELSEC, and non-procedure protocols are supported. Refer to the MP2300
Machine Controller Communication Module Users Manual (Manual No. SIEPC88070004) for details.

The following figure shows the external appearance of the 218IF-01 Module.
LED indicators 218IF-01
DIP switch
Serial connector
(RS-232C)
Ethernet connector
(10Base-T)
4-42
(2) Indicators
The following table shows the status of 218IF-01 Module LED indicators.
Indicator Color Status
Lit during normal operation.
RUN Green
Not lit during errors.
Lit/blinking during malfunctions.
ERR Red
RUN ERR Lit during RS-232C data transmission or reception. Not lit
STRX Green
when data not being transmitted or received.
STRX COL
Ethernet collision status.
COL Red
TX RX Lit: Collision, Not lit: No collision
Ethernet transmission status. Lit during transmission.
TX Green
Not lit if data not being transmitted.
Ethernet reception status. Lit during reception.
RX Green
Not lit if data not being received.
(3) Switch Settings

The following table shows the 218IF-01 Module switch settings.
Label Name
Sta-
tus
Function
Factory
Setting
4
For engineering communication. Starts up using
default parameters (excluding automatic reception
ON function settings.) Given higher priority than CPU
INIT INIT Initial Startup Module Flash Startup and Self-configuration Star- OFF
TEST tup.
OFF ON Set to OFF for CPU Module Flash Startup and Self-
OFF
configuration Startup.
ON System use
TEST TEST OFF
OFF Normal operation (Always leave turned OFF.)
(4) Offline Self-diagnostic Test

The following table shows the LED indicator display if a malfunction is detected by the 218IF-01 Module during
an offline self-diagnostic test. Offline diagnostic tests are executed if the TEST switch is set to ON, the INIT
switch is set to OFF, and the power is turned ON.
LED indicators
Item Details
RUN ERR TX RX
Flash Checksum A flash memory checksum error has been Blinking
Error detected. (twice)*
Blinking
SRAM Error A SRAM hardware error has been detected. Not lit Not lit
(3 times)*
A CPU data transmission error has been Blinking
CPU Interface Error Not lit
detected. (5 times)*
Blinking
Communication Error A communication error has been detected. Depends on status.
(4 times)*
Blinking
Watchdog Error A watchdog timeout error has been detected. Depends on status.
(15 times)*
* Indicates the number of blinking.
4-43

The following table shows the hardware specifications of the 218IF-01 Module.
Item Specifications
Name 218IF-01
Model JAPMC-CM2300
RS-232C 1 port (PORT)
Communication Ports
Ethernet 1 port (10Base-T)
Module status LED indicators
Indicators RUN (green), ERR (red), STRX (green), COL (red), TX
(green), RX (green)
INIT
Switches
TEST
Mass 85 g
(2) Communication Specifications

(a) RS-232C communication Specifications
The following table shows the RS-232C communication specifications.
Item Specifications
Connectors 9-pin D-sub (female)
Transmission
15 m max.
Distance
Baud Rate 9600 or 19200 bps
Access Mode Asynchronous (start-stop synchronization)
Communication Mode Message communication, engineering communication
Communication
MEMOBUS, MELSEC, Non-procedure
Protocols
Media Access Control
1:1
Method
Transmission Format Data length: 7 or 8 bits, Stop bits: 1 or 2 bits, Parity: Odd,
(Can be set) even, or none
(b) Ethernet communication Specifications

The following table shows the Ethernet communication specifications.
Item Specifications
Interface 10Base-T: RJ-45
Isolation Method Transformer coupled
Transmission 100 m/segment, Total length: 500 m (when 4 repeaters are
Distance connected)
Baud Rate 10 Mbps
Access Mode IEEE802.3　CSMA/CD
Frames Ethernet, Ver.2 (DIX specifications)
Connections TCP/UDP/IP/ARP
Max. Number of
10Base-T: 2 Units/segment.
Nodes
Max. Number of
512 words (1,024 Bytes)
Transmission Words
Communication MEMOBUS (Slave), Extended MEMOBUS, MELSEC,
Protocols MODBUS/TCP, non-procedure
Max. Number of
5
Segments
4-44

The 217IF-01 Module has RS-232C and RS-422/485 serial interfaces mounted in it. Personal computers, HMI
devices, and controllers manufactured by other companies can be connected to the 217IF-01 Module via the
PORT or RS-232C and RS-422/485 connectors. Communication modes include message communication and
engineering communication, and MEMOBUS, MELSEC, and non-procedure protocols are supported. Refer to
the MP2300 Machine Controller Communication Module Users Manual (Manual No. SIEPC88070004) for
details.

LED indicators
217IF-01
DIP switch
Serial connector
(RS-232C) 4
Serial connector
(RS-422/485)
(2) Indicators
RUN Green
Not lit during errors.
ERR Red
RUN ERR
Lit during RS-232C (PORT) data transmission and
STRX TRX STRX Green reception. Not lit when data not being transmitted or
received.
Lit during RS-422/485 (RS-422/485) data transmis-
TRX Green sion and reception.
Not lit when data not being transmitted or received.
4-45
(3) Switch Settings

Sta- Factory
Label Name Function
tus Setting
485 − Reserved − Always leave set to OFF. OFF
INIT ON Uses the RS422/485 port as an RS-485.
TEST 485 485 Mode OFF
OFF Uses the RS422/485 port as an RS-422.
OFF ON For engineering communication. Starts up RS-232C
(PORT) using default parameters (excluding auto-
matic reception function settings.) The RS-422/485
ON
port is disabled. Given higher priority than CPU
INIT Initial startup Module Flash Startup and Self-configuration Star- OFF
tup.
Set to OFF for CPU Module Flash Startup and Self-
OFF
configuration Startup.
ON System use.
TEST TEST OFF
(4) Offline Self-diagnostic Test

LED Indicators
Item Details STRX1/
RUN ERR RX
STRX2
Error detected. (once)*
Blinking
SRAM Error A SRAM hardware error has been detected.
(twice)*
Blinking
DPRAM Error A DPRAM hardware error has been detected. Depends
(3 times)*
Not lit Not lit on sta-
Blinking tus.
Communication Error A communication error has been detected.
(4 times)*
An RS-232C loopback error has been Blinking
RS-232C Error
Blinking
Watchdog Error A watchdog timeout error has been detected.
(15 times)*
4-46

Item Specifications
Name 217IF-01
Model JAPMC-CM2310
Communication Ports
RS-422/485 1 port (RS422/485)
Module status
Indicators LED indicators, RUN (green), ERR (red), STRX
(green), TRX (green)
−−−
485
Setting Switches
INIT
TEST
Mass 90 g

4
Item Specifications
Interface 1 port (PORT)
Transmission Distance 15 m max.
Baud Rate 9.6, 14.4, 19.2, 28.8, 38.4, 48.0, 57.6, or 76.8 kbps
Communication Protocols MEMOBUS, MELSEC, OMRON, and non-procedure
1:1
Method
Data length: 7 or 8 bits
Transmission Format
Stop bits: 1 or 2 bits
(Can be set)
Parity: Odd, even, or none
Note: The baud rate depends on the connected devices.
(b) RS-422/485 Communication Specifications

The following table shows RS-422/485 communication specifications.
Item Specifications
Interface 1 port (RS422/485)
Connectors MDR14 pin (female)
Baud Rate 9.6, 14.4, 19.2, 28.8, 38.4, 48.0, 57.6, or 76.8 kbps
Synchronization Mode Asynchronous (start-stop synchronization)
Communication Protocols MEMOBUS, MELSEC, non-procedure
Media Access Control 1:1 (RS-422)
Method 1:N (RS-485)
Transmission Format
(Can be set)
4-47

The 260IF-01 Module has an RS-232C serial interface and a DeviceNet interface mounted in it. Personal com-
puters, HMI devices, and controllers manufactured by other companies can be connected to the 260IF-01 Module
via the PORT or DeviceNet connectors. Communication modes include message communication and engineer-
ing communication, and MEMOBUS, MELSEC, and non-procedure protocols are supported. Refer to the
MP2300 Machine Controller Communication Module Users Manual (Manual No. SIEPC88070004) for details.

LED indicators
260IF-01
Switches
Serial connector
(RS-232C)
DeviceNet connector
(2) Indicators
Green Normal operation
MS
Red Module error
(two-color LED)
Not lit Module power supply disconnected
Green Normal operation
MS NS No I/O allocations while connection is being
Green blinking
established
NS
Red Error (Bus OFF, duplicated MAC ID)
(two-color LED)
STRX Red blinking Communication error
Communication power supply disconnected,
Not lit
checking for duplicated MAC ID
STRX Green lit/blinking Transmitting or receiving RS-232C data
(mounted on PCB) Not lit No RS-232C data communication
4-48
(3) Switch Settings

Label Name Status Function
Baud rate setting ON
DR0 DR0
DR1 0 OFF
1
Refer to setting details.
Baud rate setting ON
2 DR1
1 OFF
INIT
TEST Master/Slave ON Used in Master Mode.
×1
OFF ON Mode OFF Used in Slave Mode.
10 Executes DeviceNet self-diagnosis when the
ON
Self-diagnosis power supply is turned ON.
×2
(DeviceNet) Does not execute self-diagnosis. Normally
1 OFF
always leave turned OFF.
For engineering communication. Starts up RS-
232C (PORT) using default parameters (exclud-
ON ing automatic reception function settings.) Given
INIT Initial startup higher priority than CPU Module Flash Startup
and Self-configuration Startup.
Set to OFF for CPU Module Flash Startup and
OFF
Self-configuration Startup.
TEST TEST
ON System use 4
Node Address
×10 − Sets the node address. (Rotary decimal switch)
10s Digit Setting
Node Address
×1 − Sets the node address. (Rotary decimal switch)
1s Digit Setting
The following table shows details of baud rate settings.

DR1 DR0 Setting
OFF OFF 125 kbps
OFF ON 250 kbps
ON OFF 500 kbps
ON ON communication not possible.
4-49

Item Specifications
Name 260IF-01
Model JAPMC-CM2320
Communication Ports
DeviceNet 1 port (DeviceNet)
Module status LED indicators
Indicators MS (green, red)
NS (green, red)
DR0
DR1
×1
×2
Setting Switches
INIT
TEST
×10
×1
Mass 85 g

Item Specifications
1:1
Method
Transmission Format
(Can be set)
4-50
(b) DeviceNet communication Specifications

The following table shows DeviceNet communication specifications.
Item Specifications
Number of Lines 1
I/O communication functions (Polled Bit Strobed)
Supported Communication Methods
Explicit messages (Master function only)
Max. Number of
63 nodes
I/O Communi- Slaves
cation Max. Number of I/O
2,048 bytes, 256 bytes/node for max. number of I/O bytes.
Bytes
Max. Number of 63 nodes, max. number of nodes for simultaneous commu-
Message Nodes for Message nication: 8
communication Max. Message
256 bytes
(Master only) Length
Execution Functions MSG-SND function
2 rotary switches on front panel: Node address
Settings DIP switch on front panel: Baud rate Master/Slave selec-
tion
Indicators 2 LEDs: MS, NS
Power Supply Voltage for Communi-
cation
24 VDC ±10% (supplied by special cable) 4
Communication power supply: 45 mA max. (supplied from
communication connector).
Current Consumption
Internal circuit power supply (supplied from MBU-01
Unit.)
4-51

The 261IF-01 Module has an RS-232C serial interface and a PROFIBUS interface mounted in it. Personal com-
puters, HMI devices, and controllers manufactured by other companies can be connected to the 261IF-01 Module
via the PORT or PROFIBUS connectors. Communication modes include message communication engineering
communication, and MEMOBUS, MELSEC, and non-procedure protocols are supported. Refer to the MP2300
Machine Controller Communication Module Users Manual (Manual No. SIEPC88070004) for details.

LED indicators
261IF-01
Switches
Serial connector
(RS-232C)
PROFIBUS
PROFIBUS connector
(2) Indicators
RUN Green
Not lit during errors or during reset.
RUN ERR
ERR Red
Not lit during normal operation. Lit during reset.
STRX TRX Lit during RS-232C data transmission or reception.
STRX Green
Lit during PROFIBUS data transmission or reception.
TRX Green
4-52
(3) Switch Settings

Sta- Factory
Label Name Function
tus Setting
− Reserved −
Always leave set to OFF. OFF
− Reserved −
INIT
TEST For engineering communication
OFF ON Starts up serial section using default parameters
ON (excluding automatic reception function settings).
10 INIT Initial startup Given higher priority than the CPU Module Flash OFF
Startup and Self-configuration Startup.
1 Set to OFF for CPU Module Flash Startup and
OFF
Self-configuration Startup.
ON System use
TEST TEST OFF
Node Address
×10 − Sets the node address. (Rotary decimal switch) Setting
10s Digit Setting
range: 1
Node Address
×1 − Sets the node address. (Rotary decimal switch) to 64
1s Digit Setting
(4) Offline Self-diagnostic Test 4

LED Indicators
Item Details STRX1/
RUN ERR RX
STRX2
Error detected. (once)*
Blinking
SRAM Error A SRAM hardware error has been detected.
(twice)*
Blinking
DPRAM Error A DPRAM hardware error has been detected. Depends
(3 times)*
Not lit Not lit on sta-
An RS-232C loopback error has been Blinking
RS-232C Error tus.
A PROFIBUS station number error has been Blinking
Station Number Error
Blinking
Watchdog Error A watchdog timeout error has been detected.
(15 times)*
4-53

Item Specifications
Name 261IF-01
Model JAPMC-CM2330
Communication Ports
PROFIBUS 1 port (PROFIBUS)
Module status
Indicators LED indicators, RUN (green), ERR (red), STRX
(green), TRX (green)
INIT
TEST
Setting Switches
× 10
×1
Mass 90 g

(a) RS-232C Communication Specifications
Item Specifications
1:1
Method
Transmission Format
(Can be set)
4-54
(b) PROFIBUS communication Specifications

The following table shows the PROFIBUS communication specifications.
Item Specifications
DP slave function
Mounted Functions
• Cyclic communication (DP standard function)
12 M, 6 M, 4 M, 3 M, 1.5 M, 750 k, 500 k, 187.5 k, 93.75 k, 19.2 k, or
Baud Rate 9.6 kbps
(Auto detect)
Configuration Implemented by the PROFIBUS Master∗1
Slave Address 1 to 64 ∗2
• Total I/O register area: 64 words max.
I/O Processing
• I/O allocations: 64 words each max.
• Status and Slave status display using MPE720
Diagnostic Functions
• I/O error display using system register
* 1. The PROFIBUS ID is 05C1.The GSD file YASK05C1.GSD is provided for master configuration.GSD
file: Defines slave information.
* 2. The PROFIBUS ID can be set between 0 and 125, but the 261IF-01 Module can be set only between 1
and 64.
4-55
4.14 EXIOIF Module

The EXIOIF Module is an expansion rack interface for the MP2200. This Module can be used to configure an
MP2200 system with up to four racks.

The following figure shows the external appearance of the EXIOIF Module.
EXIOIF
External input connector
External output connector

The following table shows the hardware specifications of the EXIOIF Module.
Item Specifications
Abbreviation EXIOIF
Model JAPMC-EX2200
Function Expansion rack interface (maximum 4-Rack configuration)
Expansion Bus con-
HDRA-EC68LFDT-SL (HONDA)
nector
Expansion Bus
IEEE-488 (GPIB): Equivalent to SN75160 (TI).
Interface
The CPU Module automatically recognizes rack 1 from the expansion cable connection.
Rack No. recogni-
When nothing is connected to the IN connector, a one-rack configuration is used.
tion
Racks 2 to 4 are in the order that racks are connected to rack 1.
MP2200 Optional Module
Module Type
The EXIOIF Module is recognized as an Optional Module. It can be mounted in any slot.
Mass 80 g
4-56
4.15 External Appearance

4.15.1 Basic Unit
The following figure shows the external appearance of the Basic Unit.
Unit: mm
M4 mounting screws (4)
240
(18) 108
4
(4.5)
(4.5) 231 4.5
MP2200 MBU-01 CPU-01 218IF-01 SVB-01 LIO-01 LIO-01 LIO-02 260IF-01 217IF-01
POWER
I/O I/O I/O
PORT PORT PORT
M- /
121
130
BATTEY CN1
100/200V DeviceNet
RS422/465
10Base-T
AC CN2
POWER
4.5
Cable Connector
(3P) 721-203/026-000
Note: 1. A 721-203/026-000 Cable Connector is mounted to the POWER connector.

2. Different Optional Modules are inserted into the slots for each product model.
4-57
4.15.2 Mounting Optional Module Connectors
4.15.2 Mounting Optional Module Connectors

The Optional Modules have the following dimensions:
Height: 125 mm; Depth: 95 mm
The following figure shows the Optional Module connector mounting dimensions.
Unit: mm
(48) (48)
(2) (2)
LIO-01 LIO-02
(45) (45)
(6) (6)
218IF-01 217IF-01
(45) (62)
(6) (6)
260IF-01 261IF-01
4-58
(41) (41)
(2) (2)
LIO-04 SVA-01
(36) (41)
EXIOIF SVB-01
4-59
5
Mounting and Wiring
This chapter explains how to handle the MP2200 and the connection methods for each Module.
5.1 Handling the MP2200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 Mounting the MP2200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Replacing and Adding Optional Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
5.2 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8

5.2.1 Connecting Power Supply - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.2.2 SVB-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
5
5.2.3 SVA-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
5.2.4 LIO Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
5.2.5 LIO-04 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.2.6 218IF-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47
5.2.10 EXIOIF Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61
5-1
5.1.1 Mounting the MP2200
5.1 Handling the MP2200

There are two methods for mounting the MP2200.
• Screw mounting
• Using DIN rail
(1) Screw Mounting
Mount the MP2200 using the following method.
Place the MP2200 against the mounting base and tighten the four mounting screws.
MP2200 MBU-01 CPU-01 218IF-01 SVB-01

POWER
PORT
Optional Module
Optional Module
M- /
BATTEY CN1
100/200V
10Base-T
AC CN2
POWER
Mounting screws (M4

Phillips head screws)
Use a screwdriver with a 10-cm
or longer shaft.
Note: Mount the MP2200 vertically on a wall, as shown in the above diagram.
(2) Using DIN Rail

(a) Before Mounting to DIN Rail
There are two types of DIN rail, with different gaps from the mounting base, as shown in the following dia-
gram.
Gap from the mounting base: 7.0 mm
10.0 mm
Mounting base
DIN rail
5-2
When mounting the MP2200 to a DIN rail with a 10-mm gap, insert spacers behind the MP2200 to protect
against vibration.
Spacer
DIN rail
(10-mm gap)
The parts for mounting the MP2200 to DIN rail are supplied separately. Purchase the following product when
IMPORTANT
using DIN rail.
Product name: DIN Rail Mounting Parts
Model No.: JEPMC-OP300
(b) Procedure for Mounting to DIN Rail

Use the following procedure to mount the MP2200 to DIN rail.
1. Release the mounting clips.
5
Pull the DIN rail mounting clips down to release them.
MP2200 MBU-01 CPU-01 218IF-01 SVB-01

POWER
PORT
Optional Module
Optional Module
M- /
BATTEY CN1
100/200V
10Base-T
AC CN2
POWER
Clip
5-3
2. Mount the MP2200 to the DIN rail.

a) Hook the MP2200 into the top side of the DIN rail.
b) Push the MP2200 towards the mounting base to secure it in place.
a)
b)
3. Lock the mounting clips.

Push the DIN rail mounting clips to lock them in place.
MP2200 MBU-01 CPU-01 218IF-01 SVB-01
POWER
PORT Optional Module

Optional Module
M- /
BATTEY CN1
100/200V
10Base-T
AC CN2
POWER
Clip
4. Fix the MP2200 in place.

Place end plates on either side of the MP2200 to secure it to the DIN rail.
MP2200 MBU-01 CPU-01 218IF-01 SVB-01
POWER
DIN rail
PORT
Optional Module
Optional Module
M- /
BATTEY CN1
100/200V
10Base-T
AC CN2
End plate
POWER
This completes the installation procedure.
5-4
5.1.2 Replacing and Adding Optional Modules

Use the following procedures to replace or add Optional Modules.
(1) Preparations
1. Create a backup data file.
Use the MPE720 to save the MP2200 program on a computer.
2. Remove the MP2200.
Turn OFF the power supply and disconnect all cables from the MP2200. Then remove the MP2200 from
the panel or rack and place it 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 MP2200 towards you to remove the battery cover.
2. Remove the Optional Module panel.

Insert the protruding part of the battery cover into the slot on top of the panel of Optional Module to
unhook it, as shown in the diagram. Face the front of the battery cover towards you for this operation.
Remove the cover on the bottom in the same way.
5-5
5.1.2 Replacing and Adding Optional Modules
3. Remove the Optional Module from the mounting base.

Pull the top of the panel of the Optional Module towards you to remove it. A notch on the Optional Mod-
ule will be visible from the gap in the cover. Hook the round knob on the battery cover, shown in the dia-
gram, into the notch in the Optional Module.
Notch
Round knob
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.
Fulcrum
Round knob
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 the components on the Module.
Put the removed Module into the bag that it was supplied with and store it in this bag.
5-6
(3) Installing Optional Modules

1. Insert the Optional Module.
Hold the top and bottom of the Module to be installed.
Guide
rail
Guide rails are visible at the top and bottom of the Option Slot, as shown in the above diagram. Line up
the Module with the guide rail and insert the Module straight. The FG bar on the inside bottom of the Unit
Case may be damaged if the Module is not inserted straight.
2. Mount on to the mounting base.
Once the Optional Module has been completely inserted, place your hand on the front face of the Optional
Module 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 Optional Module panel. 5
Place the hole on the bottom of the panel of the Optional Module onto the hook on the bottom of the
MP2200.
Next, hook the hole at the top of the panel of the Optional Module onto the hook at the top of the MP2200.
5-7
5.2.1 Connecting Power Supply
5.2 Module Connections

This section explains the connections for the MBU-01 and MBU-02 Units.
(1) MBU-01 Unit Connections
(a) Connectors
Supply a 100/200-VAC power supply to the MP2200.
The following diagram shows MBU-01 Unit connectors.
Signal
Symbol Description
AC Name
AC AC AC input
AC
AC AC AC input
Frame ground
FG
Ground to 100 Ω max.
(b) Connector Specifications

Connector No. of Connector Model
Name
Name Pins Module Side Cable Side Manufacturer
Power Supply 3
POWER 721-863/001-000 721-203/026-000 WAGO
Connector
(c) Connection Diagram
MP2200
721-863
721-203/026
AC
Noise
AC input
filter
AC
FG
POWER
FG
Note: Use a noise filter on the AC power supply line to the MBU-01.
Recommended noise filter:
Manufacturer Model
TDK ZHG2210-11S
5-8
(d) Connection Procedure for 100/200-VAC Power Supply Cable

The power supply terminals have a removable connector. Use the following procedure to wire the terminals
to the power supply connector. Use a 1.5 mm2 to 2.5 mm2 (AWG16 to AWG13) twisted-pair cable.
Use the following connection procedure.
1. Strip approximately 6.5 mm from the end of the wire.
6.5 mm
2. First, insert an operation lever or flat-blade screwdriver into the opening and press it down as shown by
the arrows in the following diagrams to open the clamp in the plug. Insert the wire into the opening and
then close the opening by releasing the lever or removing the screwdriver.
Press down.
Press down with
a screwdriver.
Operation lever
or
Insert wire to back of plug. Insert wire to back of plug. 5

Note: Method not using the operation lever.
INFO Always separate the primary and secondary wiring when using a noise filter.
5-9
(2) MBU-02 Unit Connections

(a) Connectors
Supply a 24-VDC to the MP2200.
The following diagram shows MBU-02 Unit connectors.
Signal
Symbol Description
Name
24 VDC
24 VDC 24V 24 VDC input
0 VDC 0 VDC 0V 0 V input
Frame ground
FG
Ground to 100 Ω max.

Name
Power Supply 3
POWER 721-863/001-034 721-203/026-304 WAGO
Connector
(c) Connection Diagram
MP2200
721-863
721-203/026
24 VDC 24 V
AC input 24-VDC
power 0V
supply 0V
POWER
FG
FG
Note: Use an insulated 24-VDC power supply. Attach the power supply switch on the AC side. If the switch
is attached on the 24-VDC side, there will be an inrush current of approximately 40 A when the
power is turned ON.
(d) Connection Procedure for 24-VDC Power Supply Cable

The power supply terminals have a removable connector. Use the following procedure to wire the terminals
to the power supply connector. Use a 0.2 mm2 to 0.51 mm2 (AWG24 to AWG20) twisted-pair cable.
Refer to (d) Connection Procedure for 100/200-VAC Power Supply Cable in (1) MBU-01 Unit Connections
for the cable connection procedure.
5-10
5.2.2 SVB-01 Module Connections

This section explains the connections for the SVB-01 Module.
(1) Connectors
MECHATROLINK-I/MECHATROLINK-II connectors are used to connect the SVB-01 Module and the
SERVOPACKs and distributed I/O.
MECHATROLINK-I/MECHATROLINK-II connectors are shown in the following diagram.
Signal
Pin No. Description
Name
M-I/II
1 (NC) Not used
CN1
2 /DATA Signal -
3 DATA Signal +
4 SH Not used
Shell Shield Connects the shield wire.
CN2
INFO • There are two connectors on the MECHATROLINK-I/MECHATROLINK-II, but the communication line supports only 5
one channel.
• If the SVB-01 Module is connected at the end of a network, connect a JEPMC-W6022 Terminator to the other connec-
tor.
• Both connectors perform the same function, so connections can be made to either.
(2) Connector Specifications

Name
MECHATROLINK 4
M-I / II USB-AR41-T11 DUSB-APA41B1-C50 DDK Ltd.
connector
5-11
(3) Cables
Name and Specification Model Length

JEPMC-W6002-A5 0.5 m
JEPMC-W6002-01 1m
JEPMC-W6002-03 3m
JEPMC-W6002-05 5m
MECHATROLINK Cable
JEPMC-W6002-10 10 m
USB Connector - USB Connector
JEPMC-W6002-20 20 m
JEPMC-W6002-30 30 m
JEPMC-W6002-40 40 m
JEPMC-W6002-50 50 m
JEPMC-W6003-01 1m
JEPMC-W6003-03 3m
MECHATROLINK Cable JEPMC-W6003-05 5m
USB Connector - USB Connector (with ferrite JEPMC-W6003-10 10 m
core) JEPMC-W6003-20 20 m
JEPMC-W6003-30 30 m
JEPMC-W6003-40 40 m
JEPMC-W6003-50 50 m
JEPMC-W6011-01 1m
JEPMC-W6011-03 3m
JEPMC-W6011-05 5m
MECHATROLINK Cable
JEPMC-W6011-10 10 m
USB Connector - Loose Wire
JEPMC-W6011-20 20 m
JEPMC-W6011-30 30 m
JEPMC-W6011-40 40 m
JEPMC-W6011-50 50 m
Terminator JEPMC-W6022 −
(4) External Appearance of MECHATROLINK-I/II Cables

JEPMC-W6002-
JEPMC-W6003-
JEPMC-W6010-
JEPMC-W6022
5-12
(5) SVB-01 Module System Configuration

(a) Connecting the SVB-01 Module to the End of the MECHATROLINK Network
The following diagram shows a system configuration example.
SVB-01
MP2200
MP2200 MBU-02 CPU-01 218IF-01 SVB-01
POWER
PORT
M- /
BATTEY CN1
Terminator
10Base-T
DC CN2
POWER
MECHATROLINK-
Terminator
SW1 SW1
C C
N N
CHARGE 6 CHARGE 6
A/B A/B
L1 L1
L2 L2
5
L1C C L1C C
N N
JEPMC-IO2
310
L2C 3 L2C 3
B1/ B1/
VS mini V7
B2 B2
C C
U N U N
1 1
V V
W W
C C
N N
2 2
C C
N N
4 4
I/O
SERVOPACK SERVOPACK Repeater SERVOPACK Inverter
SERVOPACKs/Inverters for up to 16 stations
Up to 21 stations including I/O
Note: Insert a JEPMC-W6022 Terminator into the unused MECHATROLINK port.
5-13
(b) Connecting the SVB-01 Module in the Middle of the MECHATROLINK Network
The following diagram shows a system configuration example.
SVB-01
MP2200
MP2200 MBU-02 CPU-01 218IF-01 SVB-01
POWER
PORT
M- /
BATTEY CN1
10Base-T
DC CN2
POWER
MECHATROLINK- MECHATROLINK-
Terminator Terminator
SW1 SW1
C C
N N
CHARGE 6 CHARGE 6
A/B A/B
L1 L1
L2 L2
C C JEPMC-IO2310
L1C L1C
N N
L2C 3 L2C 3
B1/ B1/ VS mini V7

B2 B2
C C
U N U N
1 1
V V
W W
C C
N N
2 2
C C
N N
4 4
I/O
SERVOPACK SERVOPACK SERVOPACK Repeater Inverter
SERVOPACKs/Inverters for up to 16 stations
Up to 21 stations including I/O
Note: Insert a JEPMC-W6022 Terminator into the unused MECHATROLINK port.
5-14
(6) Connections between Devices

(a) Cable Connections between the SVB-01 and I/O Units and the MP2200 and
SERVOPACKs
Cable model number: JEPMC-W6002-
JEPMC-W6003-
Pin No.
Name Name
(NC) 1 1 (NC)
DATA 2 2 /DATA
DATA 3 3 DATA
SH 4 4 SH
Shield Shell Shell Shield
Note: The JEPMC-W6003- Cable has a ferrite core.
(b) Cable Connections between the SVB-01 and SGD-N and SGDB-AN
SERVOPACKs
Cable model number: JEPMC-W6011-
SVB-01 SERVOPACK SERVOPACK SERVOPACK (terminating)
USB Connector MR Connector MR Connector MR Connector
Name Name Name Name
(NC) 1 1 /DATA 1 /DATA 1 /DATA 5

/DATA 2 2 DATA 2 DATA 2 DATA
DATA 3 3 3 3
TERM
SH 4 4 TERM 4 TERM 4
Shield FG FG
Shell 5 5 5 FG
/DATA /DATA /DATA Connect a terminator between

6 6 6
pins 6 and 7.
Resistance: 130 Ω ± 5%, 1/2 W
DATA DATA DATA
7 7 7
8 8 8
Note: 1. The JEPMC-6010- has a USB connector on one end and loose wires on the other end. Use an MR
connector and wiring material to create a 1:N cable.
2. The terminating resistance for SGD-N ,SGDB-AN must be provided by the user.
3. Prepare the cables according to following MECHATROLINK-I specifications. Connections that do
not meet the specifications will prevent normal communication due to the influence of reflected
waves or other factors.
Total network length: 50 m max.
Maximum number of slave stations: 14 stations max.
Minimum distance between stations: 0.3 m min.
5-15
(c) Terminator Connections

Terminator model number: JEPMC-W6022
Pin No.
Name
(NC) 1
/DATA 2
130 Ω
DATA 3
SH 4
Shield Shell
(d) Connection Example between the SVB-01, SERVOPACKs, and the IO2310
MP2200 MBU-01 CPU-01 218IF-01 SVB-01

POWER
c
Terminator
YASKAWA
JEPMC-IO2310
L1
PORT CN1
IN1 OUT1 IN2 OUT2
Optional Module
Optional Module
M- /
A1 B1 A1 B1 A1 B1 A1 B1
BATTEY CN1
100/200V
10Base-T
AC CN2
POWER
L1
L2 Ln
YASKAWA SERVOPACK YASKAWA SERVOPACK YASKAWA SERVOPACK
SGDH- SGDH- SGDH-

NS100 NS100 NS100
c
Terminator
Note: 1. Use standard cables between Units.

2. The total connection length (L1 + L2 + L3 +.... + Lu) must be no longer than 50 m.
The MP2200 has a built-in terminator.

IMPORTANT
Insert a JEPMC-W6022 Terminator into (1) in the above diagram.
5-16
5.2.3 SVA-01 Module Connections

This section explains the connections for the SVA-01 Module.
(1) System Connection Example
SVA-01
MP2200
MP2200 MBU-02 CPU-01 218IF-01 SVB-01 SVA-01
POWER RUN ERR
CH1
PORT
M-I/II
CH2
BATTEY CN1
10Base-T
DC CN2
+24V
POWER
OV
DC IN
24-VDC
power
2 analog outputs/axis
supply
2 analog inputs/axis
1 pulse input/axis
5
SGDH-04EA SGDH-04EA
Two SERVOPACKs
(2) Connector and Cable Specifications

(a) Servo Interface Connectors (CN1 and CN2)
These connectors connect the SVA-01 Module to two SERVOPACKs.

They are connected using the following standard cable.
• JEPMC-W2040-（For SGDH, SGDM, and SGDS SERVOPACKs）
Note: The customer must provide cables for the SGDA and SGDB SERVOPACKs.
5-17
(b) 24-V Input Connector (CN3)

This connector connect the SVA-01 Module to +24 VDC as a Servo I/O power supply.
A screw terminal connector is used (BL3.5/2F-AU manufactured by Weidmuller)
Pin No. Signal Name Name

+24V
OV 2 24V +24 VDC input
0V 0V
DC IN
1
(c) Servo Connector Specifications

The following table shows the connector specifications.
Connector Model
Connector No. of Cable Model Num-
Name Manufac-
Name Pins Module side Cable side bers
turer
• Connector body:
10136-3000VE
Servo interface • Shell:
JEPMC-W2040-
connector 1 CN1 10336-52A0-008
36 10236-52A2JL 3M (For the SGDH/
and connector CN2 ÅiScrew lockingÅj
2
SGDM/SGDS)
10336-52F0-008
ÅiOne-touch
lockingÅj
The CN3 connector is
included with the SVA-
24-V input con- 01 Module, but a cable
CN3 2 • BL3.5/2F-AU Weidmuller
nector is not included. The
user must connect the
cable.
(d) Connection Procedure for 24-V Input Cable

Use a 0.2 mm2 to 0.51 mm2 (AWG24 to AWG20) twisted-pair cable.
Use the following connection procedure.
1. Strip the wire for approximately 6.5 mm.
Strip approximately 6.5 mm from the end of the wire.
Core
6.5 mm
Sheath
5-18
2. Tighten the wires with the screws.

Insert the wire into the opening and then tighten the screws to a tightening torque of approximately 0.3 to
04 N⋅m.
+ side (pin number 2)
− side (pin number 1)
Pin No. Signal Name Name

2 24V +24 VDC input
1 0V 0V
(e) Connector Pin Arrangement (CN1 and CN2)

The following figure shows the 36-pin arrangement of CN1 and CN2.
19
1
20
2
5
17
35
18
36
Arrangement from Connector

Wiring Side on Cable Side
5-19
The following figure shows the pin names and assignments for connectors CN1 and CN2.
Ground Ground
1 SG 19 SG
(analog) (For SEN signal)
General-purpose
AO_0 analog output 0 SEN SEN Signal
2 20
(NREF) (speed reference output) (5V) (Servo) General-purpose
5-V differential phase analog input 1
3 PA 21 AI_1
A pulse input (+) (Torque reference monitor
input)
4 PAL 5-V differential phase 22 − Not connected
A pulse input (−)
5-V differential phase 5-V differential phase
5 PC C pulse input (+) 23 PB
B pulse input (−)
5-V differential phase 5-V differential phase
6 PCL 24 PBL
C pulse input (−) B pulse input (−)
7 SG Ground 25 SG Ground
General-purpose
analog input 0
8 AI_0 26 AI-GND Analog input ground
(Feedback speed General-purpose
monitor input) AO_1 analog output 1 Analog output
9 27 AO-GND
(TREF) (torque reference output) ground
0V 0V
10 0 V (for 24 V) output 28 0 V (for 24 V) output
(For 24 V) (For 24 V)
0V 0V
11 0 V (for 24 V) output 29 0 V (for 24 V) output
(For 24 V)
General-purpose (For 24 V)
General-purpose
DO_2 output DO_2 DO_1 output DO_1
12 30
(PCON) (P action reference output) (ALMRST) (Alarm reset ouput)
General-purpose General-purpose
output DO_4 DO_0
13 DO_4 31 output DO_0
(SV ON)
DO_5 General-purpose (Servo ON output)
14 DO_3 General-purpose 32
output DO_3 (SEN) output DO_5
General-purpose (VS866 24-V SEN signal)
DI_3 input DI_3 DI_4 General-purpose
15 33 input DI_4
(P-OT) (positive overtravel input) (N-OT)
(Negative overtravel input)
16 +24V +24 V output 34 +24V +24 output
General-purpose
General-purpose
DI_0 input DI_0 DI_1
17 35 input DI_1
General-purpose (SVALM) (Servo alarm input) (SRDY)
DI_2 General-purpose (Servo delay input)
input DI_2 DI_5 input DI_5
18 (ZERO/ 36
(ZERO/HOME LS input) (EXT/DEC)
HOME LS) (EXT/DEC signal input)
Note 1. : Inputs signals with a latch function.

2. : Signals that can be used as general-purpose I/O signals only in general-purpose I/O mode.
In normal operation mode, the SVA-01 uses these as system I/O.
Either 5 V or 24 V can be selected for the SEN signal. Connect pin 20 or pin 32 according to the application. Pin 20 (5 V)
INFO
is connected in the standard cable.
(f) Cables
The following standard cables are available for use with the SVA-01 Module. These cables are used to con-
nect the SVA-01 Module to SERVOPACKs, overtravel limit switches, and other machine connections.
Table 5.1 Cables
Applicable SERVOPACKs Model Length

SGDA-S,
No standard cable is available. −
SGDB-
SGDM, SGDH,
SGDS-01, JEPMC-W2040-01 1.0 m
SGDS-02 3.0 m
JEPMC-W2040-03
Refer to the following pages for details on these cables.
5-20
(g) SERVOPACK Connection Cables for SGDA-S

• Model
No standard cable is available. Prepare a cable referring to the following cable connections diagram.
• Cable Connections Diagram
Analog input ground
General-purpose analog input
General-purpose analog input
SVA-01 SGDA
CN1/CN2 CN1
SG 1 2 SG
AO_0 (NREF) 2 3 V-REF
PA 3 20 PA
PAL 4 21 /PA
PC 5 24 PC
PCL 6 25 /PC
SG 7 4 SG
AI_0 (VMON) 8
AO_1 (TREF) 9 1 T-REF
0V (for 24V) 10 35 ALM-SG
0V (for 24V) 11
DO_2 (PCON) 12 15 /P-CON
DO_4
DO_3
13
14
11
12
/P-CL
/N-CL 5
DI_3 (P-OT) 15 16 P-OT
+24V 16 13 +24V IN
DI_0 (SVALM ) 17 34 ALM
DI_2 (ZERO/HOME LS) 18
SG 19 6 0 SEN
SEN (5V) 20 5 SEN
AI_1(TREFMON) 21
− 22
PB 23 22 PB
PBL 24 23 /PB
SG 25 10 SG-COM
AI-GND 26 7 /BK
AO-GND 27 19 SG
0V (for 24V) 28 29 BAT0
0V (for 24V) 29 28 BAT
DO_1 (ALMRST) 30 18 /ALM RST
DO_0 (SV ON) 31 14 /S-ON
DO_5 (SEN for VS866) 32
DI_4 (N-OT) 33 17 N-OT
+24V 34
DI_1 (SRDY) 35
DI_5 (EXT/DEC) 36
Hood FG FG Hood
EXT/DEC input ABS encoder battery (3.6 V)
ZERO/HOME LS input ABS encoder battery (0 V)
P-OT input
Brake interlock output (+)
N-OT input
Brake interlock output (-)
5-21
(h) SERVOPACK Connection Cables for SGDB-

• Model
No standard cable is available.
SVA-01 SGDB
CN1/CN2 CN1
SG 1 2 SG
PA 3 33 PA
PAL 4 34 /PA
PC 5 19 PC
PCL 6 20 /PC
SG 7 6 SG
(Speed monitor
AI_0 (VTG) 8 17 VTG-M output)
0V (For 24 V) 10 32 ALM-
0V (For 24 V) 11
(Control
DO_2 (PCON) 12 41 /P-CON mode switch)
DO_4 13 45 /P-CL (User-set)
DO_3 14 46 /N-CL (User-set)
DI_3 (P-OT) 15 42 P-OT
+24V 16 47 +24V IN
DI_0 (SVALM) 17 31 ALM+
SG 19 10 SG
SEN (5V) 20 4 SEN
AI_1 (TMON) 21 16 TRQ-M (Torque monitor
output)
− 22
PB 23 35 PB
PBL 24 36 /PB
SG 25 28 TGON- (/BRK-)
AI-GND 26 27 TGON+ (/BRK+)
AO-GND 27 1 SG
0V (For 24 V) 28 30 /S-RDY-
0V (For 24 V) 29
DO_1 (ALMRST) 30 44 /ALM-RST
DO_0 (SV ON) 31 40 /S-ON
DI_4 (N-OT) 33 43 N-OT
+24V 34
DI_1 (SRDY) 35 29 /S-RDY+
DI_5 (EXT/DEC) 36 22 BAT-
21 BAT+
Hood FG FG Hood
ABS encoder battery (3.6 V)

EXT/DEC input
ABS encoder battery (0 V)
ZERO/HOME LS input
P-OT input Brake interlock output (+)
N-OT input Brake interlock output (−)
5-22
(i) SERVOPACK Connection Cables for SGDM/SGDH/SGDS-01/02

• Model
JEPMC-W2040-05: 0.5 m
JEPMC-W2040-10: 1.0 m
JEPMC-W2040-30: 3.0 m
• Appearance
AI_1
AI_2
NP:SVA GND NP:SERVOPAK
L
OTF BAT
OTR BAT0
EXT /BRK+
ZERO /BRK-
5
• Cable Specifications
Diagram
Name Model Qty Manufacturer Remarks
No.
c Plug on SVA end 10136-3000VE 1 Sumitomo 3M Soldered
d Shell on SVA end 10336-52A0-008 1 Sumitomo 3M
e Plug on Servo end 10150-3000VE 1 Sumitomo 3M Soldered
f Shell on Servo end 10350-52Z0-008 1 Sumitomo 3M
HP-SB/20276SR
g Cable − Taiyo Cable Shield wire
26 x AWG28
Sumitomo Electric
h Heat-shrinking tube F2 (Z) − Or equivalent
Industries. Ltd.
OTF: Brown
OTR: Orange
EXT: Black
ZERO:
BAT: Blue
i Wires UL1061 AWG28 − − BAT0: Purple
*BRK+: Gray
*BRK-: White
AI_1: White
AI_2: Red
GND: Black
j Marking tubes 2-mm dia., white 11 −

Printing color:
Black
Hirose Electric Co.,
Socket DF11-4DS-2C 1
Ltd.
k
Hirose Electric Co.,
Contacts DF11-2428SCF 1
Ltd.
5-23
Analog monitor cable

(JZSP-CAS01) SGDM / SGDH / SGDS
CN5
Analog input ground Black
1 GND
General-purpose Black
2 GND
analog input White Analog monitor 1
3 (Torque reference monitor)
Red
4 Analog monitor 2
General-purpose (Speed monitor)
analog input
SVA-01 SGDM / SGDH / SGDS

CN1/CN2 CN1
SG 1 2 SG
PA 3 33 PA
PAL 4 34 /PA
PC 5 19 PC
PCL 6 20 /PC
SG 7 6 SG
AI_0 (VTG) 8
0V (For 24 V) 10 32 ALM-
0V (For 24 V) 11
(Control mode
DO_2 (PCON) 12 41 /C-SEL switch)
DO_4 13 45 /P-CL (User-set)
DO_3 14 46 /N-CL (User-set)
DI_3 (P-OT) 15 42 P-OT
+24V 16 47 +24V IN
DI_0 (SVALM ) 17 31 ALM+
SG 19 10 SG
SEN (5V) 20 4 SEN
AI_1 (TMON) 21
− 22
PB 23 35 PB
PBL 24 36 /PB
SG 25 28 TGON- (/BRK-)
AI-GND 26 27 TGON+ (/BRK+)
AO-GND 27 1 SG
0V (For 24 V) 28 30 /S-RDY-
0V (For 24 V) 29
DO_1 (ALMRST) 30 44 /ALM-RST
DO_0 (SV ON) 31 40 /S-ON
DI_4 (N-OT) 33 43 N-OT
+24V 34
DI_1 (SRDY) 35 29 /S-RDY+
DI_5 (EXT/DEC) 36 22 BAT-
21 BAT+
Hood FG FG Hood
ABS encoder battery (3.6 V)

EXT/DEC input
ABS encoder battery (0 V)
ZERO/HOME LS input
P-OT input Brake interlock output (+)
N-OT input Brake interlock output (−)
5-24
5.2.4 LIO Module Connections

This section explains the connections for the LIO-01 and LIO-02 Modules.
(1) LIO-01 Module Connections
(a) Connectors
The following diagram shows the LIO-01 Module connector.
Connects external I/O signals and pulse input signals.

External input: 16 points
External output: 16 points
Pulse input: 1 channel

Name
48 FCN-360C048-E (cover)
I/O Connector I/O FCN-365P048-AU Fujitsu component
FCN-364J048-AU
5
(c) Cables
Name Model Length
Cable for LIO Modules JEPMC-W2061-01 1m
JEPMC-W2061-03 3m
(d) External Appearance of Cables for LIO Module

JEPMC-W2061-
5-25
(e) Connector Pin Arrangement

The following table shows the connector pin arrangement of the LIO-01 Module.
Pin Pin
Signal Signal
Num- I/O Remarks Num- I/O Remarks
Name Name
ber ber
A1 PA I Phase-A pulse (+) B1 PAL I Phase-A pulse (−)
A2 PB I Phase-B pulse (+) B2 PBL I Phase-B pulse (−)
Phase-Z pulse (−5 V
A3 PC I Phase-Z pulse (+) B3 PCL5 I
input)
Phase-Z pulse
A4 GND I Pulse input ground B4 PCL12 I
(−12 V input)
A5 DO_COM P Output common B5 DO_COM P Output common
A6 DO_24V P 24 V input B6 DO_24V P 24 V input
A7 DO_15 O Output 15 B7 DO_14 O Output 14
A15 DI_15 I Input 15 B15 DI_14 I Input 14
A23 DI_COM0 P Input common 0 B23 DI_COM1 P Input common 1
A24 FG − Frame ground B24 FG − Frame ground
Note: P: Power input; I: Input signal; O: Open-collector output
5-26
(f) Input Circuit

The following table shows the LIO-01 Module input circuit specifications.
Item Specifications
Inputs 16 points
Input Format Sink mode/source mode inputs
Isolation Method Photocoupler
Input Voltage ±24 VDC ±20 %
Input Current 4.1 mA (typ.)
ON Voltage/Current 15 V min./ 2.0 mA min.
OFF Voltage/Current 5 V max./1.0 mA max.
ON Time/OFF Time ON: 1 ms max., OFF: 1 ms max.
Number of Commons 8 (DI_COM0: DI_00 to DI_07, DI_COM1: DI_08 to DI_15)
• DI-00 (interrupt input)
DI-00 is shared with interrupts. If DI-00 is turned ON while interrupts are enabled,
the interrupt processing drawing is executed.
Other Functions
• DI-01 (pulse latch input)
DI-01 is shared with pulse latch inputs. If DI-01 is turned ON while pulse latch
inputs are enabled, the pulse counter will be latched.
Vcc
+24 V
22 kΩ
DI_COM
Input register
680 Ω 0.01 µF
1 kΩ
5
2200 PF
DI_IN 5.6 kΩ/0.5 W
024
Digital Input Circuit (Sink Mode Input)

Åj
Vcc
+24 V
22 kΩ
DI_COM
Input register
1 kΩ
680 Ω 0.01 µF
2200 PF
DI_IN 5.6 kΩ/0.5 W
024
Digital Input Circuit (Source Mode Input)
5-27
(g) Output Circuit

The following table shows the LIO-01 Module output circuit specifications.
Item Specifications
Outputs 16 points
Output Format Transistor, open-collector, sink mode outputs
Output Voltage 24 VDC ± 20 %
Output Current 100 mA max.
Leakage Current
0.1 mA max.
when OFF
Number of Commons 16 points
Fuse
Protection Circuit The fuse is not, however, for circuit protection. It is for protecting against fire at out-
put shorts. Attach a fuse externally to each output if circuit protection is required.
Error Detection Fuse blown detection
• DO-00
Other Functions
DO-00 is shared with counter position detection.
+24 V
470 Ω
DO_24V
Output
register
DO_OUT
33 kΩ
DO_COM
33 kΩ
024
Digital Output Circuit (Sink Mode Output)
5-28
(h) Pulse Input Circuit

The following table shows the LIO-01 Module pulse input circuit specifications.
Item Specifications
Number of Points 1 (Phase-A/B/Z input)
Input Circuit
Phase-Z: 5-V/12-V photocoupler input, max. frequency: 500 kHz
Input Mode Phase-A/B, signed, incremental/decremental
Pulse latch on phase-Z or DI-01. Response time: 5 µs max. for phase-Z input; 60 µs
Latch Input
max. for DI-01 input.
Other Functions Coincidence detection, counter preset, and counter clear
Pulse generator
+5 V
A1 PA Phase A
220 Ω B1 PAL
0V
A2 PB Phase B
220 Ω B2 PBL
A4 GND
+5 V
330 Ω A3 PC
Latch input or B3 PCL5
phase Z pulse
680 Ω B4 PCL12
5
Pulse Input Circuit
5-29
(i) Module Connections

The following diagram shows a connection example for LIO-01 Module connectors.
Pulse generator
+5 V
A1 PA Phase A
220 Ω PAL
B1
0V
Pulse input
A2 PB Phase B
220 Ω PBL
B2
A4 GND
A24
+5 V
B24
5V
A3 PC
Latch input or B3 PCL5 Latch input or

phase-Z pulse phase-Z pulse
B4 PCL12
A23 DI_COM0
24 VDC
B23 DI_COM1
Digital inputs A15 DI_15
B15 DI_14
A16 DI_13
B16 DI_12
DI_11
External input signals

A17
B17 DI_10
A18 DI_09
B18 DI_08
A19 DI_07
B19 DI_06
A20 DI_05
B20 DI_04
A21 DI_03
B21 DI_02
A22 DI_01
B22 DI_00
B6 DO_24V
24 VDC
A6 DO_24V
A7 DO_15 Fuse
Digital outputs L
B7 DO_14
L
A8 DO_13
L
B8 DO_12
L
A9 DO_11
L
B9 DO_10
L
External output signals
A10 DO_09
L
B10 DO_08
L
A11 DO_07
L
B11 DO_06
L
A12 DO_05
L
B12 DO_04
L
A13 DO_03
L
B13 DO_02
L
A14 DO_01
L
B14 DO_00
L
Fuse A5 DO_COM
B5 DO_COM
Fuse blown
detection circuit
Note: Connect a fuse suitable for the load specifications in the output signal circuit in series with the load. If an
external fuse is not connected, load shorts or overloads could result in fire, destruction of the load device, or
damage to the output element.
5-30
(2) LIO-02 Module

(a) Connectors
Connects external I/O signals and pulse input signals.

External input: 16 points
External output: 16 points
Pulse input: 1 channel

Name
48 FCN-360C048-E (cover) Fujitsu compo-
I/O Connector I/O FCN-365P048-AU
FCN-364J048-AU nent
(c) Cables
Name Model Length
JEPMC-W2061-A5 0.5 m 5
Cable for LIO Modules JEPMC-W2061-01 1m
JEPMC-W2061-03 3m
(d) External Appearance of Cables for LIO Module

JEPMC-W2061-
5-31
(e) Connector Pin Arrangement

The following table shows the connector pin arrangement for the LIO-02 Module.
Pin Pin
Num- Signal Name I/O Remarks Num- Signal Name I/O Remarks
ber ber
A1 PA I Phase-A pulse (+) B1 PAL I Phase-A pulse (−)
A2 PB I Phase-B pulse (+) B2 PBL I Phase-B pulse (−)
A3 PC I Phase-Z pulse (+) B3 PCL5 I
input)
A4 GND I Pulse input ground B4 PCL12 I
input)
A5 DO_COM P Output common B5 DO_COM P Output common
A6 DO_24V P 24 V input B6 DO_24V P 24 V input
A23 DI_COM0 P Input common 0 B23 DI_COM1 P Input common 1
A24 FG − Frame ground B24 FG − Frame ground
Note: P: Power input; I: Input signal; O: Open-collector output
5-32
(f) Input Circuit

Item Specifications
Inputs 16 points
Input Format Sink mode/source mode inputs
Input Voltage ±24 VDC ± 20 %
ON Voltage/Current 15 V min./ 2.0 mA min.
Number of Commons 8 (DI_COM0: DI_00 to DI_07, DI_COM1: DI_08 to DI_15)
• DI-00 (interrupt input)
DI-00 is shared with interrupts. If DI-00 is turned ON while interrupts are enabled,
the interrupt processing drawing is executed.
Other Functions
• DI-01 (pulse latch input)
DI-01 is shared with pulse latch inputs. If DI-01 is turned ON while pulse latch
inputs are enabled, the pulse counter will be latched.
Vcc
+24 V
22 kΩ
DI_COM
Input register
1 kΩ 5
680 Ω 0.01 µF
2200 PF
DI_IN 5.6 kΩ/0.5 W
024
Vcc
+24 V
22 kΩ
DI_COM
Input register
1 kΩ
680 Ω 0.01 µF
2200 PF
DI_IN 5.6 kΩ/0.5 W
024
5-33
(g) Output Circuit

Item Specifications
Outputs 16 points
Output Format Transistor, open-collector, source mode outputs
Output Voltage 24 VDC ±20 %
Leakage Current
0.1 mA max.
when OFF
Number of Commons 16 points
Fuse
Protection Circuit The fuse is not, however, for circuit protection. It is for protecting against fire at out-
put shorts. Attach a fuse externally to each output if circuit protection is required.
• DO-00
Other Functions
DO-00 is shared with counter position detection.
+24 V
33 kΩ
DO_24V
33 kΩ
470 Ω
Output
register
DO_OUT
DO_COM
024
Digital Output Circuit (Source Mode Output)
5-34
(h) Pulse Input Circuit

The following table shows the LIO-02 Module pulse input circuit specifications.
Item Specifications
Number of Points 1 (Phase-A/B/Z input)
Input Circuit
Phase-Z: 5-V/12-V photocoupler input, max. frequency: 500 kHz
Input Mode Phase-A/B, signed, incremental/decremental
Latch Input
Response time: 5 µs max. for phase-Z input; 60 µs max. for DI-01 input.
Other Functions Coincidence detection, counter preset and clear
Pulse generator
+5 V
A1 PA Phase A
220 Ω B1 PAL
0V
A2 PB Phase B
220 Ω B2 PBL
A4 GND
+5 V
330 Ω A3 PC
Latch input or B3 PCL5
phase-Z pulse
680 Ω B4 PCL12
5
Pulse Input Circuit
5-35
(i) Module Connections

The following diagram shows a connection example for LIO-02 Module connectors.
Pulse generator
+5 V
A1 PA Phase A
220 Ω PAL
B1
0V
Pulse input
A2 PB Phase B
220 Ω PBL
B2
A4 GND
A24
+5 V
B24
5V
A3 PC
Latch input or B3 PCL5 Latch input or

phase-Z pulse phase-Z pulse
B4 PCL12
A23 DI_COM0
24 VDC
B23 DI_COM1
Digital inputs A15 DI_15
B15 DI_14
A16 DI_13
B16 DI_12
A17 DI_11
External input signals

B17 DI_10
A18 DI_09
B18 DI_08
A19 DI_07
B19 DI_06
A20 DI_05
B20 DI_04
A21 DI_03
B21 DI_02
A22 DI_01
Fuse blown
detection circuit B22 DI_00
Digital outputs B6 DO_24V

24 VDC
Fuse
A6 DO_24V
A7 DO_15 Fuse
L
B7 DO_14
L
A8 DO_13
L
B8 DO_12
L
A9 DO_11
L
External output signals
B9 DO_10
L
A10 DO_09
L
B10 DO_08
L
A11 DO_07
L
B11 DO_06
L
A12 DO_05
L
B12 DO_04
L
A13 DO_03
L
B13 DO_02
L
A14 DO_01
L
B14 DO_00
L
A5 DO_COM
B5 DO_COM
Note: Connect a fuse suitable for the load specifications in the output signal circuit in series with the load. If
an external fuse is not connected, load shorts or overloads could result in fire, destruction of the load
device, or damage to the output element.
5-36
5.2.5 LIO-04 Module Connections

This section explains the connections for the LIO-04 Module.
(1) Connection Cables
(a) Connectors
The connectors connect the LIO-04 Module to I/O signals.

They are connected using the following standard cable.
• JEPMC-W6060-
Number of inputs: 32 (8/common)
Input mode: Source/sink mode inputs
Number of outputs: 32 (8/common)
Output mode: Sink mode outputs
CN1 and CN2 each connect to 16 inputs and 16 outputs.

Connector Model
Connector No. of
Name Manu- Cable Models
Name Pins Module side Cable side
facturer
CN1 50 • Connector body: 3M 5
10150-3000VE
• Shell:
External I/O 10350-52A0-008
10250-52A3JL JEPMC-W6060-
connector 1 (Screw locking)
10350-52F0-008
(One-touch
locking)
CN2 50 • Connector body: 3M
10150-3000VE
• Shell:
External I/O 10350-52A0-008
10250-52A3JL JEPMC-W6060-
connector 2 (Screw locking)
10350-52F0-008
(One-touch
locking)
5-37
(c) External I/O Cables

• Cables
Name Model Length
JEPMC-W6060-05 0.5 m
Cable for LIO-04 Modules JEPMC-W6060-10 1m
JEPMC-W6060-30 3m
• Cable Appearance
NP: JEPMC-W6060-05
50 cores,
loose wires
L 150

Connector Label No.
1 1
2 2
3 3
.
.
.
.
.
48 48
49 49
50 50
Body FG
5-38
(d) Connector Pin Arrangement

The following table shows the connector pin arrangement for LIO-04 Modules.
• CN1 Pin Arrangement
50
25
49
24
27
2
26
Arrangement from Connection Side
1 COM-1 26 −
2 DI-00 27 DI-01
3 DI-02 28 DI-03
4 DI-04 29 DI-05
5 DI-06 30 DI-07
6 COM-2
7
31 −
32 DI-09
5
DI-08
8 DI-10 33 DI-11
9 34 DI-13
DI-12
10 DI-14 35 DI-15
11 − 36 −
12 DO-00 37 DO-01
13 38 DO-03
DI-02
14 − 39 0V-1
15 +24V-1 40 −
16 DO-04 41 DO-05
17 42 DO-07
DO-06
18 − 43 0V-1
19 44 DO-09
DO-08
20 DO-10 45 DO-11
21 − 46 0V-2
22 +24V-2 47 −
23 DO-12 48 DO-13
24 DO-14 49 DO-15
25 − 50 0V-2
5-39
The following figure shows the pin names and assignments for connector CN1.
No. Signal Name Details No. Signal Name Details

1 COM-1 Common 1 26 − −
Digital input 0 Digital input 1
2 DI-00 27 DI-01
(also used as interrupt input) (also used as interrupt input)
3 DI-02 Digital input 2 28 DI-03 Digital input 3
6 COM-2 Common 2 31 − −
11 − − 36 − −
12 DO-00 Digital output 0 37 DO-01 Digital output 1
14 − − 39 0V-1 Common ground 1
15 +24V-1 24-V power supply 1 40 − −
22 +24V-2 24-V power supply 2 47 − −
5-40
• CN2 Pin Arrangement
50
25
49
24
27
2
26
Arrangement from Connection Side
1 COM-3 26 −
2 DI-16 27 DI-17
3 DI-18 28 DI-19
4 DI-20 29 DI-21
5 DI-22 30 DI-23
6 COM-4 31 −
7 DI-24 32 DI-25
8 DI-26 33 DI-27
9 DI-28 34 DI-29 5
10 DI-30 35 DI-31
11 − 36 −
12 DO-16 37 DO-17
13 38 DO-19
DI-18
14 − 39 0V-3
15 +24V-3 40 −
16 DO-20 41 DO-21
17 42 DO-23
DO-22
18 − 43 0V-3
19 44 DO-25
DO-24
20 DO-26 45 DO-27
21 − 46 0V-4
22 +24V-4 47 −
23 DO-28 48 DO-29
24 DO-30 49 DO-31
25 − 50 0V-4
5-41
The following figure shows the pin names and assignments for connector CN2.
No. Signal Name Details No. Signal Name Details

1 COM-3 Common 3 26 − −
Digital input 16 Digital input 17
2 DI-16 27 DI-17
(also used as interrupt input) (also used as interrupt input)
6 COM-4 Common 4 31 − −
11 − − 36 − −
15 +24V-3 24-V power supply 3 40 − −
22 +24V-4 24-V power supply 4 47 − −
5-42
(2) I/O Circuit Details

(a) Interrupts
The interrupt outputs from the LIO-04 to the MP2200/MP2300 CPU are DI-00, DI-01, DI-16, and DI-17
(DINT).
These are input to the MP2200/MP2300 CPU Unit as optional interrupts.
(b) Input Circuits

Item Specifications
Inputs∗ 32 points
Input Mode Sink mode/source mode inputs
Input Voltage +24 VDC ±20%
ON Voltage/Current 15 V min./20 mA min.
ON Time/OFF Time ON: 0.5 ms max., OFF = 0.5 ms max.
Number of Points 8 points (DI_COM0: DI_00 to DI_07, DI_COM1: DI_08 to DI_15,
per Common DI_COM2: DI_16 to DI_23, DI_COM3: DI_24 to DI_31)
• DI-00, DI-01, DI-16, and DI-17 (interrupt inputs)
Other Functions DI-00, DI-01, DI-16, and DI-17 can also be used as interrupt inputs. When interrupts
are enabled, the interrupt drawings will be started when the input signal turns ON.
* For details on the number of simultaneously ON points, refer to 4.9.3 Hardware Specifications.
5
Vcc
+24V
22 kΩ
DI_COM
Input register
22 KΩ
750 Ω
1000 PF
DI_IN 5.6 kΩ/0.5 W
024

Vcc
+24V
22 kΩ
DI_COM
Input register
1 kΩ
750 Ω
2200 PF
DI_IN 5.6 kΩ/ 0.5 W
024
5-43
(c) Output Circuits

Item Specification
Outputs 32 points
Output Mode Transistor open collector sink mode outputs
Output Voltage +24 VDC ±20%
Leakage Current
0.1 mA max.
when OFF
ON Time/OFF Time ON: 0.5 ms max., OFF: 0.5 ms max.
Number of Points
8 points
per Common
There is a fuse in the common line (rating: 1 A).
Protection Circuit The fuse is not, however, for circuit protection. It is for protecting against fire at
output shorts. Attach a fuse externally to each output if circuit protection if required.
+24V
470 Ω
DO_24V
Output
register
DO_OUT
33 kΩ
DO_COM
33 kΩ
024
Digital Output Circuit (Sink Mode Output)
5-44
(3) LIO-04 Module Connection Examples

(a) CN1 Connector Connections
JAPMC-IO2303
24 VDC
Connector CN1
+ −
Pin No.
− + Common 1
1
Input 0 2
Input 1 27
.
.
. Input 6 5
Input 7 30
+5 V
24 VDC
+ -
Common 2
Internal circuits
- + 6 Photocoupler
Input 8 5.6 kΩ
7
Input 9 32 Fuse
12 Output 0
.
. 37 Output 1
L
5
L
. Input 14 10
13 Output 2
Input 15 35 L
38 Output 3
L
39
Photocoupler 24 VDC
15 + -
16 Output 4
L
41 Output 5
L
17 Output 6
L
42 Output 7
L
43
Fuse blown
detection circuit
19 Output 8
L
44 Output 9
L
20 Output 10
L
45 Output 11
L
46
24 VDC
22 + -
23 Output 12
L
48 Output 13
L
24 Output 14
L
49 Output 15
L
50
5-45
(b) CN2 Connector Connections

JAPMC-IO2303
24 VDC
Connector CN2
+ − Pin No.
− + Common 3 1
Input 16 2
Input 17 27
.
.
. Input 22 5
Input 23 30
+5V
24 VDC
+ −
− + Common 4 6 Photocoupler
Internal circuits
Input 24 5.6 kΩ
7
Input 25 32 Fuse
12 Output 16
. L
. 37 Output 17
L
. Input 30 10
13 Output 18
Input 31 35 L
38 Output 19
L
39
Photocoupler 24 VDC
15 + −
16 Output 20
L
41 Output 21
L
17 Output 22
L
42 Output 23
L
43
Fuse blown
detection circuit
19 Output 24
L
44 Output 25
L
20 Output 26
L
45 Output 27
L
46
24 VDC
22 + −
23 Output 28
L
48 Output 29
L
24 Output 30
L
49 Output 31
L
50
5-46
5.2.6 218IF-01 Module Connections

(1) Connectors
The following diagram shows 218IF-01 Module connectors.
PORT
10Base-T
RS-232C Ethernet

Name
9 17LE-13090-27(D2BC) 17JE-23090-02（D8B）
RS-232C PORT DDK Ltd.
9-pin D-sub (female) 9-pin D-sub (male)
8 555153-1
10Base-T Tyco Electronics
Ethernet 10Base-T −
Ethernet connector (modular AMP K.K.
jack)
(3) Cables 5
Name Model Length
JEPMC-W5311-03 2.5 m
RS-232C Cable
JEPMC-W5311-15 15 m
(4) External Appearance of Cables for PORT Connector

JEPMC-W5311-
5-47
(5) Connector Pin Arrangement

(a) PORT Connector
The PORT connector is used to connect the MP2200 to computers and HMI devices via an RS-232C connec-
tion.
Pin Pin
Signal Signal
Num- Description Num- Description
Name Name
ber ber
1 FG Frame ground 6 − −
2 SD Send data 7 SG Signal ground (0 V)
3 RD Receive data 8 − −
4 RS Request to send 9 ER Data terminal ready
5 CS Clear to send − − −
(b) Ethernet Connector (10Base-T)

The Ethernet connector is used to connect the MP2200 to computers and HMI devices via an Ethernet
(10Base-T) connection.
Pin
Signal
Num- Description
Name
ber
1 TXD+ Transmission data +
2 TXD− Transmission data −
3 RXD+ Reception data +
4 − −
5 − −
6 RXD− Reception data −
7 − −
8 − −
(6) Module Connection Examples

(a) PORT Connector Connections
218IF-01
MP2200
MP2200 MBU-01 CPU-01 218IF-01 SVB-01
POWER
PORT
Optional Module
Optional Module
M- /
BATTEY CN1
100/200V
10Base-T
AC CN2
POWER
RS-232C (15 m max.)
5-48
The following tables show the PORT connector connections based on the device to be connected.
Table 5.2 For 25-pin D-sub Remote Stations
MP2200 Cable Connection and Signal Remote Station
(PORT Connector) Direction (25-pin D-sub)
Signal Signal
Pin No. Pin No.
Name Name
FG 1 1 FG
SD (TXD) 2 2 SD (TXD)
RD (RXD) 3 3 RD (RXD)
RS (RTS) 4 4 RS (RTS)
CS (CTS) 5 5 CS (CTS)
− 6 6 DSR (DR)
SG (GND) 7 7 SG (GND)
− 8 8 CD
ER (DTR) 9 20 DTR (ER)
Table 5.3 For 9-pin D-sub Remote Station Meeting Yaskawa Specifications
Remote Station
MP2200 Cable Connection and Signal
(9-pin D-sub)
(PORT Connector) Direction
(Yaskawa Specifications)
Signal Signal
Pin No. Pin No.
Name Name
FG 1 1 FG
SD (TXD) 2 2 SD (TXD) 5
RD (RXD) 3 3 RD (RXD)
RS (RTS) 4 4 RS (RTS)
CS (CTS) 5 5 CS (CTS)
− 6 6 DR (DSR)
SG (GND) 7 7 SG (GNDÅ)
− 8 8 CD
ER (DTR) 9 9 ER (DTR)
ÅD
Table 5.4 For DOS Computer Remote Stations
MP2200 Cable Connection and Signal DOS Computer

(PORT Connector) Direction (9-pin D-sub Male)
Signal Signal
Pin No. Pin No.
Name Name
FG 1 1 FG
SD (TXD) 2 2 RD (RXD)
RD (RXD) 3 3 SD (TXD)
RS (RTS) 4 4 ER (DTR)
CS (CTS) 5 5 SG (GND)
− 6 6 DR (DSR)
SG (GND) 7 7 RSÅ (RTS)
− 8 8 CS (CTS)
ER (DTR) 9 9 −
5-49
(b) Ethernet Connections

This section explains connections to the Ethernet using 10Base-T.
The maximum length between the end nodes is 500 m with 10Base-T connections.
• Connection Example 1
218IF-01
MP2200
MP2200 MBU-01 CPU-01 218IF-01 SVB-01
POWER
PORT
Optional Module
Optional Module
M- /
BATTEY CN1
100/200V
10Base-T
AC CN2
POWER
10Base-T
Other station Other station
100 m 100 m
100 m
100 m 100 m 100 m

HUB Repeater Repeater HUB
100 m 100 m
Other station Other station
• Connection Example 2
218IF-01
MP2200
MP2200 MBU-01 CPU-01 218IF-01 SVB-01
POWER
PORT
Optional Module
Optional Module
M- /
BATTEY CN1
100/200V
10Base-T
AC CN2
POWER
10Base-T (cross cable: 100 m max.)
5-50

(1) Connectors
PORT RS422/485
RS-232C RS-422/485

Name
9 17LE-13090-27 (D2BC) 17JE-23090-02（D8B）
14 10114-3000VE
RS-422/485 RS-422/ Sumitomo 3M
10214-52A2JL connector connector10314-52A0-008
port 485 Limited.
shell
(3) Cables
5
Name Model Length
JEPMC-W5311-03 2.5 m
RS-232C Cable
JEPMC-W5311-15 15 m

JEPMC-W5311-
5-51

(a) PORT Connector
tion.
Pin Pin
Signal Signal
Name Name
ber ber
(b) RS-422/485 Connector

The RS-422/485 connector is used to connect the MP2200 to computers and HMI devices via an RS-422/485
connection.
Pin Pin
Signal Signal
Name Name
ber ber
RS422/485
1 TX+ Transmission data + 8 TX+ Transmission data +
2 TX− Transmission data − 9 TX− Transmission data −
3 RX+ Reception data + 10 RX+ Reception data +
Transmission data ter-
4 RX− Reception data − 11 TXR
minator
5 − − 12 − −
6 RX− Reception data - 13 VCC Power supply (+5 V)
Reception data termi-
7 RXR 14 GND Ground
nator
Note: A terminator has been included, as shown in the following diagram. If you need to add a terminator,
connect RXR to RX (−), and TXR to TX (−). Leave RXR and TXR open if not adding a terminator.
Terminator
7 RXR
3, 10 RX (+)
4, 6 RX (−)
11 TXR
1, 8 TX (+)
2, 9 TX (−)
• Always keep the communication cable separate from the drive, control, power supply, and other transmis-
IMPORTANT
sion systems.
• The maximum length of RS-422/485 cable is 300 m. Keep all cables as short as possible.
• The 217IF-01 Module RS-422/485 interface is not an isolated system. Noise from connected terminals may
cause malfunctions. If malfunctions occur, use a shielded cable, modem, or other measure to reduce noise.
• For RS-422 connections, add a terminator to the reception terminal if required.
• For RS-485 connections, add a terminator to the nodes at both ends of the transmission line.
5-52

Refer to (a) PORT Connector Connections under (6) Module Connection Examples in 5.2.6 218IF-01 Mod-
ule Connections for information on PORT connector connections.
(b) RS-422/485 Connections

• RS-422 Wiring
217IF-01
MP2200
MP2200 MBU-01 CPU-01 218IF-01 217IF-01
POWER
PORT PORT
Optional Module
Optional Module
BATTEY
100/200V
RS422/465
10Base-T
AC
To controller or
POWER
other terminal
RS-422/485 Remote Station
TX + 1
TX − 2
5
TXR 11
RX + 3
RX − 4
RXR 7
GND 14
Connector
shell
The wiring when connecting

to another 217IF-01 is shown
in the following diagram.
RS-422/485 RS-422/485
TX + 1 3 RX+
TX − 2 4 RX−
TXR 11 7 RXR
RX + 3 1 TX+
RX − 4 2 TX−
RXR 7 11 TXR
GND 14 14 GND
Connector Connector
shell shell
FG
5-53
• RS-485 Wiring
217IF-01
MP2200
MP2200 MBU-01 CPU-01 218IF-01 217IF-01
POWER
PORT PORT
Optional Module
Optional Module
BATTEY
100/200V
RS422/465
10Base-T
AC
RS-485
130 Ω terminator
POWER
PC or other PC or other PC or other PC or other

terminal terminal terminal terminal
RS-422/485
TX+ 1
TX− 2
TXR 11 Shield
RX+ 3
4 130 Ω terminator
RX-
RXR 7
Connector shell
GND 14
TX RX TX RX TX RX FG
GND GND GND
The wiring when a 217IF-01

Module is connected between
other nodes is shown in the
following diagram.
2 1 9 8 4 3 6 10
TX TX TX TX RX RX RX RX
Connector − + − + − + - + Connector
shell shell
Note: The terminator is enabled by connecting terminals 2-11 and 4-7 for RS-422/485 ports.
5-54

(1) Connectors
PORT DeviceNet
RS-232C DeviceNet

Name
9 17LE-13090-27 (D2BC) 17JE-23090-02（D8B）
5 Phoenix Contact
DeviceNet DeviceNet MSTB2-5/5-GF-5.08AM −
K.K.
(3) Cables
Name Model Length 5
JEPMC-W5311-03 2.5 m
RS-232C Cable
JEPMC-W5311-15 15 m

JEPMC-W5311-
5-55

(a) PORT Connector
tion.
Pin Pin
Signal Signal
Name Name
ber ber
(b) DeviceNet Connector

The DeviceNet connector is used to connect the MP2200 to computers and peripheral devices via a
DeviceNet connection.
Pin
Signal
Num- Description
Name
ber
0-V external power supply for
1 V-
communication
2 CAN-L CAN bus line dominant L
3 SHIELD −
4 CAN-H CAN bus line dominant H
24-V external power supply for
5 V+
communication
5-56

(b) DeviceNet Connections

• Master Mode
There are two connection methods for master mode.
a) Multi-drop Connections
260IF-01
MP2200
MP2200 MBU-01 CPU-01 218IF-01 260IF-01 Internal power supply for I/O
POWER
PS
PORT PORT
External power supply for I/O

Optional Module
Optional Module
PS
BATTEY
100/200V DeviceNet
10Base-T
AC
POWER
I/O I/O I/O
130 Ω terminator
121 Ω terminator
Trunk line cable 5
Drop line cable Power supply tap for
External power supply line for I/O communications (with
Internal power supply line for I/O reverse-current prevention
for multiple power supplies)
Communication power supply line
PS Communication power supply
FG
b) T-branch, Multi-branch, and Drop-line Connections

260IF-01
MP2200
MP2200 MBU-01 CPU-01 218IF-01 260IF-01
POWER
PORT PORT
Optional Module
Optional Module
BATTEY
Trunk line cable

Drop line cable
100/200V DeviceNet
10Base-T
AC
External power supply line for I/O
POWER Internal power supply line for I/O
130 Ω terminator
130 Ω terminator
Power supply tap for communica-

tions (with reverse-current preven-
tion for multiple power supplies)
I/O I/O I/O I/O I/O PS Communication power supply
FG
PS External power supply for I/O
PS Internal power supply for I/O
5-57
• Slave Mode
The following diagram shows the system configuration for slave mode.
260IF-01
MP2200
MP2200 MBU-01 CPU-01 218IF-01 260IF-01 Internal power supply for I/O
POWER
PS Slave Mode
260IF-01
MP2300
External power
supply for I/O
PORT PORT
Optional Module
Optional Module PS
BATTEY
100/200V DeviceNet
10Base-T
AC
POWER
I/O I/O
130 Ω terminator 130 Ω terminator

Trunk line cable
Drop line cable Power supply tap for commu-
External power supply line for I/O nications (with reverse-cur-
Internal power supply line for I/O rent prevention for multiple
power supplies)
PS
Communication power supply
FG

(1) Connectors
PORT PROFIBUS
RS-232C PROFIBUS

Name
9 17LE-13090-27 (D2BC) 9- 17JE-23090-02（D8B）
pin D-sub (female) 9-pin D-sub (male)
9 17LE-13090-27 (D33C)
PROFIBUS PROFIBUS − DDK Ltd.
9-pin D-sub (female)
(3) Cables
Name Model Length
JEPMC-W5311-03 2.5 m
RS-232C Cable
JEPMC-W5311-15 15 m

JEPMC-W5311-
5-58

(a) PORT Connector
tion.
Pin Pin
Signal Signal
Name Name
ber ber
(b) PROFIBUS Connector

The PROFIBUS connector is used to connect to masters via a PROFIBUS connection.
Pin
Signal
Num- Description
Name
ber
1 − −
2 − −
3 TXD/RDX+ Transmission and reception (+)
4 RTS Request to send
5 GND Ground 5
6 +5V External power supply
7 − −
8 TXD/RDX- Transmission and reception data -
9 − −
5-59

(b) PROFIBUS Connections

The 261IF-01 Module supports only slave mode. The slave address can be set between 1 and 64.
PROFIBUS-DP Master (Class 1 Master)
261IF-01
MP2200 MBU-01 CPU-01 218IF-01 261IF-01

POWER
PORT
Optional Module
Optional Module
BATTEY
100/200V
PROFIBUS
10Base-T
AC
POWER
MP2200 SERVOPACK Inverter Machine-side I/O signals
5-60
5.2.10 EXIOIF Module Connections

(1) Connectors
The following diagram shows EXIOIF Module connectors.
CN1 CN2
IN OUT
These connectors are use to expand the number of mounting bases to a maximum of four racks.
They are connected using the following cables.
• JEPMC-W2091-
The following diagram shows how to connect the external I/O connectors.
EXIOIF
CN1
IN
Rack 1
CN2
OUT
5
EXIOIF
CN1
IN
Rack 2
CN2
OUT
EXIOIF
CN1
IN
Rack 3
CN2
OUT
EXIOIF
CN1
IN
Rack 4
CN2
OUT
Note: Attached the enclosed dust caps to the unused connectors (1) in the above figure.
5-61
5.2.10 EXIOIF Module Connections
(2) Cables
Name Model Length
Connection Cables
JEPMC-W2091-01 1.0 m
(with both connectors)
JEPMC-W2091-2A5 2.5 m
Note: 1. The total cable length when adding expansion racks is 6.0 m. Connect the shield to the connector shell.
2. Connection method: 1:1
3. Cable Specifications: Shielded cable, equivalent to UL20276, 0.08 mm2 (AWG28), two ferrite cores
attached
(3) Cable Appearance
5-62
6
Basic System Operation
This chapter explains the basic operation of the MP2200 system.
6.1 Operating Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.1 Online Operating Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Offline Stop Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - 6-3

6.2.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.2 Indicator Patterns - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.2.3 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
6.3 User Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.3.1 Drawings (DWGs) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
6
6.3.2 Execution Control of Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.3 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.3.4 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
6.4 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20

6.4.1 Data Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.4.2 Types of Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
6.4.3 Register Designation Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
6.4.4 Subscripts i and j - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
6.5 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29

6.5.1 Overview of Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29
6.5.2 SVB-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
6.5.3 SVA-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-39
6.5.4 LIO-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-40
6.5.5 LIO-02 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-41
6.5.6 LIO-04 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42
6.5.7 218IF-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43
6.5.8 217IF-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44
6.5.9 260IF-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-46
6.5.10 261IF-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47
6.6 Setting and Changing User-defined Files or Data - - - - - - - - - - - - - - - - - 6-48

6.6.1 Saving User-defined Files or Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-48
6.6.2 Setting and Changing the Scan Times - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-48
6.6.3 Setting and Changing the Module Configuration Definition - - - - - - - - - - - - - - - - - - - 6-49
6-1
6.1.1 Online Operating Mode
6.1 Operating Mode

This section explains the online operating mode and the offline stop mode, both of which indicate the MP2200
operating status.
Operating Mode Online Operating Mode
• RDY and RUN indicators are lit.

• The user program and I/O operations are executed.
Offline Stop Mode
• RDY indicator is lit, RUN is not lit.

• The user program is stopped.
MP2200 Operating Modes
6.1.1 Online Operating Mode

When the power for the MP2200 is turned ON, the RDY and RUN indicators will light (the ERR and ALM indi-
cators will not light) and the MP2200 will enter the online operating mode. This means that the user program and
I/O operations are being executed in the MP2200 without any errors or failures. If an alarm does occur, such as
for an I/O conversion error or a user calculation error, the execution of the user program will not stop, and the
online operating mode will be maintained. The ALM indicator lights to indicate the occurrence of the error. For
details on the error content and the action to be taken, see Chapter 8 Troubleshooting.
6.1.2 Offline Stop Mode

The execution of the user program is stopped, and all outputs are reset (i.e., 0 is output for all digital outputs).
The RDY indicator will light and the RUN indicator will go OFF.
The MP2200 will be in the offline stop mode in the following cases:
• When a serious failure, such as a watchdog timeout error, has occurred*
• When a STOP operation has been performed from the MPE720
• When the STOP switch has been set to ON (user program stopped) and the power has been turned ON
* The above case applies when a user program error occurs or when there is a hardware fault in the
MP2200. For details on the error content and the action to be taken, see Chapter 8 Troubleshooting.
6-2
6.2 Startup Sequence and Basic Operation

This section explains the startup sequence and basic operation of the MP2200. The methods for setting the DIP
switch, the types of self-diagnosis, and the indicator patterns are also explained.
6.2.1 DIP Switch Settings

The DIP switch on the CPU-01 Module is used to control the startup sequence. As shown below, there are six
pins on the DIP switch. The function of each pin is given in the following table.
STOP
SUP
INIT
CNFG
MON
SW1
TEST
OFF ON
Pin
Switch Sta- Default
Num- Operating Mode Details
Name tus Setting
ber
ON User program stopped Stops user program execution.
6 STOP OFF
OFF User program running Enabled only when the power is turned ON.
ON System use
5 SUP OFF Always leave set to OFF.
ON Memory clear Set to ON to clear the memory.
4 INIT OFF If this switch is set to OFF, the program stored
OFF Normal operation in flash memory will be executed.
ON Configuration Mode Set to ON to execute self-configuration for
3 CNFG OFF
OFF Normal operation connected devices.
2 MON
ON System use
OFF Always leave set to OFF.
6
ON System use
1 TEST OFF Always leave set to OFF.
6-3
6.2.2 Indicator Patterns
6.2.2 Indicator Patterns

The MP2200 makes a number of determinations at startup. If an error is detected, the ERR indicator will blink
and the error content will be indicated by the number of times the indicator blinks. When the indicator is blink-
ing, the MPE720 cannot be operated. For details on the error content and the action to be taken, see Chapter 7
Maintenance and Inspection and Chapter 8 Troubleshooting. The following table shows the MP2200 indicators.
Indicator Name
Classification
Indicator Details Remarks

RDY RUN ALM ERR BAT
{ { z z { Hardware reset status

{ { { { { Initializing. −
{ z { { { Drawing A executing.
Normal
This status is entered when

User program stopped (offline stop STOP operation is per-
z { { { {
mode). formed from a switch or the
MPE720.
z z { { { User program executing normally. −
The ERR indicator lights
{ { { z { Serious failure when there is a failure in the
CPU.
Number of blinks for software errors:
3: Address read error
4: Address write error
5: FPU error
6: Illegal general command error
7: Illegal slot command error
8: General FPU inhibited error The ERR indicator blinks
{ { { {
9: Slot FPU inhibited error when there is an error.
Error
10: TLB multi-bit error

11: LTB read error
12: LTB write error
13: LTB protection violation (read)
14: LTB protection violation (write)
15: Initial page write error
Number of blinks for hardware errors:
2: RAM diagnosis error The ALM and ERR indica-
{ { { 3: ROM diagnosis error tors blink when there is a
4: CPU function diagnosis error self-diagnosis failure.
5: FPU function diagnosis error
The BAT indicator lights
− − − − z Battery alarm when the battery voltage
Warning
drops.
The ALM indicator lights
Operation error
z z z { { when a calculation or I/O
I/O error
error is detected.
Note: The symbols under Indicator Name have the following meanings.
z: Not lit, {: Lit, : Blinking, −: Undefined.
6-4
6.2.3 Startup Sequence

A basic outline of the startup sequence and basic operation of the MP2200 is shown below.
Turn ON the power.
Startup self-diagnosis
Memory clear Memory clear

switch check
Flash
Copied from
FLASH to RAM
Configuration Mode Normal operation

switch setting
Configuration Mode
Self-configuration
executing
STOP switch check ON
OFF
Watchdog timer start User program stopped 6

RUN indicator lit
DWG.A execution
(ladder program)
RDY indicator lit
Ladder Program Background
Interrupt signal High-speed Low-speed Online self-diagnosis

scan scan
Input Input
DWG.I execution
DWG.H execution DWG.L execution

Completed once.
Output Output
High Priority
6-5
6.2.3 Startup Sequence
(1) Startup Self-diagnosis

The following operations are provided for startup self-diagnosis:
• Memory (RAM) read/write diagnosis
• System program (ROM) diagnosis
• Main processor (CPU) function diagnosis
• Floating point unit (FPU) function diagnosis
If an error occurs in the diagnosis, the ALM and ERR indicators will blink the specified number of times.
(2) Online Self-diagnosis

The following operations are provided for online self-diagnosis:
• System program (ROM) diagnosis
• Main processor (CPU) function diagnosis
• Floating point unit (FPU) function diagnosis
If an error occurs in the diagnostic result, the ALM and ERR indicators will blink the specified number of times.
(3) Self-configuration
1. Self-configuration eliminates the need to make settings for Module definitions, making it possible to per-
form startup work easily and quickly for the MP2200 system. Optional Modules are recognized and defi-
nition files are generated automatically. For details, refer to 6.5 Self-configuration.
2. The RUN indicator blinks during execution of self-configuration.
(4) Operation Start

If the Stop Switch is OFF (RUN) or if it is turned OFF (RUN) from ON (STOP), the CPU starts the watchdog
timer and then executes DWG.A.
The initial scan is executed only after the time for the high-speed or low-speed scan has ended following the
completion of DWG.A. System inputs and outputs are executed from the first scan.
(5) Operation Stop

The MP2200 stops operating in the following cases:
Cause Countermeasure
The power supply is interrupted.
Turn power OFF and ON.
A power failure has occurred.
Determine the error by the indicator status and turn the
A fatal error has occurred.
power OFF and ON.
A STOP operation has been performed
Perform a RUN operation from the MPE720.
from the MPE720.
6-6
6.3 User Program
6.3 User Program

The MP2200 user program includes ladder and motion programs. This section explains the basic operation of the
user program. Refer to the following manuals for details on programming.
• MP900/MP2000 Series Machine Controller User’s Manual: Ladder Programs (Manual No.: SIEZ-C887-
1.2)
• MP900/MP2000 Series Machine Controller User’s Manual: Motion Programs (Manual No.: SIEZ-C887-
1.3)
• MP900/MP2000 Series Machine Controller New Ladder Editor User’s Manual: Programming Instruc-
tions (Manual No.: SIEZ-C887-13.1)
• MP900/MP2000 Series Machine Controller New Ladder Editor User’s Manual: Operation (Manual No.:
SIEZ-C887-13.2)
6.3.1 Drawings (DWGs)

User programs are managed in units of programming called drawings. Each drawing is identified by a drawing
number (DWG No.). These drawings serve as the basis of user programs.
The drawings include parent drawings, child drawings, grandchild drawings, and operation error drawings.
Besides the drawings, there are functions that can be freely called from each drawing.
• Parent Drawings
Parent drawings are executed automatically by the system program when the execution condition is estab-
lished.
• Child Drawings
Child drawings are executed by being called from a parent drawing using the SEE instruction.
• Grandchild Drawings
Grandchild drawings are executed by being called from a child drawing using the SEE instruction.
• Operation Error Drawings 6
Operation error drawings are executed automatically by the system program when an operation error
occurs.
• Functions
Functions are executed by being called from a parent, child, or grandchild drawing using the FSTART
instruction.
(1) Types and Priority Levels of Drawings
Drawings are classified by the first character of the drawing number (A, I, H, L) according to the purpose of the
process. The priority levels and execution conditions are as shown in the following table.
Prior-
Type of Par- Number of
Role of Drawing ity Execution Conditions
ent Drawing Drawings
Level
Turn ON the power
A Drawings
Startup process 1 (executed once only when the power is 64
(DWG.A)
turned ON).
Executed by external interrupts,
I Drawings
Interrupt process 2 such as Optional Module DI interrupts or 64
(DWG.I)
counter interrupts.
H Drawings High-speed scan Started at a fixed interval
3 200
(DWG.H) process (executed during each high-speed scan).
L Drawings Low-speed scan Started at a fixed interval
4 500
(DWG.L) process (executed during each low-speed scan).
6-7
6.3.2 Execution Control of Drawings
The following table gives details of the number of drawings for each type of drawing.
Number of Drawings
Drawing
DWG.A DWG.I DWG.H DWG.L
Parent Drawing 1 (A) 1 (I) 1 (H) 1 (L)
Operation Error
1 (A00) 1 (I00) 1 (H00) 1 (L00)
Drawing
Child Drawing Maximum total of Maximum total of Maximum total of Maximum total of
Grandchild Drawing 62 drawings 62 drawings 198 drawings 498 drawings

(1) Execution Control of Drawings
Each drawing is executed based on its priority level, as shown in the diagram below.
Turn ON the power.
DWG.A
Startup drawing
Each high-speed scan Each low-speed scan Operation error Interrupt signal
Batch inputs Batch inputs DWG. X00 * DWG. I

Operation error Interrupt process
drawing drawing
Batch outputs Batch outputs
*X: A, I, H, L
DWG.H DWG.L Continue from start Continue from start
High-speed scan Low-speed scan
process drawing process drawing
One high-speed scan One low-speed scan * X is replaced by A, I, H, or L.

completed completed
(2) Execution Scheduling of Scan Process Drawings

The scan process drawings are not executed simultaneously. As shown below, they are scheduled based on the
priority level and are executed according to the schedule.
Low-speed scan time setting
High-speed scan High-speed scan High-speed scan High-speed scan

time setting time setting time setting time setting
One high-
speed scan
DWG.H Unused time Unused time Unused time Unused time Unused time Unused time
One low-speed
scan
DWG.L
Unused time
Background*
: Executing
* Used for internal system processes, such as communication.

The low-speed scan process is executed in the unused time of the high-speed scan process. Therefore, as a guide-
line, set a time that is twice the execution time of all the DWG.H drawings as the high-speed scan time.
6-8
6.3 User Program
(3) Hierarchical Arrangement of Drawings

Drawings are arranged in the following order: Parent drawing, child drawings, grandchild drawings. A parent
drawing cannot call a child drawing of a different type, and a child drawing cannot call a grandchild drawing of a
different type. A parent drawing also cannot directly call a grandchild drawing. A child drawing is called from a
parent drawing, and a grandchild drawing is called from that child drawing. This is called the hierarchical
arrangement of drawings.
Each processing program is prepared with the parent drawing, child drawing, grandchild drawing hierarchy, as
shown below.
Parent drawing Child drawing Grandchild drawing User functions
DWG.X DWG.X01 DWG.X01.01
DWG.X01.02 FUNC-001
DWG.X01.99 FUNC-006
DWG.Xnn FUNC-032
FUNC-064
Note: Replace X with A, I, H, or L.
DWG notation: DWG.X YY . ZZ

Grandchild drawing number (01 to 99)
Child drawing number (01 to 99) 6

Type of parent drawing (A, I, H, or L)
DWG.X 00
Operation error processing drawing (A, I, H, or L)
6-9
(4) Execution Processing Method of Drawings

Drawings in the hierarchy are executed by the lower-level drawings being called from upper-level drawings.
The execution method is shown below, using DWG.A as an example.
System program starts when the

execution condition is established.
Parent drawing Child drawing Grandchild drawing
DWG.A DWG.A01 DWG.A01.01
SEE A01 SEE A01.01 Functions
FUNC-001
FUNC-001
DEND
DWG.A01.02
SEE A01.02 DEND
FUNC-001
DEND DEND
SEE A02 DWG.A02

System starts
automatically DWG.A00
Operation
error
DEND DEND DEND
Note: 1. A parent drawing is automatically called by the system. The user can execute any child or grand-
child drawing by programming an instruction that calls the drawing (the SEE instruction) in a par-
ent or child drawing.
2. Functions can be called from any drawing. A function can also be called from a function.
3. If an operation error occurs, the operation error drawing corresponding to the drawing will be
called.
6-10
6.3 User Program
6.3.3 Motion Programs

A motion program is a textual program that utilizes motion language. A maximum of 256 motion programs can
be created, separate from the ladder programs.
Two types of motion program are provided.
Classification Designation Type Feature Number of Programs
Main Programs MPM 1 to 256 Can be called from DWG.H A total of up to 256 main pro-
grams and subprograms can be
Subprograms MPS 1 to 256 Can be called from the main program. created.
Each MPM and MPS program number must be unique.

IMPORTANT
With the MP2200, up to 16 motion programs can be executed at the same time. If 17 or more motion programs
are executed, an alarm (no system work error) will occur.
• No system work error: Bit E in the first word of the MSEE work registers
There are two methods of designating a motion program: Direct designation of the program number, and indirect
designation of the register number in which the program number is stored.
MPM001
ABS;
Motion program call instruction
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
MSEE MPM001 DA00000
IOW MB0001
MOV[X] _ [Y] _
MPM number
. 6
.
Ladder Program Motion Program
Calling a Motion Program by Direct Designation
MPM003
ABS;
Motion program call instruction MOV[X] _ [Y] _
0 3 MSEE MW00200 DA00000

MVS[X] _ [Y] _ F
IOW MB0001
Setting device
Register number MOV[X] _ [Y] _
Using the
MPM number contents of .
MW00200
.
∗ MW00200 = 3
Ladder Program Motion Program

Calling a Motion Program by Indirect Designation
6-11
(1) Groups
With the MP2200, the axes can be grouped by operation so that multiple machines can be independently con-
trolled by one Machine Controller. This enables programming to be done for each axis group. The axes to be
included in a group are defined in the group definitions. Refer to MP900/MP2000 Series Programming Device
Software MPE720 User’s Manual (Manual No. SIJPC88070005) for information on group definitions.
(a) Operation as One Group
MP2200
SGDS
SGDS
SGDS
SGDS
SGDS
xxx SERVOPACK
X1 Y1 Z1 A1 B1 Motor
(Characters are axis names.)
(b) Operation with Multiple Groups
MP2200
SGDS
SGDS
SGDS
SGDS
SGDS
xxx SERVOPACK
X1 Y1 Z1 A1 B1 Motor
(Characters are axis names.)
6-12
6.3 User Program
(2) Motion Program Execution Processing Method

A motion program must be called from DWG.H using the MSEE instruction. Motion programs can be called
from any DWG.H, i.e., from parent, child, and grandchild DWG.H.
A motion program execution example is shown below.
System program starts when the

execution condition is established.
Parent drawing Child drawing Grandchild drawing Motion main programs

DWG.H DWG.H01 DWG.H01.01 MPM001
SEE SEE H01.01 VEL [a1]5000 [b1]..
H01 FMX T10000000;
MSEE IAC T25;
IDC T30;
MPM001
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
DEND .
END
MPM002
MSEE
MPM002
DEND
END
MPM003 Subprogram
MSEE
MPM003 MPS101
MSEE
MPS101
6
END
RET
DEND
In each high-speed scanning cycle, the ladder instructions for DWG.H are executed in the following hierarchical
order: Parent drawing - child drawing - grandchild drawing.
Motion programs are called in the scanning cycle, but as with ladder programs, all programs cannot necessarily
be executed in one scan. Motion programs are executed and controlled by special system motion management
functions.
The following points apply to calling motion programs. Call motion programs with care.
INFO
• More than one motion program with the same number cannot be called using the MSEE instruction.
• Subprograms (MPS) cannot be called using the ladder program MSEE instruction. They can be called only
from within motion programs (MPM and MPS).
• The same subprogram cannot be called from two different locations at the same time.
6-13
(3) Motion Program Control Signals

To execute a motion program called from a DWG.H by the MSEE instruction, program control signals (such as
program start requests and program stop requests) must be input. The second word in the MSEE work registers
contains the control signals. The signals used to control motion programs are shown in the following table.
Bit No. Signal Name Signal Type
0 Program start request Differential or NO contact input
1 Program pause request NO contact
2 Program stop request NO contact
3 Program single block mode selection NO contact
4 Program single block start request Differential or NO contact input
5 Alarm reset request NO contact
6 Program continuous operation start request Differential or NO contact input
8 Skip 1 information NO contact
9 Skip 2 information NO contact
D System work number setting*1 NO contact
E *2 NO contact
Interpolation override setting
* 1. System Work Number Setting

OFF: The system work register is automatically defined by the system. The system work number may be differ-
ent each time.
ON: The system work register set in the fourth word of the MSEE work registers is used.
* 2. Interpolation Override Setting
OFF: Interpolation override fixed at 100%.
ON: Conforms to set interpolation override.
Motion program start, stop, and pause operations can be controlled using the ladder program to input these sig-
nals to the work register one higher than the one specified in the MSEE instruction.
For the ladder program inputs, make sure the signals are in accordance with the signal type.
IMPORTANT The program will be executed if the program start request signal has been turned ON when the power is turned
ON. Take appropriate precautions; the equipment may start moving depending on the application.
The following illustration shows the method of executing a motion program.
Motion management functions

External control signal MSEE work register
y Start y Program start
y Pause DWxxxxx Status
y Program pause
yStop, etc. y Program stop, etc. DWxxxxx + 1 Control signal
DWxxxxx + 2 Interpolation override
Program DWxxxxx + 3 System work number
DWG.H control signal
Note: In this example xxxxx is 00000.
Motion program control MPM001
ladder program
VEL [a1] 5000 [b1]..
MSEE MPM001 DA00000
. FMX T10000000;
. IAC T25;
. IDC T30;
.
. MOV [a1] 300. [b1]..
. MVS [a1] 200. [b1]..
Motion program . MSEE work .
number . register address .
.
.
.
. .
.
.
.
DEND END
Ladder program Motion program
6-14
6.3 User Program
(4) Motion Program Status

The first word of the MSEE work registers consists of motion program status, which indicate the status of
motion program execution. The following table shows the status.
Bit No. Status
0 Program is running.
1 Program is pausing.
2 Program stopped with program stop request (reserved by the system).
3 (Reserved by the system)
4 Program stopped under single block mode.
8 Program alarm has been generated.
9 Stopped at break point.
B Debugging mode (EWS debugging)
D Start request signal history
E No system work error
F Main program number limit error
Note: When alarms occur, the details are reflected in the system registers.
(5) Interpolation Override

The override for execution of interpolation commands in the motion program is written to the third word of
MSEE work registers.
Unit: 1 = 0.01%
The interpolation override is enabled only if bit E in the motion program control signals (Interpolation Override
Setting) is set to ON.
(6) System Work Number

System work numbers used for executing motion programs are set in the fourth word of MSEE work registers. 6
• Range: 1 to 16
System work numbers are enabled only if bit D in the motion program control signals (System Work Number
Setting) is set to ON. If a set work number is out of range, or if the specified work number is being used, bit E in
the motion control status (No System Work Error) turns ON.
(7) Monitoring Motion Program Execution Information with System Registers

Execution information for motion programs can be monitored using the system registers (SW03200 to
SW04191). The monitor method depends on the setting of bit D in the motion program control signals (System
Work Number Setting).
(a) Bit D in the Motion Program Control Signals (System Work Number Setting) = ON
Execution information is stored in Work n Program Information, where n is the System Work Number speci-
fied in the fourth word of the MSEE registers.
For example, if the System Work Number is 1, motion program execution information can be monitored in
SW03264 to SW03321 (Work 1 Program Information).
(b) Bit D in the Motion Program Control Signals (System Work Number Setting) = OFF
The system work number that is used is automatically decided by the system. For this reason, the work num-
ber that is being used can be confirmed by referring to the Executing Program Number in SW03200 to
SW03215.
For example, if the motion program to be monitored is MPM001, and SW03202 is 001, then the work num-
ber being used is 3 and so the execution information of motion program MPM001 can be monitored with
Work 3 Program Information in SW03380 to SW03437.
6-15
The registers for motion program execution information are shown below.
Executing Program Numbers

Motion Program Execution Information SW03200 Work 1 program number
SW03200
Executing program number (number SW03201 Work 2 program number
of main program being executed)
SW03202 Work 3 program number
16
SW03216 SW03203 Work 4 program number
Reserved by the system. 16
Executing program bit (executing
when corresponding bit = ON) SW03205 Work 6 program number
16 Work 7 program number
SW03206
SW03248
SW03264
Work 1 program information 58 SW03208 Work 9 program number

Work 2 program information 58
Work 3 program information 58 SW03212

SW03438
Work 4 program information 58 SW03214 Work 14 program number

SW03554
SW03612 Executing Program Bits

SW03232 MP016 (Bit 15) MP001 (Bit 0)
SW03670
Work 8 program information 58 SW03233 MP032 (Bit15) MP017 (Bit 0)
SW03728 SW03234 MP048 (Bit 15) MP033 (Bit 0)

SW03235 MP054 (Bit 15) to MP049 (Bit 0)
SW03786 SW03236 MP080 (Bit 15) MP055 (Bit 0)
SW03237 MP096 (Bit 15) MP081 (Bit 0)
SW03844
Work 11 program information 58 SW03238 MP112 (Bit 15) MP097 (Bit 0)
SW03902 SW03239 MP128 (Bit 15) MP113 (Bit 0)

SW03240 MP144 (Bit 15) MP129 (Bit 0)
SW03960 SW03241 MP160 (Bit 15) to MP145 (Bit 0)
SW03242 MP176 (Bit 15) to MP161 (Bit 0)
SW04018
Work 14 program information 58 SW03243 MP192 (Bit 15) MP177 (Bit 0)
SW04076 SW03244 MP208 (Bit 15) MP193 (Bit 0)

SW03245 MP224 (Bit 15) MP209 (Bit 0)
SW04134 SW03246 MP240 (Bit 15) MP225 (Bit 0)
SW03247 MP256 (Bit 15) MP241 (Bit 0)
SW04192
SW05120
6-16
6.3 User Program
The configuration of Work n Program Information is shown below.
Work n Program Information

+0
Program status
+1
Program control signal
Executing program number
+2
Parallel 0 information 3W Executing block number
+5 Alarm code*
Parallel 1 information 3W
+8
+11
+14
+17
+20
+23
+26 Current position for logical axis #1 program 2W

+32 Current position for logical axis #4 program 2W 6
* Refer to 10.1 Motion Errors in MP2200/MP2300 Machine Controller Motion Module User’s Manual (Manual
No. SIJPC88070016) for information on motion program alarms.
6-17
(8) Example of a Ladder Program for Motion Program Control

The minimum ladder program required to control a motion program is shown in the following illustration.
1 0000 IB00100 OB80000

Servo ON
1 0002 IB00000 DB000300 DB000010

Program start
1 0005 IB00001 DB000011

Program pause
1 0007 IB00002 DB000012

Program stop
1 0009 IB00005 DB000015
Alarm reset
1 0011 MSEE MPM001 DA00000
IB00005 OB8000F
1 0013 Alarm reset
The contents of this ladder program are shown in the following table.
Step No. Program Content
Sets motion setting parameter OB80000 (Servo ON) using external input signal IB00100, and turns ON the
1
servo.
The signals connected to the MP2200 external input signals are stored as the motion program control sig-
nals.
IW0000 (external input signal) Å® DW00001 (second word of MSEE register)
2 to 10 • Program start
• Program pause
• Program stop
• Alarm reset
Calls motion program MPM001.
MSEE MPM001 DA00000
11, 12 c d
cMotion program number
dMSEE work register address
Sets the operating mode and alarm clear (OB0000F) in the setting parameters using the alarm reset signal
13, 14
(IB00005), and clears the alarm.
When the external input signals (IB00000 to IB00005) connected to the MP2200 are input to DW00001 (second
word of MSEE work registers) as motion program control signals using the ladder program shown above, motion
program operations such as run, stop, and pause can be performed by the system motion management functions.
EXAMPLE
The following table shows an example of external input signals required to create the minimum ladder program
for running motion programs on the MP2200.
External
Signal External Signal Name Bit No. Motion Program Control Signal
Address
IB00000 Program start 0 Program start request
IB00001 Program pause 1 Program pause request
IB00002 Program stop 2 Program stop request
IB00005 Alarm reset 5 Alarm reset request
6-18
6.3 User Program
6.3.4 Functions
Functions are executed by being called from a parent, child, or grandchild drawing using the FSTART instruc-
tion. Unlike child and grandchild drawings, functions can be called from any drawing. The same function can
also be called simultaneously from drawings of different types and different hierarchies. Moreover, a function
that was previously created can also be called from another function.
The following advantages can be obtained by using functions:
• User programs can be easily divided into parts.
• User programs can be easily prepared and maintained.
Functions are divided into standard system functions, which are provided by the system, and user functions,
which are defined by the user.
(1) Standard System Functions
The functions given in the following table, which include transfer functions, are provided by the system as stan-
dard functions. The user cannot change the standard system functions.
Type Name Symbol Details
Counters COUNTER Up/down counter
System functions
First-in/First-out Stack FINFOUT First-in/first-out stack

Trace Function TRACE Data trace execution control
Data Trace Read DTRC-RD Reading data from data trace memory to user memory
Inverter Trace Read ITRC-RD Reading data from inverter trace memory to user memory
Send Message MSG-SND Sending a message to an external communication device
Receive Message MSG-RCV Receiving a message from an external communication device
(2) User Functions

The body of the function (program) and the function definitions can be set by the user. The maximum number of
user functions is 500.
For details on MPE720 operating methods and details on instructions, refer to the relevant manuals. 6
6-19
6.4.1 Data Types
6.4 Registers
This section explains the types of register used by MP2200 user programs (mainly ladder programs) and how
these registers are used.
INFO Registers
• Registers are memory locations for storing data, and each register consists of 16 bits.
• The data in a register can be a position, speed, or other numeric value, or it can be an ON/OFF signal, i.e., bit
information.
• There are three types of numeric values that can be stored.
• 16-bit integers (−32768 to 32767)
• 32-bit integers (double-length integers)
• Real numbers (floating-point numbers)
6.4.1 Data Types

There are five data types, each used for different applications: Bit, integer, double-length integer, real number,
and address data. Address data is used only for pointer designations inside functions. The following table shows
the data types.
Type Data Type Numeric Range Remarks
B Bit data ON, OFF Used in relay circuits.
−32768 to +32767 Used in numeric operations. The values in parenthe-
W Integer data
(8000H) (7FFFH) ses ( ) are used in logic operations.
Double-length −2147483648 to +2147483647 Used in numeric operations. The values in parenthe-
L
integer data (80000000H) (7FFFFFFFH) ses ( ) are used in logic operations.
Real number
F ± (1.175E-38 to 3.402E+38), 0 Used in numeric operations.
data
A Address data 0 to 32767 Used only for pointer designations.
Register Designation and Data Types

[ MB001006 ]
F E D C B A 9 8 7 6 5 4 3 2 1 0
[ ML00100 ]
[ MW00100 ]
[ MF00100 ]
[ MW00101 ]
[ ML00102 ]
[ MW00102 ]
[ MF00102 ]
[ MW00103 ]
[ MB00103A ]
6-20
6.4 Registers
Pointer Designation
Register area
Memory
address
nn
[ MB001003 ]
[ MW00100 ]
[ MW00100 ] [ ML00100 ]
[ MW00101 ]
[ MW00101 ] [ MF00100 ]
[ MW00102 ]
[ MW00102 ]
[ MW00103 ]
[ MW00103 ]
EXAMPLE
• Examples of Use by Data Type
1. Bits
Bits are used for relay circuit ON/OFF status.
IB00010 MB000101
IB00001
IFON
6
2. Words
Words are used for numeric operations and logic operations.
MW00100 V H00FF MW00101
MW00102 + 12345 MW00103
MW00104 INV MW00105
3. Double-length Integers
Double-length integers are used for numeric operations and logic operations.
ML00100 + ML00102 ML00104
ML00106 × ML00108 ÷ 18000 ML00110
ML00112 BIN ML00114
6-21
6.4.1 Data Types
4. Real Numbers
Real numbers are used for floating-point number operations.
1.23456 DF00100
(1.23456)
DF00102 SIN DF00104

(30.0) (0.5)
DF00200 TAN DF00202
(45.0) (1.0)
Note: Numbers in parentheses are the data stored in the registers (current value displays).
5. Addresses
Addresses are used only for pointer designations.
MF00200 to MF00228 Used as a Parameter Table
Error input
MF00200
PID MA00200 ⇒ MF00022
Parameter table PID output

start address
MW00200 to MW00204 Used as a Parameter Table

Input value
MW00200
LAG MA00200 ⇒ MW00022
Parameter table LAG output

start address
6-22
6.4 Registers
6.4.2 Types of Registers

(1) Registers in Drawings
The registers shown in the following table can be used in all drawings.
Charac-
Type Name Designation Type Range Description
teristic
System registers are provided by the system.
System SB,SW,SL,SFnnnnn SW00000 to Register number nnnnn is expressed as a
S
registers (SAnnnnn) SW08191 decimal number. When the system is started,
SW00000 to SW00049 are cleared to 0.
Data registers are shared by all drawings.
MB,MW,ML
MW00000 to Used as interfaces between drawings. Regis-
M Data registers ,MFnnnnn
MW65534 ter number nnnnn is expressed as a decimal
(MAnnnnn) Registers
number.
common
Registers used for input data. Register num-
Input IB,IW,IL,IFhhhh IW0000 to to all
I ber hhhh is expressed as a hexadecimal
registers (IAhhhh) IW7FFF drawings
number.
Registers used for output data. Register
Output OB,OW,OL,OFhhhh OW0000 to
O number hhhh is expressed as a hexadecimal
registers (OAhhhh) OW7FFF
number.
Constant registers can be read only in the
Constant CB,CW,CL,CFnnnnn CW00000 to
C program. Register number nnnnn is
registers (CAnnnnn) CW16383
expressed as a decimal number.
# registers are read-only. # registers can be
read only in the corresponding drawing. The
#B,#W,#L,#Fnnnnn #W00000 to
# # registers actual range used is specified by the user on
(#Annnnn) #W16383
the MPE720. Register number nnnnn is
Registers
unique to
Internal registers unique to each drawing. D each
DB,DW,DL,
DW00000 to
registers can be read only in the correspond- drawing
ing drawing. The actual range used is speci-
6
D D registers DFnnnnn
DW16383 fied by the user on the MPE720. Register
(DAnnnnn)
number nnnnn is expressed as a decimal
number.
* The ranges of integer data is given as typical examples.

Note: Register number nnnnn is expressed as a decimal number.
Register number hhhh is expressed as a hexadecimal number.
6-23
6.4.2 Types of Registers
(2) Registers in Functions

The types of register shown in the following table can be used in functions.
Charac-
Type Name Designation Type Range Description
teristic
Input to a function.
Bit input: XB000000 to XB00000F
Integer input: XW00001 to XW00016
Function input XW00000 to
X XB,XW,XL,XFnnnnn Double-length integer input: XL00001
registers XW00016
to XL00015
Register number nnnnn is expressed as
a decimal number.
Output from a function.
Bit output: YB000000 to YB00000F
Integer output: YW00001 to YW00016
Function output YW00000 to
Y YB,YW,YL,YFnnnnn Double-length integer output: YL00001
registers YW00016
to YL00015
Register number nnnnn is expressed as
a decimal number.
Internal registers unique to each func-
tion. Can be used in the function for
Internal function ZW00000 to
Z ZB,ZW,ZL,ZFnnnnn internal processes. Register number Registers
registers ZW00063
nnnnn is expressed as a decimal num- unique to
ber. each
External registers that use the address function
input value as the base address.
External func- AW00000 to For linking with S, M, I, O, #, and
A AB,AW,AL,AFnnnnn
tion registers AW32767 DAnnnnn registers. Register number
nnnnn is expressed as a decimal num-
ber.
Registers that can only be read by a
function. Can be used only by the corre-
#B,#W,#L,#Fnnnnn #W00000 to sponding function. The actual range
# # registers
(#Annnnn) #W16383 used is specified by the user on the
MPE720. Register number nnnnn is
Internal registers unique to each func-
tion. Can be used only by the corre-
DB,DW,DL,DFnnnnn DW00000 to sponding function. The actual range
D D registers
(DAnnnnn) DW16383 used is specified by the user on the
MPE720. Register number nnnnn is
SB,SW,SL,SFnnnnn
S System registers
(SAnnnnn)
MB,MW,ML,
M Data registers MFnnnnn
(MAnnnnn) Same as drawing registers.
IB,IW,IL,IFhhhh These registers are common to drawings and functions, so care must
I Input registers be taken with how they are used when calling the same function
(IAhhhh)
from drawings with different priority levels.
OB,OW,OL,OFhhhh
O Output registers
(OAhhhh)
Constant CB,CW,CL,CFnnnnn
C
registers (CAnnnnn)
Note: 1. Register number nnnnn is expressed as a decimal number.

Register number hhhh is expressed as a hexadecimal number.
2. SA, MA, IA, OA, DA, #A, and CA can also be used in the program.
6-24
6.4 Registers
(3) Register Ranges in Programs

The programs and register ranges are shown below.
Registers common to all drawings
H03 drawing
System registers
Program
(SB,SW,SL,SFnnnnn)
1,000 steps max. c
d Data registers
Registers unique to each (MB,MW,ML,MFnnnnn)
drawing
Constant data 16,384 words max.
(#B,#W,#L,#Fnnnnn)
Individual data 16,384 words max.
(DB,DW,DL,DFnnnnn)
FUNC-000 (Function) Input registers

(IB,IW,IL,IF )
Program
f
External function
1,000 steps max.
registers
e (AB,AW,AL,AFnnnnn)
Registers unique to each Output registers
function
c (OB,OW,OL,OF )
Function input registers 17 words

(XB,XW,XL,XFnnnnn)
6
Function output registers 17 words
(YB,YW,YL,YFnnnnn)
Internal function registers 64 words Constant registers
(ZB,ZW,ZL,ZFnnnnn) (CB,CW,CL,CFnnnnn)
Constant data 16,384 words max.
(#B,#W,#L,#Fnnnnn)
Individual data 16,384 words max.
(DB,DW,DL,DFnnnnn)
c: Registers common to all drawings can be called from any drawing or function.
d: Registers unique to a drawing can be called only from within that drawing.
e: Registers unique to a function can be called only from within that function.
f: Registers common to all drawings and registers unique to each drawing can be called from
functions using external function registers.
6-25
6.4.3 Register Designation Methods
6.4.3 Register Designation Methods

Registers can be designated by direct designation of the register number or by symbolic designation. These two
types of register designation can be used together in the same ladder program. When symbolic designation is
used, the correspondence between the symbols and the register numbers must be defined. The following table
shows the register designation methods.
Designation
Description
Type
Register designation by bit: MB00100AX
Register designation by integer: MW00100X
Direct Register designation by double-length integer: ML00100X
Designation Register designation by real number: MF00100X
Register designation by address: MA00100X
X: For subscripts, add the subscript i or j after the register number.
Register designation by bit: RESET1-A.X
Register designation by integer: STIME-H.X
Register designation by double-length integer: POS-REF.X
Symbol Register designation by real number: IN-DEF.X
Designation Register designation by address: PID-DATA.X
Up to 8 characters
X: For subscripts, add a period (.) and the subscript i or j after the symbol, which must be 8 characters
or less.
Direct Designation
Register number: V T No. Bit No. Subscript

i or j subscript can be
designated
Hex (0 to F) when T = B (bit)
Register No. given by V
(decimal/hexadecimal)
Data type given by V (T: B, W, L, F, A)
Register type
Drawing: V = S, M, I, O, C, #, D
Function: V = S, M, I, O, C, #, D, X, Y, Z, A
Symbol Designation
Symbol: Symbol name [ . ] Subscript
i or j subscript can be designated

Required when using subscripts (Delimiter
between symbol name and subscript)
Register name: Up to 8 characters
X XXXXXXX
Alphanumeric character or symbol
Character or symbol (Numbers cannot be
specified at the beginning of a symbol name.)
6-26
6.4 Registers
6.4.4 Subscripts i and j

Two subscripts, i and j, are used for modifying relay numbers and register numbers. i and j have exactly the same
function. An example of each register data type is explained below.
(1) Bit Data with a Subscript
When a subscript is attached to bit data, the value of i or j is added to the relay number. For example, if i = 2,
MB000000i will be the same as MB000002. If j = 27, MB000000j will be the same as MB00001B.
2 MB0000002
Equivalent
MB000000i
(2) Integer Data with a Subscript

When a subscript is attached to integer data, the value of i or j is added to the register number. For example, if i =
3, MW00010i will be the same as MW00013. If j = 30, MW00001j will be the same as MW00031.
00030 J MW00031
Equivalent
MW00001j
(3) Double-length Integer Data with a Subscript

When a subscript is attached to double-length integer data, the value of i or j is added to the register number. For
example, if i = 1, ML00000i will be the same as ML00001. ML00000j when j = 0, and ML00000j when j = 1 will
be as follows:
Upper-place word Lower-place word
MW00001 MW00000
ML00000j when j = 0: ML00000
MW00002 MW00001
6
ML00000j when j = 1: ML00001
6-27
6.4.4 Subscripts i and j
(4) Real Number Data with a Subscript

When a subscript is attached to real number data, the value of i or j is added to the register number. For example,
if i = 1, MF00000i will be the same as MF00001. MF00000j when j = 0, and MF00000j when j = 1 will be as fol-
lows:
Upper-place word Lower-place word
MW00001 MW00000
MF00000j when j = 0: MF00000
MW00002 MW00001
MF00000j when j = 1: MF00001
EXAMPLE
Programming Example Using a Subscript
The following program sets the sum of 100 registers from MW00100 to MW00199 in MW00200 using subscript j.
00000 ⇒ MW00200
FOR j = 00000 to 00099 by 00001

MW00200 + MW00100j ⇒ MW00200
FEND
Programming Example Using a Subscript
6-28
6.5 Self-configuration
6.5.1 Overview of Self-configuration
Self-configuration eliminates the need to make settings for Module definitions, making it possible to perform
startup work easily and quickly for the MP2200 system. Optional Modules are recognized and definition files are
generated automatically.
Input registers and output registers are automatically allocated to I/O. Allocation is performed in ascending order
from the Module with the lowest option slot number.
In networks, such as MECHATROLINK and DeviceNet, information about the station configuration is collected
and definition files are generated automatically.
Self-configuration can be executed by either turning the power ON with the CNFG and INIT switches ON, or it
can be executed from the MPE720. The procedure for executing self-configuration using the CNFG and INIT
switches is given below.
The allocated I/O register numbers will change when self-configuration is executed.
• Executing Self-configuration for the Whole Configuration
CNFG switch = ON
INIT switch = ON
Self-configuration will be executed for all Modules. All definition files will be created (or recreated). The
contents of ladder drawings, functions, and registers will all be cleared.
• Executing Self-configuration for Additions and Changes
CNFG switch = ON
INIT switch = OFF
Self-configuration is executed for Optional Modules and network devices that have been added or
changed.
Make sure that Modules with existing definition files are connected when self-configuration is executed.
Only definition data for Modules that have been added or changed will be overwritten. 6
CNFG switch ON
Turn ON the power.
INIT switch ON
The RUN indicator blinks during
No execution of self-configuration. The ERR
CNFG ON
indicator lights if an error occurs during
INIT ON
self-configuration.
Yes
Self-configuration processing
Use the MPE720 to check

and change definition files.
Writes to flash memory using

the MPE720. (Saves to flash
memory.)
CNFG switch OFF
INIT switch OFF
(flash memory startup)
Turn ON power
supply again.
6-29
6.5.2 SVB-01 Modules

Details on definition information when self-configuration is executed are shown below.
(1) Module Configuration Definition
The following illustration shows a Module configuration definition example when SVB-01 and 218IF-01 Mod-
ules have been mounted to the MP2200 Option Slot and self-configuration has been executed.
6-30
(2) MECHATROLINK Transmission Definitions

MECHATROLINK transmission definitions and slave information is collected in the order shown below when
self-configuration is executed.
The communication method is determined when the slave is detected, after which communication method
switching and slave detection are not performed. If no Slave stations are detected, communication are connected
in MECHATROLINK-I mode.
Starts self-configuration.
Connected
Searches for connected device found.
devices using
MECHATROLINK-II 32-
byte mode.
No connected devices.
Connected
Searches for connected device found.
devices using
MECHATROLINK-II 17-
byte mode.
No connected devices.
No connected
devices. Searches for connected
devices using
MECHATROLINK-I. 6
Connected device found.
• Sets station information.

• Sets fixed parameters.
• Sets setting parameters.
Self-configuration completed.
Note: 1. Detects slaves using each format communication in the following order: SERVOPACK, I/O,
inverter.
2. Stations with a communication error or no response due to a duplicated station number or discon-
nected cable are recognized as having no connected devices.
6-31
(a) Common Setting Items

Item Setting Contents Default Value
Sets the communication method.
Selections:
Communication MECHATROLINK-II
• MECHATROLINK-I
method (32-byte mode)
• MECHATROLINK-II (17-byte mode)
• MECHATROLINK-II (32-byte mode)
Sets the Module to a master or a slave.
Selections:
Master/Slave Master
• Master
• Slave
The local station address for the master is 0 (fixed).
Own station num-
The local station address for a slave is 1 to the number of
ber (local station 0
slaves. The number of slaves can be changed using commu-
number)
nication.
Note: 1. The hardware switch has priority for the master/slave setting.
Definitions for the MPE720 must match the hardware switch settings.
2. Slaves function as intelligent I/O.
(b) Settings and Display Items by Communication Method

• MECHATROLINK-I
• Master
Item Details Default Value
Baud rate Fixed value; display only. 4 Mbps
Communication
Fixed value; display only. 2 ms
cycle
Message reliability
0, 1, or 2 0
level
Number of slave
Fixed value; display only. 14
stations
• Slaves
Fixed value; display only.
Baud rate 4 Mbps
4 Mbps
Communication Fixed value; display only.
2 ms
cycle 2 ms
Message reliability
Setting not required. 0
level
Number of slave Fixed value; display only.
15
stations 15
6-32
• MECHATROLINK-II (17-byte Mode)

• Master
No. send bytes Fixed value; display only. 16 bytes
Communication
0.5 ms or 1 ms 1 ms
cycle
Set whether or not there is a SigmaWin connection.
SigmaWin None
Selections: Yes/No
No. of retry
Sets the number of retry stations.
stations 1
Setting range: 0 to 7
(messages)
Automatically determined by the SigmaWin setting and the number of
retry stations setting. The results is displayed and cannot be changed.
The number of slave stations is calculated using the following equation.
Number of slave
　SigmaWin Yes: 1, No: 0 14
stations
• Communication cycle: 0.5 ms
Number of slave stations = 6 − (No. of retry stations∗ + SigmaWin)
• Communication cycle: 1 ms
Number of slave stations = 15 − (No. of retry stations + SigmaWin)
* If the communication cycle is 0.5 ms, the maximum number of retry stations is 5.
• Slaves
Baud rate 10 Mbps
10 Mbps
6
No. send bytes 16 bytes
16 bytes
Communication
Setting not required. 1 ms
cycle
SigmaWin Setting not required. None
No. of retry
stations Setting not required. 1
(messages)
30
stations 30
6-33
• MECHATROLINK-II (32-byte Mode)

• Master
No. send bytes Fixed value; display only. 31 bytes
Communication
0.5 ms, 1 ms, 1.5 ms, or 2 ms 1 ms
cycle
Set whether or not there is a SigmaWin connection.
SigmaWin None
Selections: Yes/No
No. of retry sta-
Sets the number of retry stations.
tions 1
(messages)
Automatically determined by the SigmaWin setting and the number of
retry stations setting. The results is displayed and cannot be changed.
The number of slave stations is calculated using the following equation.
　SigmaWin Yes: 1, No: 0
Number of slave • Communication cycle: 0.5 ms
Number of slave stations = 4 − (No. of retry stations∗ + SigmaWin) 8
stations
* If the communication cycle is 0.5 ms, the maximum number of retry stations is 3.
• Slaves
Baud rate 10 Mbps
10 Mbps
No. send bytes 31 bytes
31 bytes
Communication
Setting not required. 1 ms
cycle
SigmaWin Setting not required. None
No. of retry sta-
tions Setting not required. 1
(messages)
30
stations 30
6-34
INFO MECHATROLINK Transmission Definitions for SVB Built into the MP2300 CPU
The MECHATROLINK transmission definitions are set automatically according to the detected communication method
and number of slaves.
Communication MECHATROLINK-II MECHATROLINK-II

MECHATROLINK-I
Method (32 bytes) (17 bytes)
Communication Speed 10 Mbps 10 Mbps 4 Mbps
No. of Send Bytes 32 17 17
Communication Cycle 1 ms * 2 ms * 1 ms 2 ms
Max. No. of Slave
* * 14 15 14
Stations
No. of Retry Stations * * 1 0 −
SigmaWin No No −
* The communication cycle and number of retry stations when using MECHATROLINK-II (32 byte mode)
will change as shown in the following table, depending on the highest station number in the detected slave
stations.
Highest Slave Communication

No. Retry Stations
Station No. Cycle (ms)
1 to 8 1 1
9 1 0
10 to 16 2 5
Determined by the following equation:
17 to 21 2
21 − (highest station No.)
Devices Unable To Be Recognized in Self-configuration

The following Slave devices (I/O Modules) do not have model codes, and are therefore recognized as wild card I/O
(*****I/O). Assign a model code in the MPE720 Module Configuration Screen.
• JEPMC-IO350 6
• JAMSC-120DAI53330
• JAMSC-120DAI73330
• JAMSC-120DAO83330
• JAMSC-120DRA83030
SERVOPACKs with special specifications or that cannot be automatically configured are recognized as wild card
SERVOPACKs (*****SERVO). Allocate these SERVOPACKs in the MPE720 Module Configuration Screen.
6-35
(3) Motion Parameters

The motion parameters for each axis are set as described below when self-configuration is executed.
Refer to Chapter 4 Motion Parameters in MP2200/MP2300 Machine Controller Motion Module User’s Manual
(Manual No. SIEPC88070016) for information on motion parameters.
(a) Motion Fixed Parameters
Motion fixed parameters and SERVOPACK parameters are set automatically, as shown below.
1. SVB-01 Module → SERVOPACK
SVB-01 Module SERVOPACK
Fixed Parameters SGD-N, SGDH+ SGDH+
SGDS
No. Name SGDB-N NS100 NS115
29 Motor Type ← Conforms to the connected Servomotor specifica-
30 Encoder Type ← tions.
34 Rated Motor Speed ←
36 Number of Pulses per Motor Rotation ←
Maximum Number of Absolute
38 ← Pn205
Encoder Turns
Note: 1. The above processing is not performed if the axis is set.

2. All other parameters are on the default settings.

Fixed Parameters SGD-N, SGDH+ SGDH+
SGDS
No. Name SGDB-N NS100 NS115
16 Backlash Compensation → − Pn81B Pn214
Note: 1. The default is written if the axis is not set.

2. The above parameters are written to the SERVOPACK RAM.
(b) Motion Setting Parameters

Motion setting parameters and SERVOPACK parameters are set automatically, as shown below.
Setting Parameters SGD-N, SGDH+ SGDH+
SGDS
Address Name SGDB-N NS100 NS115
OW2E Position Loop Gain ← Cn-001A Pn102
OW2F Speed Loop Gain ← Cn-0004 Pn100
OW30 Speed Feed Forward Gain ← Cn-001D Pn109
Position Loop Integration Time
OW32 ← − Pn11F
Constant
Speed Loop Integration Time
OW34 ← Cn-0005 Pn101
Constant
OW3A Filter Time Constant ← Cn-0026 Pn812

2. All other parameters are on the default settings.
6-36

Setting Parameters SGD-N, SGDH+ SGDH+
SGDS
Address Name SGDB-N NS100 NS115
OL1E Positioning Completed Width → − Pn500 Pn522
OL36 Linear Acceleration Time → Cn-0020 Pn80B
OL38 Linear Deceleration Time → − Pn812
Note: 1. The default is written if the axis is not set.

2. If the axis is set, the parameters are written only when bit 10 of fixed parameter 1 (User Constants
Self-Writing Function) is enabled.
3. The positioning completed width is written only for MECHATROLINK-II (32 byte mode).
4. The above parameters are written to the SERVOPACK RAM.
6-37
(c) SERVOPACK Parameters

SERVOPACK parameters are set automatically, as shown below.
However, parameters are not written to the SERVOPACK parameter settings saved in the SVB-01 Module.
The MPE720 must be used to save SERVOPACK parameters to the SVB-01 Module. Refer to 3.3.5 SVB Def-
initions in MP2200/MP2300 Machine Controller Motion Module User’s Manual (Manual No.
SIEPC88070016) for details.
SERVOPACK Parameters SGD-N， SGDH+ SGDH+
SGDS
Name Set Value SGDB-N NS100 NS115
Cn-0001
P-OT Signal Mapping Not valid. → Pn50A.3
Bit 2
Cn-0001
N-OT Signal Mapping Not valid. → Pn50B.0
Bit 3
Software Limit Function Cn-0014
Not valid. →
(Positive) in SERVOPACK Bit 2
Pn801.0
Software Limit Function Cn-0014
Not valid. →
(Negative) on SERVOPACK side Bit 3
Electronic Gear Ratio
(Numerator) on SERVOPACK 1 → Cn-0024 Pn202 Pn20E
side
Electronic Gear Ratio (Denomi-
1 → Cn-0025 Pn203 Pn210
nator) on SERVOPACK side
Autotuning Application Switch Not valid. → − Pn110
CN1-9
/DEC Signal Mapping → − Pn511.0
Input terminal
CN1-10
/EXT1 Signal Mapping → − Pn511.1
Input terminal
CN1-11
Input terminal
CN1-12
Input terminal
Use T-REF as
Speed Reference Command
external torque → − Pn002.0
Option
limit.
Use V-REF as
Torque Reference Command
external speed → − Pn002.1
Option
limit input.

2. The above parameters are written to the SERVOPACK EEPROM.

SERVOPACK Parameters SGD-N, SGDH+ SGDH+
SGDS
Name Set Value SGDB-N NS100 NS115
Excessive Position Error Area 65535 → Cn-001E −
Overtravel Level 32767 → − Pn505 −
Excessive Position Error Alarm
230−1 → − Pn520
Detection Level
Excessive Position Error Warn-
100 → − Pn51E
ing Detection Level
Area where Negative Latch Is
Pn820 value → − Pn822
Possible
Note: The above parameters are written to the SERVOPACK RAM, except for “Area where negative latch
possible,” which is written to EEPROM.
6-38
6.5.3 SVA-01 Modules

(1) Module Configuration Definition
The following illustration shows a Module configuration definition example when SVA-01 and 218IF-01 Mod-
ules have been mounted to the MP2200 Option Slot and self-configuration has been executed.
The line number is automatically set to 01 in the details section for the SVA-01 Module and motion registers are
allocated as shown below.
• Motion Leading Register Number: 8000
• Motion Ending Register Number: 87FF
6-39
6.5.4 LIO-01 Modules

(1) I/O Allocations
Modules mounted in option slots are detected and input registers and output registers are allocated automatically.
Allocation is performed in ascending order from the Module with the lowest option slot number.
With LIO-01 Modules, 48 words are allocated for both input registers and output registers.
Item Allocations
Out of the 48 words allocated to one Module, the first word is automatically allocated to input registers.
Digital inputs Example:
(16 points) If LIO-01 Modules are mounted in slots 1 and 2, digital inputs will be allocated in the following way:
LIO-01 Module mounted in slot 1: IW0410, LIO-01 Module mounted in slot 2: IW0440
Out of the 48 words allocated to one Module, the second word is automatically allocated to output reg-
isters.
Digital output
Example:
(16 points)
If LIO-01 Modules are mounted in slots 1 and 2, digital outputs will be allocated in the following way:
LIO-01 Module mounted in slot 1: OW0411, LIO-01 Module mounted in slot 2: OW0441
Out of the 48 words allocated to one Module, the last 32 words are automatically allocated to the input
and output registers.
Example:
Counters
If LIO-01 Modules are mounted in slots 1 and 2, counters will be allocated in the following way:
LIO-01 Module mounted in slot 1: IW0420/OW0420,
LIO-01 Module mounted in slot 2: IW0450/OW0450
Note: The above allocations are simply an example. The leading register number will change for manual allocations.
(2) Counter Fixed Parameters

When self-configuration is executed, all of the counter fixed parameters will take their default settings. For
details on fixed parameters, refer to 4.8.4 Counter Parameters.
6-40

(1) I/O Allocations
Modules mounted in option slots are detected, and input registers and output registers are allocated automatically.
With LIO-02 Modules, 48 words are allocated to both input registers and output registers.
Item Allocations
Out of the 48 words allocated to one Module, the first word is automatically allocated to input regis-
ters.
Digital inputs
Example:
(16 points)
If LIO-02 Modules are mounted in slots 1 and 2, digital inputs will be allocated in the following way:
LIO-02 Module mounted in slot 1: IW0410, LIO-02 Module mounted in slot 2: IW0440
Out of the 48 words allocated to one Module, the second word is automatically allocated to output
registers.
Digital output Example:
(16 points) If LIO-02 Modules are mounted in slots 1 and 2, digital outputs will be allocated in the following
way:
LIO-02 Module mounted in slot 1: OW0411, LIO-02 Module mounted in slot 2: OW0441
Out of the 48 words allocated to one Module, the last 32 words are automatically allocated to the
input and output registers.
Example:
Counters
If LIO-02 Modules are mounted in slots 1 and 2, counters will be allocated in the following way:
LIO-02 Module mounted in slot 1: IW0420/OW0420,
LIO-02 Module mounted in slot 2: IW0450/OW0450
Note: The above allocations are simply an example. The leading register number will change for manual alloca-
tions.
(2) Counter Fixed Parameters 6

When self-configuration is executed, all of the counter fixed parameters will take their default settings. For
details on fixed parameters, refer to 4.8.4 Counter Parameters.
6-41

(1) I/O Allocations
Modules mounted in option slots are detected and input registers and output registers are allocated automatically.
With LIO-04 Modules, 2 words are allocated to both input registers and output registers.
Item Allocations
Out of the 2 words allocated to one Module, the first word is automatically allocated to input registers.
Example: If LIO-04 Modules are mounted in slots 1 and 2, digital inputs will be allocated in the
Digital inputs
following way:
(16 points)
LIO-04 Module mounted in slot 1: IW0410 and IW0411
LIO-04 Module mounted in slot 2: IW0420 and IW0421
Two words per Module are automatically allocated to output registers.
Example: If LIO-04 Modules are mounted in slots 1 and 2, digital outputs will be allocated in the
Digital output
following way:
(16 points)
LIO-04 Module mounted in slot 1: OW0410 and OW0411
LIO-04 Module mounted in slot 2: OW0420 and OW0421
Note: The above allocations are simply an example. The leading register number will change for manual alloca-
tions.
6-42
6.5.7 218IF-01 Modules

(1) Ethernet Interface
When self-configuration is executed, the following parameter settings will be made for the Ethernet interface of
218IF-01 Modules.
Item Allocations
Local IP Address 192.168.1.1
Subnet Mask 255.255.255.0
Gateway IP Address 0.0.0.0
System Port (Engineering Port) 10000 (UDP )
TCP Zero Window Timer Value 3s
TCP Resend Timer Value 500 ms
TCP End Timer Value 60 s
IP Build Timer 30 s
Max. Packet Length 1500 bytes
INFO An engineering communication connection with the MPE720 is possible using self-configuration. To perform MEMOBUS
message communication, the MSG-SND (MSG-RCV) function is required.
(2) RS-232C Interface

When self-configuration is executed, the following parameter settings will be made for the RS-232C interface of
218IF-01 Modules.
Item Allocations
Communication Protocol MEMOBUS
Master/Slave Slave
Device Address 1
6
Serial Interface RS-232C
Communication Mode RTU
Data Length 8 Bit
Parity EVEN
Stop Bits 1 Stop
Baud Rate 19.2 kbps
Transmission Delay Disable
Automatic Reception Enable
Leading Register No. of Words
Reading input relays IW0000 5120
Reading input registers IW0000 5120
Interface Register Settings at the Reading/writing coils MW00000 32768
Slave Reading/writing holding registers MW00000 32768
Writing range for coil holding MW00000
registers LO MW00000
HI MW32767
INFO An engineering communication connection with the MPE720 is possible using self-configuration. Also, depending on the
settings of connected devices, MEMOBUS message communication may be possible using the automatic reception func-
tion.
6-43

(1) RS-422/485 Interface
When self-configuration is executed, the following parameter settings will be made for the RS-422/485 interface
of 217IF-01 Modules.
Item Allocations
Master/Slave Slave
Device Address 1
Serial Interface RS-485
Data Length 8 Bit
Parity EVEN
Stop Bits 1 Stop
Baud Rate 19.2 kbps
HI MW32767
INFO Also, depending on the settings of connected devices, MEMOBUS message communication may be possible using the
automatic reception function when self-configuration is executed.
6-44

217IF-01 Modules.
Item Allocations
Master/Slave Slave
Device Address 1
Data Length 8 Bit
Parity EVEN
Stop Bits 1 Stop
Baud Rate 19.2 kbps
HI MW32767
tion.
6
6-45

(1) DeviceNet communication
When self-configuration is executed, the following parameter settings will be made for the DeviceNet interface
Item Allocations
Master/Slave Specification Depends on switch settings.
MAC ID Depends on switch settings.
Master: 300 ms
Communication Cycle Time
Slave: 0 ms
I/O Allocations Depend on switch settings.
I/O Leading Register Number Depends on switch settings.
I/O End Register Number Depends on switch settings.

260IF-01 Modules.
Item Allocations
Master/Slave Slave
Device Address 1
Data Length 8 Bit
Parity EVEN
Stop Bits 1 Stop
Baud Rate 19.2 kbps
Writing range for coil holding regis- MW00000
ters LO MW00000
HI MW32767
tion.
6-46
6.5.10 261IF-01 Modules

(1) PROFIBUS Interface
When self-configuration is executed, the following parameter settings will be made for the PROFIBUS interface
Item Allocations
SYNC-SCAN Low
Own Station Number (Local Sta-
Depends on switch settings.
tion Number)
I/O Allocations Depend on switch settings.
Communication Speed Automatically detected from the masters transmission data.
I/O Leading Register Number Depends on switch settings.
I/O End Register Number Depends on switch settings.

261IF-01 Modules.
Item Allocations
Communication Protocols MEMOBUS
Master/Slave Slave
Device Address 1
Data Length 8 Bit
Parity EVEN
Stop Bits 1 Stop
Baud Rate 19.2 kbps 6
HI MW32767
tion.
6-47
6.6.1 Saving User-defined Files or Data
6.6 Setting and Changing User-defined Files or Data

This section explains precautions when changing the scan times, Module configuration definition, or other set-
tings.
• Scan times: The cycles used to refresh all I/O, execute the ladder programs, etc.
• Module configuration definition: Settings for the Modules comprising the MP2200 and functions
6.6.1 Saving User-defined Files or Data

User-defined files and data must be saved in flash memory. Whenever setting or changing user-defined files, use
the MPE720 to save them to flash memory. If the files or data is not saved, the settings and changes will be lost
the next time the power supply to the MP2200 is turned OFF.
6.6.2 Setting and Changing the Scan Times

Observe the following precautions when setting and changing the scan times.
• When setting the high-speed and low-speed scans, set them so that they are larger than the maximum exe-
cution times. Use the following equation as a guideline:
(Scan setting − Max. execution time) ≥ (0.2 × Scan setting) ... (20% or more of the setting)
IMPORTANT • If a scan setting is close to the maximum execution time, refreshing the displays on the MPE720 will be
extremely slow and communication timeouts will occur. If the maximum execution time exceeds the scan
setting, a watchdog time out error will occur and the MP2200 system will stop.
• Set the high-speed and low-speed scans to integral multiples of the MECHATROLINK communication
cycle of the SVB-01 Module. If you change the MECHATROLINK communication cycle, be sure to check
the scan time settings.
• High-speed and Low-speed Scan Setting Example for the SVB-01 Module
INFO
• Set the high-speed and low-speed scans to integral multiples of the MECHATROLINK communication
cycle.
• If you change the MECHATROLINK communication cycle, be sure to check the scan time settings.
• Setting Example (The calculations are the same for low-speed scans.)
• For communication cycle = 1 ms (possible only when MECHATROLINK-II is used)
and max. execution time is ≤ 0.8 ms
High-speed scan setting ≥ (1.25 × 0.8) = 1 ms
High-speed scan setting = 1 ms, 2 ms, 3 ms, etc. (an integral multiple of 1 ms or higher)
• For communication cycle = 1 ms (possible only when MECHATROLINK-II is used)
High-speed scan setting ≥ (1.25 × 1.4) = 1.75 ms
High-speed scan setting = 2 ms, 3 ms, etc. (an integral multiple of 2 ms or higher)
• For communication cycle = 2 ms (when MECHATROLINK-I or MECHATROLINK-II is used)
High-speed scan setting ≥ (1.25 × 0.8) = 1 ms
High-speed scan setting = 1 ms, 2 ms, 4 ms, etc. (1 ms and 2 ms or an integral multiple of 2 ms or
higher)
• For communication cycle = 2 ms (when MECHATROLINK-I or MECHATROLINK-II is used)
High-speed scan setting ≥ (1.25 × 1.4) = 1.75 ms
High-speed scan setting = 2 ms, 4 ms, etc. (an integral multiple of 2 ms)
• Never change the scan time settings when the Servo is ON, particularly when an axis is moving (i.e., when
the motor is running). Doing so may cause errors in motor rotation operations, such as high-speed rota-
tion.
• Always save any data that has been set or changed to flash memory.
6-48
6.6 Setting and Changing User-defined Files or Data
6.6.3 Setting and Changing the Module Configuration Definition

Observe the following precautions when setting and changing the Module configuration definition.
• Always confirm that the mounted Modules is the same as with the defined Module.
• Always save any data that has been set or changed to flash memory.
• Once the settings or changes have been made, cycle the MP2200 power supply.
6-49
7
Maintenance and Inspection
This chapter explains daily and regular inspection items to ensure that the MP2200 can always
be used in its best condition.
7.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2 MBU-01/MBU-02 Unit Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4

7.2.1 Battery Life - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.2.2 Replacing the Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7-1
7.1.1 Daily Inspections
7.1 Inspection Items

This section summarizes daily and regular inspection items that must be performed by the customer.
7.1.1 Daily Inspections

The following table lists the daily inspection items.
Inspection Item Inspection Details Criteria Remedy
Check that the
mounting screws
Installation conditions The Module must be
are not loose and Retighten screws.
of Module, etc. secured properly.
that the cover has
not come off.
Check for terminal The screws must not
Retighten terminal screws.
screw looseness. be loose.
Check the connec- The connectors must
Retighten the connector set screws.
tors for looseness. not be loose.
Connection conditions
There must be an
Check the gap
appropriate gap
between crimp ter- Correct.
between the termi-
minals.
nals.
The indicator must be
Indicators
Check whether the lit. (It is abnormal if

POWER −
indicator is lit. the indicator is not
lit.)
Check whether the lit. (It is abnormal if
RDY See Chapter 8 Troubleshooting.
indicator is lit. the indicator is not
lit.)
Check whether the The indicator must be
indicator is lit while lit. (It is abnormal if
RUN See Chapter 8 Troubleshooting.
the system is in the indicator is not
RUN state. lit.)
Check that the indi-
ERR not lit. (It is abnormal See Chapter 8 Troubleshooting.
cator is not lit.
if the indicator is lit.)
Check that the indi-
ALM not lit. (It is abnormal See Chapter 8 Troubleshooting.
cator is not lit.
if the indicator is lit.)
Check whether the
lit. (It is abnormal if
TX indicator lights dur- See Chapter 8 Troubleshooting.
the indicator is not
ing communication.
lit.)
Check that the indi- not lit. (The battery
BAT Replacing the Battery
cator is not lit. voltage is too low if
the indicator is lit.)
7-2
7.1 Inspection Items
7.1.2 Regular Inspections

This section explains inspection items that must be performed once or twice every six months to one year.
Inspections must also be performed when the equipment is relocated or modified, or when the wiring is changed.
PROHIBITED
• Do not replace the built-in fuse.
If the customer replaces the built-in fuse, the MP2200 may malfunction or break down.
Contact your Yaskawa representative.
Inspection Item Inspection Details Criteria Remedy

Ambient
Operating Environment
0 to 55 °C
temperature Check the tempera-
Ambient humidity ture and humidity 30% to 95 % If the MP2200 is used inside a
with a thermometer
panel, treat the temperature inside
and hygrometer,
the panel as the ambient tempera-
respectively. There must be no corro-
Atmosphere ture.
Check for corrosive sive gases.
gases.
Measure the voltage

MBU-01
Power between 100/200- 85 to 276 VAC
Unit
supply VAC terminals. Change the power supply as nec-
voltage Measure the voltage essary.
check MBU-02
between 24-VDC 19.2 to 28.8 VDC
Unit
terminals.
Loose, excessive Attempt to move the The Module must be
Connection Conditions Installation Conditions
Retighten screws.
play Module. secured properly.
The Module must be free

Dust and other
Visually check. from dust and other for- Clean.
foreign matter
eign matter.
Check for termi- 7

Check by retighten- The screws must not be
nal screw loose- Retighten.
ing the screws. loose.
ness.
There must be an appropri-
Gap between
Visually check. ate gap between the termi- Correct.
crimp terminals
nals.
Check for connec- The screws must not be Retighten the connector set
Visually check.
tor looseness. loose. screws.
Check the BAT indi-
cator on the front The BAT indicator must be If the BAT indicator is lit, replace
Battery
panel of the CPU not lit. the battery.
Module.
7-3
7.2.1 Battery Life
7.2 MBU-01/MBU-02 Unit Batteries

MBU-01 and MBU-02 Units have a built-in, replaceable battery. This battery is used to back up data to prevent
the data stored in the CPU Module memory from being lost when power is interrupted (e.g., when the power sup-
ply to the MBU-01 or MBU-02 Unit is turned OFF).
7.2.1 Battery Life

The built-in battery can retain the contents of the memory until the total time of power interruptions reaches one
year. The warranty period of the battery is five years from the date of purchase. These values, however, differ
according to the operating conditions, including the ambient temperature.
Always replace the battery with a replacement battery (ZZK000064) within two weeks after the CPU Module
BAT indicator first lights. Any delay in battery replacement will result in the data stored in the memory being
lost.
7.2.2 Replacing the Battery

This section explains how to replace the battery.
(1) Preparations
(a) Saving the Memory Contents
Before replacing the battery, save the programs and data from the memory of the CPU Module to floppy
disks or a hard disk. The saved programs and data will be used if the programs and data are accidentally
deleted during battery replacement.
(b) Preparing a Replacement Battery

Prepare a replacement battery (ZZK000064). This battery is not commercially available, and must be ordered
from your nearest Yaskawa sales representative. The appearance of the battery is illustrated below.
LiTHIUM
Red lead Black lead
ZZK000064 (Battery with Cable)
(2) Replacing the Battery

Use the following procedure to replace the battery.
1. Check that the MBU-01/MBU-02 Unit POWER indicator is lit.
2. Open the battery cover on the front of the MBU-01/MBU-02 Unit.
3. Disconnect the battery cable from the connector on the MBU-01/MBU-02 Unit, then remove the built-in
battery from the battery holder.
4. Firmly connect the replacement battery cable to the connector on the MBU-01/MBU-02 Unit. Then, place
the replacement battery into the battery holder.
5. Make sure that the BAT indicator on the CPU Module is not lit.
6. Close the cover.
This completes the battery replacement procedure.
IMPORTANT Be sure to replace the battery with the power supply to the MBU-01/MBU-02 Unit turned ON.
Replacing the battery with the power supply to the MBU-01/MBU-02 Unit turned OFF will result in the pro-
grams and data stored in the CPU Module memory being lost.
7-4
8
Troubleshooting
This chapter describes the errors that can occur when using the MP2200 system, their probable
causes and the appropriate countermeasures.
8.1 Overview of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8.1.1 Troubleshooting Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.2 Basic Troubleshooting Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.1.3 Indicator Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.2 System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5

8.2.1 Overview of System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.2.2 Processing Flow When a System Error Occurs - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
8.2.3 Processing Flow for a User Program Error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-7
8.2.4 System Register Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
8-1
8 Troubleshooting
8.1.1 Troubleshooting Methods
8.1 Overview of Troubleshooting

This section shows the basic troubleshooting flow and provides a list of errors.
8.1.1 Troubleshooting Methods

There are three checks available for checking the system when an errors occurs. They are checks by symptoms,
error codes, and monitor functions of peripheral devices. Checking procedures are categorized by status condi-
tions to help determine the cause quickly.
(1) Checking by Symptoms
Factors like indicators on the front of the Module and the control status of all devices are visually checked to
determine a cause and implement corrections.
(2) Checking by Error Codes

Error codes generated when errors occur are monitored to determine a cause and implement corrections.
Errors are classified as follows:
Classification Type of Error Code
Sequence Control Error System (S) registers:
Code SW00040 onwards
Motion Control Error Code Error in SERVOPACK
(3) Checking by Monitor Functions of Peripheral Devices

The monitor functions of peripheral devices are used to determine the control status and to find the cause of
errors. The status of the following functions can be checked.
• Program monitoring
• Position monitoring
• Error monitoring
• Tracing
8-2
8.1 Overview of Troubleshooting
8.1.2 Basic Troubleshooting Flow

When a problem occurs, it is important to determine the cause and treat the problem fast to get the system up and
running as quickly as possible. The following table shows the basic troubleshooting flow.
Point Basic Details Examined
• Equipment operation (status while stopped)
• Power ON/OFF
• I/O equipment status
Visual Check • Wiring status
• Status of indicators (indicators on all Modules)
• Status of all switches (DIP switches and other switches)
• Parameters and program content check
Observe whether the following alters the error in any way.
• Stopping the MP2200.
Error Check
• Resetting the alarm.
• Turning the power OFF and ON.
Consider possible failure locations based on the results of 1
and 2 above.
Narrowing the
• Is the problem in the MP2200 or external?
Range
• Is the problem in sequence control or motion control?
• Is the problem software or hardware?
8.1.3 Indicator Errors

Error details can be checked by the status of indicators on the front of the MP2200 Module.
In the process, we narrow down the repair location in a program by getting an overview of the error from indica-
tors, checking the contents of the system (S) registers, examining the drawing or function number that caused the
error and then getting an overview of operation error details.
(1) Indicators
The LED indicators that display the operating status and error details for the MP2200 are detailed in the follow-
ing table.
Indicator Indicator
Indicators Significance when Lit
Name Color
RDY Green Unit operating normally.
RDY RUN RUN Green User program running.
ERR ALM ALM Red Lights/blinks for warning. 8
BAT ERR Red Lights/blinks for failures.
BAT Red Battery alarm occurred.
8-3
8 Troubleshooting
8.1.3 Indicator Errors
(2) Indicator Details

The following table describes details for indicators showing operating status and errors in the MP2200, and rem-
edies for those errors.
Classi- Indicator Name
Indicator Details Remedy
fication RDY RUN ALM ERR BAT
Resetting hardware Normally the CPU activates within 10
{ { z z {
Status seconds from power ON. If this status
{ { { { { Initializing continues for longer than this, the prob-
lem is a user program error or hardware
{ z { { { Drawing A executing failure.
Troubleshoot system errors.
Normal This status will occur for either of the
following.
User program stopped
z { { { { • The program was stopped from the
(Offline Stop Mode)
MPE720.
• The RUN switch was turned OFF.
This status will occur during normal
z z { { { User program executing normally
operation.
Refer to 8.2.3 Processing Flow for a
{ { { z { Serious failure
User Program Error.
Number of blinks for software error:
3: Address error (read)
4: Address error (write)
5: FPU error
6: Illegal general command
7: Illegal slot command
8: General FPU inhibited error
{ { { { −
9: Slot FPU inhibited error
Error 10: TLB serious error bit
11: LTB mistake (read)
12: LTB mistake (write)
13: LTB protection violation (read)
14: LTB protection violation (write)
15: Initial page write
No. of blinks for hardware errors:
2: RAM diagnosis error
A hardware error has occurred. Replace
{ { z 3: ROM diagnosis error
the Module.
4: CPU function diagnosis error
5: FPU function diagnosis error
Replace the battery.
− − − − { Battery alarm (Refer to Chapter 7 Maintenance and
Inspection.)
Warn- Refer to (3) Ladder Program User Oper-
ing z z z { { Operation error ation Error Status in 8.2.4 System Regis-
ter Configuration.
Refer to (5) System I/O Error Status in
z z z { { I/O error
8.2.4 System Register Configuration
Note: The symbols under Indicator Name have the following meanings.
z: Not lit, {: Lit, : Blinking, −: Undefined.
8-4
8.2 System Errors
8.2 System Errors

This section explains system error details and remedies.
8.2.1 Overview of System Errors

Indicators on the front panel of the CPU Module indicate the operating and error status of the MP2200. Use the
system (S) registers to get for more details on errors. Carefully check system register details to figure out the fail-
ure location and implement corrections. The following sections describes the system register in more detail.
(1) System Register Allocation
The following illustration shows the configuration of the system registers.
SW00000 System Service Register
SW00030 System Status
SW00050 System Error Status
SW00080 User Operation Error Status
SW00090 System Service Execution Status
SW00110 User Operation Error Status, Details
SW00190 Alarm Counter and Alarm Clear
SW00200 System I/O Error Status
SW00500 Reserved by the system.
SW00698 Interrupt Status
SW00800 Module Information
SW03200 Motion Program Information
SW05264 to
Reserved by the system.
SW08191
(2) Viewing System Registers

Use the Quick Reference function or the Register List function from the MPE720.
8-5
8 Troubleshooting
8.2.2 Processing Flow When a System Error Occurs
8.2.2 Processing Flow When a System Error Occurs

The following illustration shows the processing flow when a system error occurs.
START
Use indicator status to

determine error
details*.
Battery alarm YES

Replace the battery.
BAT indicator lit
NO
Classification = alarm YES Warning

ALM indicator lit or
blinking
NO
Classification = fatal error YES Fatal error

ERR indicator blinking
NO
Hardware malfunction/watchdog timeout NO

error
Only ERR indicator lit.
YES
Turn the STOP switch (DIP

switch 6) to OFF and turn ON
the power again.
Online Stop Mode NO Hardware

Only RDY indicator lit. malfunction
YES
User program
error
Check SW00050 contents.

Watchdog timeout error NO
YES
Check the CPU error status

(SW00041) details.
User program error
(1) Operation error (SB000418)

Refer to 8.2.4 (3) Ladder Program User
Refer to 8.2.3 User Program Error Operation Error Status.
Processing Flow and check the (2) I/O error (SB000419)
location of the error. Refer to 8.2.4 (5) System I/O Error
Status.
* Refer to (2) Indicator Details in 8.1.3 Indicator Errors for details on the meaning of indicators.
8-6
8.2 System Errors
8.2.3 Processing Flow for a User Program Error

(1) Processing Flow for a Ladder Program Error
A serious failure has occurred if the ALM and ERR indicators on the front panel of the CPU Module are lit. Place
the MP2200 in Stop Status (turn ON DIP switch pin 6) and investigate the problem.
Use the following procedures to check the error.
↑ Check the contents of SW00050 (Error Type) to determine if the error is a

c Check by Type of Serious Failure
| system error or a user program error.
|
|
| Check the contents of SW00055 (Program Type) to determine if the error
| d Check by Type of Error Program
occurred in a drawing or in a function.
When ERR Indicator Lit
Check the contents of SW00054 (Error Task) and SW00056 (Drawing

e Check by Error Drawing
No.) to find the error drawing.
| The error occurred in a function if SW00056 (Drawing No.) reads 0100H.

| Check the contents of SW00057 (Error Task) and SW00058 (Drawing
| f Check by Error Function No.) to find the error drawing.
| Check SW00059 (Function Referencing Drawing Step No.) for the STEP
↓ number where an operation error occurred.
↑ g Check Whether an Operation Error Oc- Check the error count of all drawings at SW00080 to SW00088. Operation
| curred errors are occurring if the count is going up.
|
|
|
|
1. Check Error Details
Check error codes for drawings where the error count is going up.
DWG.A: SW00111 DWG.H: SW00143
When ALM Indicator Lit
h Check the Details and Location of Op-

eration Errors
DWG.I: SW00127 DWG.L: SW00175 8
2. Check the DWG Number
Check the error DWG number for the DWG number where an error
If an operation error occurs, the 00 occurred.
(H00, L00, i00, and A00) drawings will ex- DWG.A: SW00122 DWG.H: SW00154
ecute. These drawings can also be used DWG.I: SW00138 DWG.L: SW00186
to correct or confirm operation. 3. Check the Function Referencing DWG Number and Function Refer-
encing STEP Number if an error occurred in a function.
DWG.A: SW00123, 4 DWG.H: SW00155, 6
DWG.I: SW00139, 40 DWG.L: SW00187, 8
|
|
|
| i Correct the Program. Correct the program at the point where the error occurred.
↓
8-7
8 Troubleshooting

(1) System Status
System status indicates the operating status and error details for the system. System status details are used to
determine whether hardware or software is the cause of an error.
Register
Name Description
Number
Reserved by SW00030 to
−
the system. SW00039
0: Failure
SB000400 READY
1: Normal
SB000401 RUN 0: Stopped, 1: Running
SB000402 ALARM 0: Normal, 1: Alarm
SB000403 ERROR 0: Normal, 1: Error
Reserved by the sys-
SB000404 −
tem.
SB000405 −
tem.
SB000406 FLASH 1: Flash operation
SB000407 WEN 0: Write-disabled, 1: Write-enabled
CPU Status SW00040 Reserved by the sys-
SB000408 −
tem.
SB000409 −
tem.
SB00040A
SB00040B Reserved by the sys-
−
SB00040C tem.
SB00040D
Operation Stop
SB00040E 0: RUN, 1: STOP
Request
Run Switch Status at 0: STOP
SB00040F
Power ON 1: RUN
1: WDGE, undefined command
SB000410 Serious failure
See SW00050 for more details.
SB000411 −
tem.
SB000412 −
tem.
SB000413 Exception Error −
SB000414
SB000415 Reserved by the sys-
−
CPU Error SB000416 tem.
SW00041
Status SB000417
User Operation
SB000418 1: User operation error
Error
SB000419 I/O error 1: I/O error
SB00041A −
tem.
SB00041B −
tem.
SB00041C to Reserved by the sys-
−
SB00041F tem.
8-8
8.2 System Errors
(cont’d)
Register
Name Description
Number
SB000470 −
tem.
SB000471 Reserved by the sys-
−
SB000472 tem.
SB000473 −
Reserved by tem.
SW00047
the system. Reserved by the sys-
SB000474 −
tem.
SB000475 −
tem.
SB000476 to Reserved by the sys-
−
SB00047F tem.
SB000480 TEST
SB000481 MON
SB000482 CNFG
DIP switch status
SB000483 INIT
0: ON, 1: OFF
SB000484 SUP
Hardware
SW00048 SB000485 STOP
Status
Configuration SB000486 Å|
SB000487 Battery alarm −
SB000488 to Reserved by the sys-
−
SB00048E tem.
SB00048F −
tem.
Reserved by SW000490 to Reserved by the sys-
SW00049 −
the system. SW00049F tem.
8-9
8 Troubleshooting
(2) System Error Status

The following table lists data when a system error occurs.
Register
Name Description
Number
0001H Watchdog timeout error
0041H ROM diagnosis error
0042H RAM diagnosis error
0043H CPU diagnosis error
0044H FPU diagnosis error
00E0H Address error (read)
SW00050 0100H Address error (write)
32-bit Error Code
0120H FPU error
0180H Illegal general command error
01A0H Illegal slot command error
01E0H User break after command execution
0800H General FPU inhibited error
0820H Slot FPU inhibited error
SW00051 For system error analysis
32-bit Addresses SW00052
For system error analysis
Generating Error SW00053
0000H: System
Ladder Program Error 0003H: DWG.H
SW00054 0001H: DWG.A
Task 0005H: DWG.L
0002H: DWG.I
0000H: System
0005H: DWG.L
0001H: DWG.A
Ladder Program Type SW00055 0008H: Function
0002H: DWG.I
0003H: DWG.H
Ladder program parent drawing: FFFFH
Ladder program function: 0100H
Ladder Program Error Ladder program child drawing: 00H (H: Child drawing No.)
SW00056
Drawing No.
Ladder program grandchild drawing: yyH (Hyy: Grandchild
drawing No.)
Type of drawing that calls the ladder program function in which an
error occurred.
Ladder Program
Function Calling DWG SW00057 0001H: DWG.A
0008H: Ladder program function
Type 0002H: DWG.I
0010H: Reserved by the system.
0003H: DWG.H
0011H: Reserved by the system.
0005H: DWG.L
Number of drawing that calls the ladder program function in which an
error occurred.
Ladder Program
SW00058 Parent Drawings: FFFFH
Function Calling DWG
Functions: 0100H
No.
Child drawing: 00H (H: Child drawing No.)
Grandchild drawing: yyH (Hyy: Grandchild drawing No.)
Ladder Program STEP number of drawing that calls the ladder program function in
Function Calling DWG SW00059 which an error occurred.
No. 0 when there is an error in the drawing.
8-10
8.2 System Errors
(cont’d)
Register
Name Description
Number
SW00062 Name of task generating error
SW00068 Year generated
Error Data
SW00069 Month generated
SW00070 Day of week generated
SW00071 Day of month generated
SW00072 Hour generated
SW00073 Minutes generated
SW00074 Seconds generated
SW00075 Milliseconds generated (Not used.)
SW00076 to
SW00079
8-11
8 Troubleshooting
(3) Ladder Program User Operation Error Status

The following tables list data available when a user operation error occurs in a ladder program.
Table 8.1 Ladder Program User Operation Error Status 1
Register
Name Description
Number
DWG.A Error Count SW00080
Count Error Code SW00081
DWG.I Error Count SW00082
Count Error Code SW00083 Operation error code:
DWG.H Error Count SW00084 See Table 8.3.
SW00086 Error code when an index error occurs:
SW00087 SeeTable 8.4.
DWG.L Error Count SW00088

Register Number
Name Remarks
DWG.A DWG.I DWG.H DWG.L
Error Count SW00110 SW00126 SW00142 SW00174
Error Code SW00111 SW00127 SW00143 SW00175 Error DWG number
SW00112 SW00128 SW00144 SW00176 Parent Drawings: FFFFH
Error A Register Child drawing: 00H (H: Child
SW00113 SW00129 SW00145 SW00177
SW00114 SW00130 SW00146 SW00178 drawing No.)
Modification A
Register Grandchild drawing: yyH (Hyy:
SW00115 SW00131 SW00147 SW00179
Child drawing No.)
SW00116 SW00132 SW00148 SW00180
Error F Register Functions: 0100H
SW00117 SW00133 SW00149 SW00181
Modification F SW00118 SW00134 SW00150 SW00182
Register SW00119 SW00135 SW00151 SW00183 Function Calling DWG Number
Address Generating SW00120 SW00136 SW00152 SW00184 Number of the drawing that calls the
Error SW00121 SW00137 SW00153 SW00185 function in which an error occurred.
Error DWG Number SW00122 SW00138 SW00154 SW00186
Function Calling
SW00123 SW00139 SW00155 SW00187
DWG Number Function Calling DWG Step Number
Function Calling Step number of the drawing that calls
SW00124 SW00140 SW00156 SW00188
DWG Step Number the function in which an error occurred.
Reserved by the 0 when there is an error in the drawing.
SW00125 SW00141 SW00157 SW00189
system.
8-12
8.2 System Errors
Table 8.3 Ladder Program User Operation Error Status -3

Error
Error Contents User* System Default
Code
0001H Integer operation - underflow Yes −32768 [−32768]
0002H Integer operation - overflow Yes 32767 [32767]
0003H Integer operation - division error Yes The A register remains the same.
Integer Operation
Double-length integer operation -

0009H Yes −2147483648 [−2147483648]
underflow
000AH Yes 2147483647 [2147483647]
overflow
000BH Yes The A register remains the same.
division error
Operation error drawing -
010H No Default indicated above.
integer operation error ( = 1 to B)
0010H Integer storage - non-numeric error Yes Store not executed. [00000]
0011H Integer storage - underflow Yes Store not executed. [−32768]
0012H Integer storage - overflow Yes Store not executed. [+32767]
0021H Real number storage - underflow Yes Store not executed. [−1.0E+38]
0022H Real number storage - overflow Yes Store not executed. [1.0E+38]
Real number operation - division-by- Operation not executed. The F
0023H Yes
zero error register remains the same.
Real number operation - invalid opera-
0030H No Operation not executed.
tion (non-numeric)
Real number operation - exponent
0031H No 0.0
underflow
Real Number Operation
Real number operation - exponent over-

0032H No Maximum value
flow
Real number operation - division error
0033H No Operation not executed.
(non-numeric 0/0)
Real number storage - exponent under-
0034H No Stores 0.0.
flow
0035H Real number operation - stack error − −
Standard System Functions Interrupt operation and output =
No
Real number operation errors 0.0
0040H: SQRT 0041H: SIN 0042H: COS 0043H: TAN
0044H: ASIN 0045H: ACOS 0046H: ATAN 0047H: EXP 8
0040H to 0048H: LN 0049H: LOG 004AH: DZA 004BH: DZB
0059H 004CH: LIM 004DH: PI 004EH: PD 004FH: PID
0050H: LAG 0051H: LLAG 0053H: FGN 0054H: IFGN
0054H: LAU 0055H: SLAU 0056H: REM 0057H: RCHK
0058H: BSRCH 0059H: SQRT − −
1000H or 2000H is added for an index error.
* Yes: Can be set to value other than system default from the user program.
No: The system default cannot be changed from the user program.
8-13
8 Troubleshooting

Error Code Error Contents User System Default
1000H Index error within drawing No Execute again with i,j = 0.
Integer Operation Integer - Real Number Operations
2000H Index error within function No Execute again with i,j = 0.
Operation stopped and output =

Integer system functions
No input. The A register remains
x060H to Index error
the same.
x077H x06DH: PI x06DH: PD x06FH: PID x070H: LAG
(x=1,2)
x071H: LLAG x072H: FGN x073H: IFGN x074H: LAU
x075H: SLAU x076H: FGN x077H: IFGN −
(4) System Service Execution Status
Register
Name Remarks
Number
Reserved by the system. SW00090
−
SW00094 to
Reserved by the system. −
SW00097
Existence Of Data Trace Bit 0 to 3 = Group 1 to 4
SW00098
Definition Definition exists = 1, No definition = 0
Bit 0 to 3 = Group 1 to 4
Data Trace Execution Status SW00099
Trace stopped = 1, Trace executing = 0
Table 8.5 Latest Data Trace Record Number

Register
Name Remarks
Number
Data Trace Group 1 SW00100 Latest record number
8-14
8.2 System Errors
(5) System I/O Error Status
Register
Name Remarks
Number
Current Alarm SW00190 Cleared when power is turned ON.
Number of Alarm History Records SW00191 The number of alarms in the alarm history.
1: Clear alarms
Clear Alarm SW00192
2: Clear current alarm and alarm history
I/O Error Count SW00200 Number of I/O errors

Input Error Count SW00201 Number of input errors
Latest input error address
Input Error Address SW00202
(OW register number)
Output Error Count SW00203 Output Error Count
Latest output error address
Number of Output Errors SW00204
(OW register number)
SW00205
Reserved by the system. SW00206 Not used
SW00207
SW00208 to
Slot 0 error status
SW00215
SW00216 to
SW00223
SW00224 to
Slot 1 error status
SW00231
SW00232 to
Slot 2 error status
I/O Error Status SW00239
SW00240 to
Slot 3 error status
SW00247
SW00248 to
Reserved by system. (Slot 4 error status)
SW00255
xxx
SW00456 to
Reserved by system. (Slot 30 error status)
SW00463
8-15
8 Troubleshooting
(6) Actions to be Taken when a Transmission Error Occurs

When a transmission error occurs during system I/O, the error status is reported in the system register as shown
below.
(a) System I/O Error Status

Name Register Number Remarks
Not used.
CPU-01 SW00208 to SW00215 (Not used because the CPU-01 Module does not have
a built-in I/O Module or Communication Module.)
Reserved by the system. SW00216 to SW00223 Not used.
Differs depending on the Module mounted and the
Rack 1, Slot 1 Information SW00224 to SW00231
error code.
Rack 1, Slot 2 Information SW00232 to SW00239 Same as above.
8-16
8.2 System Errors
(b) I/O Error Status, Applicable Modules

Classification Abbreviation Applicable Remarks
CPU Module CPU-01 No No external I/O interface
No Refer to the monitor parameters for error
SVA-01
Motion Modules information.
SVB-01 Yes
217IF-01 No No I/O
218IF-01 No No I/O
260IF-01 Yes
261IF-01 Yes
LIO-01 Yes
I/O Modules LIO-02 Yes
LIO-04 Yes
Expansion I/O Modules EXIOIF No
• SVB-01 Module Error Status

Example: Rack 1, Slot 1
F 8 7 0 (Bit No.)
SW00224 Status Subslot (function) No.1
F 2 1 0 (Bit No.)
Not
SW00225 ST#15 xxxxxxxxxxxxxxxx ST#2 ST#1
used.
F E D
Not
SW00226 ST#30 ST#29 xxxxxxxxxxxxxxxx ST#17 ST#16
used.
SW00227 Not used.
SW00228 Not used.
SW00229 Not used.
SW00230 Not used. 8

SW00231 Not used.
Table 8.6 Error Status Details
Item Code Remarks

Subslot No. 1 1 = SVB-01 (MECHATROLINK communications)
0 Normal
Status
1 Station error
0 Communication normal
ST#n 1 Communication error at "n" station
(When set to slave, n is the local station number.)
TERMS Subslot No.

The number displayed in the Module Details section in the Module Definition Window.
8-17
8 Troubleshooting
• 260IF-01 Module Error Status

F 8 7 0 (Bit No.)
SW00224 Status Subslot (function) No.
F 2 1 0 (Bit No.)
SW00225 ST#15 xxxxxxxxxxxxxxxx ST#2 ST#1 ST#0
F E D
SW00229 Not used.
SW00230 Not used.
SW00231 Not used.
Item Code Remarks

2 2 = 260IF (DeviceNet)
Subslot No.
Note: 1 = 217IF (RS-232C)
0 Normal
Status
1 Station error
0 Communications normal
8-18
8.2 System Errors
• 261IF-01 Module Error Status

F 8 7 0 (Bit No.)
F 2 1 0 (Bit No.)
SW00225 ST#15 xxxxxxxxxxxxxxxx ST#2 ST#1 ST#0
F E D
SW00229 Not used.
SW00230 Not used.
SW00231 Not used.
Item Code Remarks

2 2 = 261IF (Profibus slave)
Subslot No.
Note: 1 = 217IF (RS-232C)
0 Normal
Status
1 Station error
0 Communication normal
8-19
8 Troubleshooting
• LIO-01 Module Error Status

F 8 7 0 (Bit No.)
SW00224 Status Subslot (function)No.
SW00225 Not used.
SW00226 Not used.
SW00227 Not used.
SW00228 Not used.
SW00229 Not used.
SW00230 Not used.
SW00231 Not used.
Item Code Remarks

1 1 = LIO (DI: 16 points, DO: 16 points (sink mode))
Subslot No.
Note: 2 = CNTR* (counter)
0 Normal
Status
2 I/O error (Output fuse burnout)
* CNTR error information (PG burnout) is reflected in the input registers.
8-20
8.2 System Errors

F 8 7 0 (Bit No.)
SW00225 Not used.
SW00226 Not used.
SW00227 Not used.
SW00228 Not used.
SW00229 Not used.
SW00230 Not used.
SW00231 Not used.
Item Code Remarks

1 1 = LIO (DI: 16 points, DO: 16 points (source mode))
Subslot No.
Note: 2 = CNTR* (counter)
0 Normal
Status
* CNTR error information (PG burnout) is reflected in the input registers.
8-21
8 Troubleshooting

F 8 7 0 (Bit No.)
SW00225 Not used.
SW00226 Not used.
SW00227 Not used.
SW00228 Not used.
SW00229 Not used.
SW00230 Not used.
SW00231 Not used.
Item Code Remarks

Subslot No. 1 1 = LIO (DI: 32 points, DO: 32 points (sink mode))
0 Normal
Status
8-22
8.2 System Errors
(7) Interrupt Status

(a) Interrupt Status
Interrupt Detection Counter SW00698
Module Generating Interrupt SW00699 Number of Interrupt Modules for one time
SW00700
SW00701 Interrupt Module 1
SW00702
SW00703
Interrupt Module SW00705
:
:
SW00787
SW00789
(b) Interrupt Module Details

F 8 7 0 (Bit No.)
SW00XXX + 0 Rack Slot mmssH
SW00XXX + 1 Interrupt Type
SW00XXX + 2 Hardware Interrupt Factor Register Values
1. Rack
mm = 01 to 04
The rack number where the Module that was the interrupt factor is mounted.
2. Slot
ss = 01 to 09
The slot number where the Module that was the interrupt factor is mounted.
3. Interrupt Type
1: Reserved by the system.
2: LIO-01/LIO-02/LIO-04 DI interrupts
3: LIO-01/LIO-02 counter interrupts 8
4. Hardware Interrupt Factor Register Values
• Interrupt Type = 2 (LIO-01, LIO-02, and LIO-04 DI Interrupts)
Bit Meaning
0 to 4 Reserved by the system.
5 LIO-01 and LIO-02 interrupt inputs: 1 = Interrupt input, 0 = No interrupt input
9 LIO-04 interrupt input 1: 1 = Interrupt input, 0 = No interrupt input
• Interrupt Type = 3 (LIO-01 and LIO-02 Counter Interrupts)

Bit Meaning
4 Counter Agreement Status: 1 = Counter agreement, 0 = No counter agreement
8-23
8 Troubleshooting
(8) Module Information

SW00800 Module ID
SW00801 CPU Hardware version (BCD)
SW00802 CPU Software version (BCD)
SW00803 Number of subslots
CPU Information SW00804 CPU Function Module ID
SW00805 CPU Function Module Status
SW00806 SVR Function Module ID
SW00807 SVR Function Module Status
SW00808 to SW00815 Reserved by the system.
SW00816 Module ID
SW00817 Hardware version (BCD)
SW00818 Software version (BCD)
Rack 1, Slot 1 Information
SW00820 Subslot 1 Function Module ID
SW00821 Subslot 1 Function Module Status
SW00880 Module ID
SW00952 Module ID
8-24
8.2 System Errors
(cont’d)
SW01024 Module ID
8-25
Appendices
A
A List of System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2

A.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
A.3 Program Software Numbers and Remaining Program Memory Capacity - - - - - - - - - - - A-5
A-1
Appendices
A.1 System Service Registers
A List of System Registers

(1) Registers Common to All Drawings
Register
Name Remarks
Number
Reserved by the system. SB000000 Not used
ON for only the first scan after high-speed scan
High-speed scan SB000001
is started.
ON for only the first scan after low-speed scan
Low-speed scan SB000003
is started.
Always ON SB000004 Always ON. (= 1)
SB000005 to
Reserved by the system. Not used
SB00000F
A-2
(2) Registers Specific to High-speed Scan Drawings

These registers are set when high-speed scan starts.
Register
Name Remarks
Number
1 scan
1-scan Flicker Relay SB000010
1 scan
0.5-s Flicker Relay SB000011

0.5 s 0.5 s A
1.0 s 1.0 s
2.0 s 2.0 s
0.5 s 0.5 s
0.5-s Sampling Relay SB000014
1 scan
1.0 s 1.0 s
1 scan
2.0 s 2.0 s
1 scan
60.0 s 60.0 s
1 scan
1.0 s
1.0 s After Start of Scan Relay SB000018
2.0 s
5.0 s
5.0 s After Start of Scan Relay SB00001A
A-3
Appendices
(3) Registers Specific to Low-speed Scan Drawings

These registers are set when low-speed scan starts.
Register
Name Remarks
Number
1 scan
1-scan Flicker Relay SB000030
1 scan
0.5 s 0.5 s
1.0 s 1.0 s
2.0 s 2.0 s
0.5 s 0.5 s
1 scan
1.0 s 1.0 s
1 scan
2.0 s 2.0 s
1 scan
60.0 s 60.0 s
1 scan
1.0 s
2.0 s
5.0 s
5.0 s After Start of Scan Relay SB00003A
A-4
A.2 Scan Execution Status and Calendar
Register
Name Remarks
Number
High-speed Scan Set Value SW00004 High-speed Scan Set Value (0.1 ms)
High-speed Scan Current Value SW00005 High-speed Scan Current Value (0.1 ms)
High-speed Scan Maximum Value SW00006 High-speed Scan Maximum Value (0.1 ms)
SW00007 to
Reserved by the system. Not used
Low-speed Scan Set Value

SW00009
SW00010 Low-speed Scan Set Value (0.1 ms)
A
Low-speed Scan Current Value SW00011 Low-speed Scan Current Value (0.1 ms)
Low-speed Scan Maximum Value SW00012 Low-speed Scan Maximum Value (0.1 ms)
Reserved by the system. SW00013 Not used
Executing Scan Current Value SW00014 Executing Scan Current Value (0.1 ms)
Calendar: Year SW00015 1999: 0099 (BCD) (Last two digits only)
Calendar: Month Day SW00016 December 31: 1231 (BCD)
Calendar: Hours Minutes SW00017 23 hours 59 minutes: 2359 (BCD)
Calendar: Seconds SW00018 59 s: 59 (BCD)
Calendar: Day of Week SW00019 0 to 6: Sun., Mon. to Sat.
A.3 Program Software Numbers and Remaining Program Memory Capacity
Register
Name Remarks
Number
System Program Software Number SW00020 S ( is stored as BCD)
SW00021 to
System Number Not used
SW00025
Remaining Program Memory Capacity SW00026 In bytes
Total Module Memory Capacity SW00028 In bytes
A-5
Index
INDEX DIN rail mounting clips - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3

drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
execution control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
execution processing method - - - - - - - - - - - - - - - - - - - - - 6-10
execution scheduling - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
Symbols hierarchical arrangement - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
# registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
DWG registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
Numerics
E
217IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45
electronic gear
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-51
function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33
offline self-diagnostic test - - - - - - - - - - - - - - - - - - - - - - - - 4-46
218IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42 Ethernet communications specifications - - - - - - - - - - - - - - - - - 4-44
Ethernet interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47
Ethernet settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
24-V input connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
260IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48 EXIOIF Module
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55
error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18 F
261IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52
flash memory
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-58
saving to - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-31
error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19
function registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
offline self-diagnostic test - - - - - - - - - - - - - - - - - - - - - - - - 4-53
functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7, 6-19
A functions and specifications
CPU-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
A drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
all program file dump - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33 G
all program file transfer - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
grandchild drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
B group folders
creating - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
Base Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
Basic Module H
appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3, 4-57 H drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40, 6-7
indicator patterns - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4 H01 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-41
battery H02 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-42
battery life - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4 H02.01 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43
replacing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4 H02.02 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45
C H06.01 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
H06.02 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-60
child drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
handling MP2200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
coincidence output and coincidence interrupt functions - - - - - - - 4-31
hardware specifications
communication settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
217IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47
constant registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
218IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44
controller folders
260IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50
creating - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
261IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54
counter function
Base Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
axis type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
CPU-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
command settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38
EXIOIF Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56
counter monitor parameters - - - - - - - - - - - - - - - - - - - - - - - 4-39
LIO-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
counter setting parameters- - - - - - - - - - - - - - - - - - - - - - - - 4-38
LIO-02 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
fixed parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37
LIO-04 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41
status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39
MP2200- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
counter interrupts- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23
SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
CPU functions and specifications comparison - - - - - - - - - - - - - 4-10
SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
CPU RUN settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-34
CPU-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 I
D I drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
I/O error status
D registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
application modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
daily inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
indicator patterns- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
data registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
initialization
data types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
DeviceNet communications specifications - - - - - - - - - - - - - - - - 4-51
system - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
DeviceNet interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48
user settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
DI interrupts - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23
input circuit
DIN rail - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
LIO-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
Index-1
Index
LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-33 status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15

LIO-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43 subprograms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
input connector system work numbers- - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
24-V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18 MP2200
input registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23 accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
interrupt status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23 basic system configuration - - - - - - - - - - - - - - - - - - - - - - - - 2-2
cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
L features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
L drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-63, 6-7 list of Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
L06 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-63 mounting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
ladder program error processing flow - - - - - - - - - - - - - - - - - - - - 8-7 system configuration precautions - - - - - - - - - - - - - - - - - - - - 2-4
LED system startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
217IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45 MPE720- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
218IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43 startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
260IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48 startup procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
26IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52 multi-drop connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57
Base Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 multiple group operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
CPU-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23 O
LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26 offline self-diagnostic test - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43
LIO-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40 offline stop mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18 one group operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
SVB-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13 online logon - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19
LIO-01 and LIO-02 Modules online operating mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
counter functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28 online self-diagnosis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22 operation error drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
connectors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25, 5-31 operation start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20 operation stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25 Optional Modules
error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-21 installing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
LIO-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40 mounting connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58
connection examples- - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-45 removing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
connector pin arrangement- - - - - - - - - - - - - - - - - - - - - - - - 5-39 replacing and adding - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
connectors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37 order folders
external I/O cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 creating - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
logging off - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35 output circuit
logging on online - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19 LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
M LIO-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44
MBU-01 Unit output registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
connectors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
MBU-02 Unit
P
connectors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10 parent drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
MECHATROLINK password - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
list of compatible Modules- - - - - - - - - - - - - - - - - - - - - - - - - 2-6 PI latch function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-32
MECHATROLINK connector - - - - - - - - - - - - - - - - - - - - - 5-11 pin arrangement
MECHATROLINK terminator - - - - - - - - - - - - - - - - - - - - - 5-16 DeviceNet connector - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
MECHATROLINK-compatible SERVOPACKs - - - - - - - - - - 2-6 Ethernet connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-48
MECHATROLINK Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12 LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
Module appearance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32
Module configuration definitions - - - - - - - - - - - - - - - - - - - - - - 6-48 LIO-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
setting/changing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-49 PORT connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-48
motion control functions PROFIBUS connector - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59
list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16 RS-232C connector - - - - - - - - - - - - - - - - - - - - 5-52, 5-56, 5-59
motion fixed parameters RS-422/485 connector - - - - - - - - - - - - - - - - - - - - - - - - - - 5-52
setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-29 PLC functions and specifications - - - - - - - - - - - - - - - - - - - - - - - 4-4
motion programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47, 6-11 power supply cable
control signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14 100 VAC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9
direct designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 24 VDC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
execution processing method - - - - - - - - - - - - - - - - - - - - - - 6-13 power supply connections - - - - - - - - - - - - - - - - - - - - - - - - 5-8, 5-10
group operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12 PROFIBUS communications specifications - - - - - - - - - - - - - - - 4-55
indirect designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 PROFIBUS ID - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-55
interpolation override - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15 PROFIBUS interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52
main programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 pulse count function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30
monitoring execution information - - - - - - - - - - - - - - - - - - - 6-15 pulse counting mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29
Index-2
Index
pulse input circuit SERVOPACK connection cables - - - - - - - - - - - - - - - - - - - 5-20

LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29 standard cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35 system connection example - - - - - - - - - - - - - - - - - - - - - - 5-17
SVB-01
R connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
register designation methods - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
register number designation- - - - - - - - - - - - - - - - - - - - - - - 6-26 connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
symbol designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 system configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
address- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 switches
bit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 217IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
double-length integer - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 218IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43
integer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 260IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-49
range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25 261IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53
real number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 CPU-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
regular inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 LIO-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23
RS-232C communication specifications - - - - - - - - - 4-44, 4-50, 4-54 LIO-02 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
RS-422/485 communication specifications - - - - - - - - - - - - - - - 4-47 SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
system errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
S
I/O error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-15
sample programs
Module information- - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-24
individual loading - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26
processing flow- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
loading- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23 service execution status - - - - - - - - - - - - - - - - - - - - - - - - - 8-14
manual operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-36
status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
phase control with an electronic cam - - - - - - - - - - - - - - - - 3-57
transmission errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
phase control with an electronic shaft - - - - - - - - - - - - - - - - 3-52 user operation error status- - - - - - - - - - - - - - - - - - - - - - - - 8-12
positioning control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
system functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
scan times- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-48 system initialization- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
setting and changing - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-48
system registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
screw mounting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
system startup equipment
self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6, 6-29 24-VDC power supply - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
217IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44
connecting the MPE720 and MP2200- - - - - - - - - - - - - - - - - 3-6
218IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43
controller-related equipment - - - - - - - - - - - - - - - - - - - - - - - 3-4
260IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-46 MECHATROLINK Cable connection- - - - - - - - - - - - - - - - - 3-6
261IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47
programming device-related equipment - - - - - - - - - - - - - - - 3-4
DeviceNet communication - - - - - - - - - - - - - - - - - - - - - - - 6-46
servodrive-related equipment - - - - - - - - - - - - - - - - - - - - - - 3-5
Ethernet interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43 SERVOPACK and Servomotor connection - - - - - - - - - - - - - 3-7
execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
system startup procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
I/O allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-40, 6-41 system status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-40 CPU error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-41 CPU status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
LIO-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42 hardware status configuration - - - - - - - - - - - - - - - - - - - - - - 8-9
PROFIBUS interface - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47
RS-232C interface - - - - - - - - - - - - - - - - -6-43, 6-45, 6-46, 6-47 T
RS-422/485 interface - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44 T-branch, multi-branch, and drop-line connections - - - - - - - - - - 5-57
SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-39 troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30 basic flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
serial interfaces - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45 tuning panel - - - - - - - - - - - - - - - - - - - - - - - - 3-37, 3-48, 3-53, 3-58
serial port settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
U
servo connector
user functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
pin arrangement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19
servo interface connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17 user name - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
user program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
SERVOPACK
user settings
connection cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8 initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
software for programming devices - - - - - - - - - - - - - - - - - - - - - - 2-8
standard system functions - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
startup self-diagnosis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
startup sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
subscripts i and j - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
subslot No. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
motion control functions - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
Index-3
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO. SIEP C880700 14A
C Printed in Japan September 2004 04-09
Date of Date of original

printing publication
Revision
Printing date Number Section Number Revised Contents
September − First edition

2004
Machine Controller MP2200
USER'S MANUAL
IRUMA BUSINESS CENTER
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.
Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil CEP: 04304-000
Phone 55-11-5071-2552 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone 49-6196-569-300 Fax 49-6196-569-312
Motoman Robotics Europe AB
Box 504 S38525 Torsas, Sweden
Phone 46-486-48800 Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstraβe 1, 85391 Allershausen, Germany
Phone 49-8166-90-100 Fax 49-8166-90-103
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1805, Harbour Ring Plaza Shanghai 20000, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YATEC ENGINEERING CORPORATION
4F., No.49 Wu Kong 6 Rd, Wu-Ku Industrial Park, Taipei, Taiwan
Phone 886-2-2298-3676 Fax 886-2-2298-3677
YASKAWA ELECTRIC (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club, 21
Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
TAIPEI OFFICE
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
SHANGHAI YASKAWA-TONGJI M & E CO., LTD.
27 Hui He Road Shanghai China 200437
Phone 86-21-6553-6060 Fax 86-21-5588-1190
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.
30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under
the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade
Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice
MANUAL NO. SIEP C880700 14A
for ongoing product modifications and improvements. Printed in Japan September 2004 04-9
© 2004 YASKAWA ELECTRIC CORPORATION. All rights reserved. 04-8⑥

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YASKAWA

Machine Controller MP2200

YASKAWA MANUAL NO. SIEP C880700 14A

Unless otherwise specified, the following definitions are used:

• MP2200: Machine Controller MP2200

IMPORTANT Indicates important information that should be memorized.

INFO Indicates supplemental information.

EXAMPLE Indicates application examples.

 Indication of Reverse Signals

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

Manual Name Manual Number Contents

Machine Controller MP900 Series Describes the communication functions,

 Selecting, Separating, and Laying External Cables

Power General Digital I/O

2.2 List of Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.3 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

2.5 Software - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8

3.2 Sample Program 1: Manual Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-36

3.3 Sample Program 2: Positioning Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47

3.4 Sample Program 3: Phase Control with an Electronic Shaft - - - - - - - - - - - - - - 3-52

3.5 Sample Program 4: Phase Control with an Electronic Cam- - - - - - - - - - - - - - - 3-57

4.2 Base Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.3 CPU-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

4.4 SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.5 SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18

4.6 LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22

4.7 LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25

4.8 LIO-01 and LIO-02 Module Counter Functions - - - - - - - - - - - - - - - - - - - - - - - 4-28

4.10 218IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42

4.11 217IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45

4.12 260IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48

4.13 261IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52

4.14 EXIOIF Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56

4.15 External Appearance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57

5 Mounting and Wiring

5.2 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8

6.2 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3

6.3 User Program- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.4 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20

6.5 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29

6.6 Setting and Changing User-defined Files or Data - - - - - - - - - - - - - - - - - - - - - 6-48

7 Maintenance and Inspection

7.2 MBU-01/MBU-02 Unit Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4

8.2 System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5

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

(2) High Performance

(3) Easy to Use

1.2 Module Appearance

LED indicators LIO-01 LED indicators LIO-02

I/O connector I/O connector

LED indicators LED indicators

I/O connector Servo connector

24-V input connector

LED indicators LED indicators

Serial connector Serial connector

LED indicators LED indicators

Serial connector Serial connector

External output connector

2.1 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 List of Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

Indication of Reverse Signals

Selecting, Separating, and Laying External Cables