Machine Controller MP2300S

Basic Module
USER’S MANUAL
Model: JEPMC-MP2300S-E

MP2300S
RDY RUN

ALM ERR

MTX BAT

TRX IP

STOP
SUP
INT SW
CNFG 1
MON
TEST NO
ON
Overview 1

E-INT
E-TEST
NO
SW
2
Specifications and Functions 2
BATTERY ON

M-I/II

Mounting and Wiring 3

System Start Up and
4
RLY
OUT
Ethernet
LINK
Easy Programming
DC

5
24V

DC
0V
Outline of Motion Control Systems
100M

Built-in Ethernet Communications 6

Slave CPU Synchronous Function 7
Maintenance and Inspection 8
Troubleshooting 9
Appendices A

MANUAL NO. SIEP C880732 00C

Copyright © 2007 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 other-
wise, 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 constantly striving to
improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa
assumes no responsibility for errors or omissions. Neither is any liability assumed for damages result-
ing from the use of the information contained in this publication.
Using this Manual

The MP2300S is a compact Machine Controller that contains the power supply, the CPU, I/O, and the communication
functions in one single unit.
Please read this manual to ensure correct usage of the MP2300S system and apply to your manufacturing system for
control. Keep this manual in a safe place for future reference.

 Basic Terms
Unless otherwise specified, the following definitions are used:
• MP2300S: MP2300S Machine Controller
• MPE720: The Programming Device Software or a Programming Device (i.e., a personal computer) running the
Programming Device Software
• PLC: Programmable Logic Controller

 Manual Configuration
Read the chapters of this manual as required by the purpose.
Selecting
Studying Maintenance
Models and Designing Installation Trial Oper-
Chapter Specifications and Inspec-
Peripheral the System and Wiring ation
and Ratings tion
Devices
Chapter 1
√ − − − − −
Overview
Chapter 2
Specifications and Func- √ √ √ √ − −
tions
Chapter 3
− √ √ √ − −
Mounting and Wiring
Chapter 4
System Start Up and Easy √ − − − √ −
Programming
Chapter 5
Outline of Motion Control − − √ − √ −
Systems
Chapter 6
Built-in Ethernet Communi- − − √ − √ −
cations
Chapter 7
Slave CPU Synchronous − − − − √ −
Function
Chapter 8
Maintenance and Inspec- − − − − √ √
tion
Chapter 9
− − − − √ √
Troubleshooting
Appendices A to G − − √ − √ √

For information on motion parameters and motion commands, refer to Machine Controller MP2000-series SVB/SVB-
01 Motion Module User’s Manual (manual number: SIEP C880700 33).

 Engineering Tool Used in this Manual

The displays for MPE720 version 6 are used for descriptions in this manual.
If you are using MP720 version 5, interpret the displays according to MPE720 version 5.

 Indication of Reverse Signals

In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before
the signal name, as shown in the following example:
Notation Examples
• S-ON = /S-ON
• P-CON = /P-CON

iii
  Related Manuals
The following table lists the manuals relating to the MP2300S. Refer to these manuals as required.

Manual Name Manual Number Contents

Machine Controller MP2000 Series Describes the functions, specifications, and applica-
SVA-01 Motion Module SIEP C880700 32 tion methods of the MP2000-series SVA-01 Motion
User’s Manual Module.
Machine Controller MP2000 Series Describes the functions, specifications, and applica-
Built-in SVB/SVB-01 Motion Module SIEP C880700 33 tion methods of the MP2000-series Motion Module
User's Manual that is built into the SVA, SVB-01, and SVR Module.
Machine Controller MP2000 Series Describes the functions, specifications, and applica-
SVC-01 Motion Module SIEP C880700 41 tion methods of the MP2000-series SVC-01 Motion
User's Manual Module.
Describes the functions, specifications, and applica-
Machine Controller MP2000 Series Pulse Output
SIEP C880700 28 tion methods of the MP2000-series PO-01 Motion
Motion Module PO-01 User's Manual
Module.
Describes the functions, specifications, and
Machine Controller MP2000 Series
SIEP C880781 05 application methods of the Multiple-CPU Module for
MPU-01 Multiple-CPU Module User’s Manual
the MP2000 Series.
Describes the functions, specifications, and applica-
Machine Controller MP2000 Communication
SIEP C880700 04 tion methods of the MP200 Communication Mod-
Module User’s Manual
ules (217IF, 218IF, 260IF, 261IF).
Machine Controller MP2300S/MP2310/MP2400 Describes how to communicate with devices (PLCs,
Basic Module Supplement for Ethernet SIEP C880700 37 Windows computers, etc.) connected to the
Communications MP2300S/MP2310/MP2400 by Ethernet.
Describes the specifications and communication
Machine Controller MP2000 Series 262IF-01 methods of an FL-net Communication Module that
SIEP C880700 36
FL-net Communication Module User's Manual can connect to an MP2000-series Machine Control-
ler.
Describes the specifications and communication
Machine Controller MP2000 Series 263IF-01
methods of an EtherNet/IP Communication Module
EtherNet/IP Communication Module User's SIEP C800700 39
that can connect to an MP2000-series Machine Con-
Manual
troller.
Describes the functions, specifications, and
Machine Controller MP2000 Series
SIEP C880700 42 application methods of the 264IF-01, EtherCAT
EtherCAT Module 264IF-01User’s Manual
Module for the MP2000 Series.
Describes the functions, specifications, and
Machine Controller MP2000 Series
SIEP C880700 44 application methods of the 265IF-01, CompoNet
265IF-01 CompoNet Module User’s Manual
Module for the MP2000 Series.
Describes the functions, specifications, and
Machine Controller MP2000 Series
application methods of the 266IF-01, PROFINET
266IF-01 PROFINET Controller Module SIEP C880700 47
Controller Module for the MP2000-series Machine
User’s Manual
Controllers.
Describes the functions, specifications, and
Machine Controller MP2000 Series
application methods of the 266IF-02, PROFINET
266IF-02 PROFINET Device Module SIEP C880700 48
Device Module for the MP2000-series Machine
User’s Manual
Controllers.
Describes the functions, specifications, and
Machine Controller MP2000 Series
application methods of the 267IF-01, CC-Link
267IF-01 CC-Link Master Module SIEP C880712 01
Master Module for the MP2000-series Machine
User’s Manual
Controllers.
Describes functions, specifications, and application
Machine Controller MP2000 Series I/O Module
SIEP C800700 34 methods of the MP2000-series I/O Modules (LIO-01,
User's Manual
LIO-02, LIO-04, LIO-05, LIO-06, and DO-01).
Machine Controller MP2000 Series Describes the functions, specifications, and commu-
Analog Input/Analog Output Module SIEP C800700 26 nication methods of the MP2000-series I/O Modules
AI-01/AO-01 User’s Manual (Al-01 and AO-01).
Machine Controller MP2000 Series Describes the functions, specifications, and applica-
Counter Module CNTR-01 SIEP C800700 27 tion methods of the MP2000-series CNTR-01
User's Manual Counter Module.
Machine Controller MP900/MP2000 Series Describes the instructions used in MP900/MP2000
SIEZ-C887-1.2
User’s Manual, Ladder Programming ladder programming.

iv
 (cont’d)
Manual Name Manual Number Contents
Machine Controller MP2000 Series Describes the motion language used with an
SIEP C880700 38
User's Manual, Motion Programming MP2000-series Machine Controller.
Describes the installation and operation of the engi-
Engineering Tool for MP2000 Series Machine
SIEP C880700 30 neering tool for MP2000-series Machine Controller
Controller MPE720 Version 6 User's Manual
MPE720 Version 6.
Machine Controller MP2000/MP3000 Series Describes the installation and operation of the engi-
Engineering Tool MPE720 Version 7 SIEP C880761 03 neering tool for MP2000/MP3000-series Machine
User’s Manual Controller MPE720 Version 7.
Machine Controller MP900/MP2000 Series
Describes how to install and operate the MP900/
MPE720 Software for Programming Device SIEP C880700 05
MP2000-series programming system (MPE720).
User’s Manual
Machine Controller MP900/MP2000 Series Describes the programming instructions of the New
New Ladder Editor User’s Manual SIEZ-C887-13.1 Ladder Editor, which assists MP900/MP2000-series
Programming Instructions design and maintenance.
Machine Controller MP900/MP2000 Series Describes the operating methods of the New Ladder
New Ladder Editor User’s Manual SIEZ-C887-13.2 Editor, which assists MP900/MP2000-series design
Operation and maintenance.
Machine Controller MP900/MP2000 Series Describes MECHATROLINK distributed I/O for
SIEZ-C887-5.1
User’s Manual, MECHATROLINK System MP900/MP2000-series Machine Controllers.
Machine Controller MP900/MP2000 Series Describes the connection methods, setting methods,
SIEP C880700 06
Linear Servomotor Manual and other information for Linear Servomotors.

 Terms Used to Describe “Torque”

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

 Copyrights

• EtherNet/IP, DeviceNet, and CompoNet are the registered trademark of the ODVA (Open DeviceNet Vendor Association, Inc).
• PROFIBUS is a trademark of the PROFIBUS User Organization.
• EtherCAT is a registered trademark of Beckhoff Automation GmbH, Germany.
• Ethernet is a registered trademark of the Xerox Corporation.
• PROFINET is a registered trademark of PROFIBUS & PROFINET International.
• CC-Link is a trademark of the Mitsubishi Electric Corporation.
• MPLINK is a registered trademark of the YASKAWA Electric Corporation.
• Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation.
• Pentium is a registered trademark of the Intel Corporation.
• MECHATROLINK is a trademark of the MECHATROLINK Members Association.
• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the
® mark do not appear with product or company names in this manual.

v
 Safety Information

The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure
the safe operation of the MP2300S and connected devices. Information marked as shown below is important for the
safety of the user. Always read this information and heed the precautions that are provided.
The conventions are as follows:

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

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

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

Indicates prohibited actions. Specific prohibitions are indicated inside .

PROHIBITED
For example, indicates prohibition of open flame.

Indicates mandatory actions. Specific actions are indicated inside .

MANDATORY
For example, indicates mandatory grounding.

vi
Safety Precautions

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

 General Precautions

WARNING
 Before connecting the machine and starting operation, ensure that an emergency stop procedure has been
provided and is working correctly.
There is a risk of injury.
 Do not touch anything inside the MP2300S.
There is a risk of electrical shock.
 Always keep the front cover attached when power is being supplied.
There is a risk of electrical shock.
 Observe all procedures and precautions given in this manual for trial operation.
Operating mistakes while the servomotor and machine are connected may damage the machine or even cause acci-
dents resulting in injury or death.
There is a risk of electrical shock.
 Do not remove the front cover, cables, connector, or options while power is being supplied.
There is a risk of electrical shock.
 Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of electrical shock, operational failure or burning of the MP2300S.
 Do not attempt to modify the MP2300S 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 MP2300S and the device connected to it may start operation suddenly. Provide safety mea-
sures in advance to ensure human safety in the event that operation restarts suddenly.
There is a risk of injury.
 Do not allow installation, disassembly, or repairs to be performed by anyone other than specified person-
nel.
There is a risk of electrical shock or injury.

vii
  Storage and Transportation

CAUTION
 Do not store or install the MP2300S 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 MP2300S during transportation.
There is a risk of injury or an accident.
 Do not under any means subject the MP2300S to an atmosphere that contains halogen gas (fluorine, chlo-
ride, bromine, iodine, etc.) during storage, transportation, or installation.
There is a risk of damage or malfunction.
 If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or
plywood, the packing materials must be treated before the product is packaged, and methods other than
fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines, are packed with
fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from
the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or
iodine can contribute to the erosion of the capacitors.

 Installation

CAUTION
 Never use the MP2300S 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 MP2300S or place heavy objects on the MP2300S.
There is a risk of injury.
 Do not block the air exhaust port or allow foreign objects to enter the MP2300S.
There is a risk of element deterioration inside, an accident, or fire.
 Always mount the MP2300S in the specified orientation.
There is a risk of an accident.
 Do not subject the MP2300S 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 MP2300S in the following locations.
There is a risk of device damage.
 Noise, such as from static electricity
 Strong electromagnetic or magnetic fields
 Radiation
 Near to power lines
 When connecting the battery, connect the polarity correctly.
There is a risk of battery damage or explosion.
 Only qualified safety-trained personnel should replace the battery.
If the battery is replaced incorrectly, machine malfunction or damage, electric shock, or injury may result.
 When replacing the battery, do not touch the electrodes.
Static electricity may damage the electrodes.

 Selecting, Separating, and Laying External Cables

CAUTION
 Consider the following items when selecting the I/O signal lines (external cables) to connect the MP2300S
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
cables
動力回路の 一般制御回路
cuit cables cables
入出力信号
ケーブル のケーブル ケーブル

ix
  Maintenance and Inspection Precautions

CAUTION
 Do not attempt to disassemble the MP2300S.
There is a risk of electrical shock or injury.
 Do not change wiring while power is being supplied.
There is a risk of electrical shock or injury.
 When replacing the MP2300S, restart operation only after transferring the programs and parameters from
the old Module to the new Module.
There is a risk of device damage.

 Disposal Precautions

CAUTION
 Dispose of the MP2300S as general industrial waste.
 A lithium battery is built into the MP2300S. After replacing the battery, dispose of the old battery separate
from regular waste and in accordance with local regulations.

 General Precautions

Observe the following general precautions

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

x
 Warranty

( 1 ) Details of Warranty

 Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time
of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory,
whichever is sooner.

 Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the
warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its
service life and replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or
manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from
Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters

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

xi
 ( 3 ) Suitability for Use
1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the
Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by
the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application
is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to
minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or
environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems,
medical equipment, amusement machines, and installations subject to separate industry or government regula-
tions
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or sys-
tems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety
4. Never use the product for an application involving serious risk to life or property without first ensuring that the sys-
tem is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa
product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for reference.
Check the functionality and safety of the actual devices and equipment to be used before using the product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent
accidental harm to third parties.

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

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

1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-1
1.1 MP2300S Features- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 MP2300S Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 MP2300S Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3.1 Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.2 Example of Distributed Synchronizing System- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.4 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

1.4.1 Devices Connectable to MECHATROLINK-I/II - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.2 Devices Connectable to MECHATROLINK-III - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.5 Cables, Accessories and Options, and Software - - - - - - - - - - - - - - - - - - - - - - 1-10

1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
1.5.2 Accessories and Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.5.3 Software (Programming Tool) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12

2 Specifications and Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1

2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Product Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.1.3 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.2 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.1 Outline of Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.2.2 External Appearance, LED Indicators, and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
2.2.3 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.2.4 218IFA Module (Ethernet) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.2.5 Built-in SVB Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31
2.2.6 SVR Virtual Motion Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-48
2.2.7 M-EXECUTOR Module (Motion Program Executor) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-51

2.3 Option Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62

2.3.1 Option Module Overview List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62

2.4 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-64

2.4.1 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-64
2.4.2 Basic Module with Metal Fittings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-65

3 Mounting and Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1

3.1 Mounting MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.1 Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 MP2300S Mount Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.1.3 Space Required for Mounting MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.1.4 Replacing and Adding Optional Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9

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 3.2 Basic Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.2 Power Supply Connector- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.2.3 MECHATROLINK Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.2.4 Ethernet Connector Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.2.5 RLY OUT Connector Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
3.2.6 System Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24

4 System Start Up and Easy Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1

4.1 System Startup Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.2 Preparation (step 1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.2.1 Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.2.2 Self Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.3 Test Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.3 Programming (step 2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

4.3.1 Programming Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

4.4 Executing Motion (step 3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

4.4.1 Registering Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4.2 Starting a Motion Program Using the Operation Control Panel - - - - - - - - - - - - - - - - - - - - - 4-12

4.5 Starting Motion Program from an External Signal- - - - - - - - - - - - - - - - - - - - - - 4-13

4.5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.2 Required Equipment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.3 Creation Procedure- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15

5 Outline of Motion Control Systems - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1

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

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

5.2.1 Types and Execution Timing of User Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
5.2.2 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.3 Sequence Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
5.2.4 Ladder Drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30

5.3 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35

5.3.1 Types of Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
5.3.2 Data Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
5.3.3 How to Use Subscripts i, j - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5.3.4 Register Designation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40

5.4 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41

5.4.1 How to Execute Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.4.2 Definition Information Updated with Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50

5.5 Precaution on Using MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53

5.5.1 Precautions when User Definition File is Configured/Changed - - - - - - - - - - - - - - - - - - - - - 5-53
5.5.2 Setting or Changing Module Configuration Definition Files - - - - - - - - - - - - - - - - - - - - - - - - 5-54
5.5.3 Setting and Changing the Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55

xiv
6 Built-in Ethernet Communications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1
6.1 Communication Methods- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Communication with Other MP Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used) - - - - - - - - - - - - - - - - 6-3
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function) - - - - 6-17
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used) - - - - - - 6-36
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function) - - - 6-49

6.3 Communication with Touch Panel- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-65

6.3.1 When the MP2300S Acts as Slave (automatic receive function is used) - - - - - - - - - - - - - - - 6-65

6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation

(MELSEC protocol) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-75
6.4.1 When the MP2300S Acts as Slave (automatic receive function is used) - - - - - - - - - - - - - - - 6-75
6.4.2 When the MP2300S Acts as Master (I/O message communication function is used) - - - - - - 6-83

7 Slave CPU Synchronous Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1

7.1 Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.2 Requirements and Setting of Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.1 Supported Version- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.2 Requirements to Execute Slave CPU Synchronous Function- - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.3 How to Set up Slave CPU Synchronous Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.2.4 How to Execute Slave CPU Synchronous Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7

7.3 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

7.3.1 Input/Output Register- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.3.2 How to Determine Slave CPU Synchronous State - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.3.3 Calculation of Slave CPU Synchronous Delay Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16
7.3.4 How to Use Scan Counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.3.5 How to Determine Input Error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
7.3.6 Management to Resume Slave CPU Synchronization- - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24

7.4 Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28

7.4.1 Precautions on Usage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28
7.4.2 Effect of Error on Slave CPU Synchronous Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29

8 Maintenance and Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-1

8.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.3 Replacing the Basic Module Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4

9 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-1
9.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.2 LED Indicator Meanings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
9.3 Problem Classification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3.2 MP2300S Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5

xv
 9.4 Troubleshooting Details- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
9.4.1 Operation Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
9.4.2 I/O Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.4.3 Watchdog Timer Timeout Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.4.4 Module Synchronization Errors (Ver. 2.75 or Later) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.4.5 System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11

Appendices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-1
Appendix A System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
A.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
A.2 System Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-7
A.3 System Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-8
A.4 User Operation Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-10
A.5 System Service Execution Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-11
A.6 User Operation Error Status Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-12
A.7 System I/O Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-13
A.8 Compact Flash Card-Related System Registers
(CPU-02 and CPU-03 Modules for the MP2200 Only) - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-14
A.9 Interrupt Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-15
A.10 Module Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-16
A.11 MPU-01 System Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-17
A.12 Motion Program Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-18

Appendix B SERVOPACK Parameter Data Flow- - - - - - - - - - - - - - - - - - - - - - - - A-21

B.1 Operations and Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-21

Appendix C Initializing SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-30

Appendix D Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - A-31
D.1 Σ-V SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-31
D.2 Σ-III SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-32
D.3 Σ-II SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-33
D.4 Σ-I SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-35

Appendix E Motion Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-37

E.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-37
E.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-39
E.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-44

Appendix F Simple Connection Function of the Engineering Tool - - - - - - - - - - - - A-48

F.1 Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-48
F.2 Procedure- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-48

Appendix G MSG-SND/MSG-RCV Functions (Ethernet) - - - - - - - - - - - - - - - - - - A-52

G.1 Message Transmit Function (MSG-SND)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-52
G.2 Message Receive Function (MSG-RCV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-87
G.3 Communication Buffer Channel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-119

Appendix H Optional Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-121

H.1 Clearing D Registers at Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-121
H.2 Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-122
H.3 Battery Backup for Table Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-130

Appendix I Installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-134

INDEX

Revision History

xvi
 1
Overview

This chapter explains an overview and features of the MP2300S Machine Controller.

1.1 MP2300S Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.2 MP2300S Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3
1.2.1 Basic Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 MP2300S Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-5

1.3.1 Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.2 Example of Distributed Synchronizing System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.4 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - -1-7

1.4.1 Devices Connectable to MECHATROLINK-I/II - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.2 Devices Connectable to MECHATROLINK-III - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

Overview
1.5 Cables, Accessories and Options, and Software - - - - - - - - - - - - - - - - - - 1-10
1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
1.5.2 Accessories and Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.5.3 Software (Programming Tool) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12

1-1
 1.1 MP2300S Features

1.1 MP2300S Features

The MP2300S is a small all-in-one machine controller, and successor to the MP2000 series in function and perfor-
mance. It is characterized by the following standard features:

 Standard Feature Motion Network MECHATROLINK-II

• Controls up to 16 axes of servos supporting MECHATROLINK-II.
• Connects up to 21 stations including I/Os.

 Standard Feature Ethernet (100 Mbps)

• Allows high-speed communications with the engineering tool MPE720.
• Enables communication without a ladder program by using a touch panel (automatic receive function).
• Enables communication without a ladder program by using an upper PLC (I/O message communication func-
tion).

 Scalability Ensured in Preparation for Single Optional Slot

• Single optional slot ensures scalability. The existing optional modules of MP2000 series are available.
• An optional module allows the use of various open networks, such as CC-Link, DeviceNet, and PROFIBUS.
• Connecting an SVB-01 module to the optional slot allows the synchronized control of up to 32 axes of servos.

 Capable of a Synchronous Distributed System with MECHATROLINK

• The MP2300S has a CPU synchronous function using MECHATROLINK communications. This is a new func-
tion in the MP2000 series Machine Controllers.
• A sync operation between slave controllers is made possible by connecting the MP2300S as a slave with an
MP2000 series model as a master via MECHATROLINK-II.
• The controller's load balancing affords a high-speed synchronization of multi-axis motions.

 Simple Programming
• The operation procedures needed before performing a motion operation are significantly reduced.
• You can start up a motion program from an upper PLC without the need for programming, simply by creating the
motion program and registering execution orders.

1-2
 1.2 MP2300S Configuration
1.2.1 Basic Module Appearance

1.2 MP2300S Configuration

The MP2300S is configured with one Basic Module and an optional slot.

1.2.1 Basic Module Appearance

The following figure shows the external appearance of the Basic Module with metal fittings for attachment.
Also, the values in the figure do not include the length of metal fittings.
64 mm

Metal fittings
for attachment

LED
(8 points) MP2300S LIO 01
5'< 581
/' /'
$/0 (55
/' /'
07; %$7
/' /'
75;
DIP switch ,3
/' /'
(6 points+4 points) 6723
683
,17 02'(
6:
&1)* 
021 I/O
7(67 12
21

130 mm
Battery cover

6:
(,17 
(7(67
MECHATROLINK-ϩ %$77(5< 12
21
connector M-I/II
(1 line, 2 ports)

5/<
287
Ethernet
2-pole connector LINK
(RLY OUT)
'&
9

Overview
'&
0V
m

3-pole connector 0

m

(24-V power supply)

8
10

Ethernet connector Optional slot

with LED

1-3
 1.2 MP2300S Configuration
1.2.2 MP2300S Modules

1.2.2 MP2300S Modules

The following table shows the names and specifications of the Basic Module and Optional Modules.
Group Name Description Model Specifications
MECHATROLINK-I and -II Interface
Basic Module Basic Module MP2300S JEPMC-MP2300S-E
Ethernet communications
JAPMC-MC2310-E MECHATROLINK-I and -II Interface
SVB-01
MECHATROLINK JAPMC-MC2310 16 axes maximum
Motion Module MECHATROLINK-III Interface
SVC-01 JAPMC-MC2320-E
16 axes maximum
Motion Analog Output Motion JAPMC-MC2300-E
SVA-01 Analog output, 2 axes maximum
Modules Module JAPMC-MC2300
Pulse Output Motion
PO-01 JAPMC-PL2310-E Pulse output, 4 axes maximum
Module
Optional module (it has both CPU functions and
Multiple-CPU Module MPU-01 JAPMC-CP2700-E
the functions of a built-in SVC-01.)
JAPMC-IO2300-E 16 inputs, 16 outputs (sink mode output)
LIO-01
JAPMC-IO2300 1 pulse input
JAPMC-IO2301-E 16 inputs, 16 outputs (source mode output)
LIO-02
JAPMC-IO2301 1 pulse input
JAPMC-IO2303-E
LIO-04 32 inputs, 32 outputs (sink mode output)
JAPMC-IO2303
I/O Module
JAPMC-IO2304-E
LIO-05 32 inputs, 32 outputs (source mode output)
JAPMC-IO2304
8 inputs, 8 outputs, (sink mode output)
I/O Modules
Analog input, 1 channel
LIO-06 JAPMC-IO2305-E
Analog output, 1 channel
Pulse counter, 1 channel
JAPMC-DO2300-E
Output Module DO-01 64 outputs (sink mode output)
JAPMC-DO2300
JAPMC-AN2300-E
Analog Input Module AI-01 Analog input, 8 channels
JAPMC-AN2300
Analog Output Module AO-01 JAPMC-AN2310-E Analog input, 4 channels
Counter Module CNTR-01 JAPMC-PL2300-E Reversible counter, 2 channels
Optional JAPMC-CM2300-E
Modules 218IF-01 RS-232C and Ethernet communications
Ethernet Communica- JAPMC-CM2300
tion Module RS-232C and Ethernet communications (100
218IF-02 JAPMC-CM2302-E
Mbps)
General-purpose Serial
JAPMC-CM2310-E
Communication 217IF-01 RS-232C and RS-422/RS-485 communications
JAPMC-CM2310
Module
DeviceNet
JAPMC-CM2320-E
Communication 260IF-01 RS-232C and DeviceNet communications
JAPMC-CM2320
Module
PROFIBUS
JAPMC-CM2330-E
Communication 261IF-01 RS-232C and PROFIBUS communications
JAPMC-CM2330
Module
FL-net Communication
Communica- 262IF-01 JAPMC-CM2303-E FL-net communications
Module
tion
EtherNet/IP Communi-
Modules 263IF-01 JAPMC-CM2304-E EtherNet/IP communications
cation Module
EtherCAT Communica-
264IF-01 JAPMC-CM2305-E EtherCAT communication (slave)
tion Module
CompoNet Communica-
265IF-01 JAPMC-CM2390-E CompoNet communication
tion Module
PROFINET Communi- 266IF-01 JAPMC-CM2306-E PROFINET communication (master)
cation Module 266IF-02 JAPMC-CM2307-E PROFINET communication (slave)
CC-Link Communica-
267IF-01 JAPMC-CM23A0-E CC-Link communication (master)
tion Module
CC-Link IE Field Com-
269IF-01 JAPMC-CM2308-E CC-Link IE Field communication (slave)
munication Module
MPLINK/CP-215
JAPMC-CM2360-E RS-232C, MPLINK, and CP-215 communica-
Communication 215AIF-01
JAPMC-CM2360 tions
Module
Note: If the model number has "-E", the product is compliant with RoHS directives.

1-4
 1.3 System Configuration
1.3.1 Example

1.3 System Configuration

1.3.1 Example
The following diagram shows an example of system configuration.

Optional Modules
I/O Modules

External outputs

CNTR-01
LIO-01
LIO-02
LIO-04
LIO-05
LIO-06
Upper PLC MPE720

DO-01

AO-01
AI-01
Extrenal inputs

Ethernet Hub
Communications Modules

Ethernet RS-232C

217IF-01
218IF-01
218IF-02
260IF-01
261IF-01
262IF-01
Ethernet

DeviceNet

PROFIBUS

215AIF-01
263IF-01
264IF-01
265IF-01
266IF-01

266IF-02
267IF-01
MP2300S RS422/485
5'< 581
<$6.$:$
$/0 (55

07; %$7
215 communications
75; ,3

6723
683
,17 6:
Motion Modules
&1)* 
021
7(67 12
21

MPU-01
SVC-01
SVB-01
SVA-01

PO-01
SERVOPACK

6:
(,17 
Terminating resistor %$77(5<
(7(67
12
21
130 Ω M-I/II

Other Modules
(including those from other manufacturers)
5/<
RLY 287 AnyWire
MPCUNET-0

Ethernet
MPANL00-0

MPAN000-0
AFMP-02-C/-CA

MPALL00-0
MPAL000-0
AFMP-01

LINK
OUT
'& CC-Link
9

24 VDC

Overview
'&
0V A-net/A-link
0
FG

MECHATROLINK-II Terminating resistor

130 Ω
YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V

SGDS-01A12A
6*'+$( 16
SGDS-01A12A

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

L1 L1
L2 L2
L1C C L1C C
N N JEPMC-IO231
0
L2C 3 L2C 3

B1/ B1/
VS mini V7
B2 B2

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

I/O

Servo Servo Repeater Servo Inverter

Max. 21 stations including I/O.

(Max. 16 stations servo can be included.)

1-5
 1.3 System Configuration
1.3.2 Example of Distributed Synchronizing System

 For the details on the system configuration example, refer to 4.2.1 ( 1 ) System Layout Model.
 Use the connecting cables and connectors recommended by Yaskawa. Always check the device to be used
and select the correct cable for the device.
 Different SERVOPACKs are connected to MECHATROLINK-I (4 Mbps) and MECHATROLINK-II (10 Mbps).
Refer to 1.4.1 Devices Connectable to MECHATROLINK-I/II and select the appropriate SERVOPACKs.
 If devices compatible with MECHATROLINK-I and with MECHATROLINK-II are used together, make the set-
tings for MECHATROLINK-I.
 The user must supply the 24-VDC power supply.
 When connecting SERVOPACKs via MECHATROLINK, connect the overtravel, zero point return deceleration
limit switch, and external latch signal lines to the SERVOPACKs. For connection, refer to the SERVOPACK’s
manual.

1.3.2 Example of Distributed Synchronizing System

If some MP2300S are connected as slaves and other MP2000-series Machine Controllers are connected via MECHA-
TROLINK-II, slaves can operate synchronously.
Distribution of the load realizes the high-speed synchronization of multiple axes.

Master MP2200 MBU-01 CPU-01 218IF-01 SVB-01

POWER
LIO-01 LIO-01 LIO-02 260IF-01 217IF-01 EXIOIF

MP2100,
MP2200,
MP2300,
MP2300S, Synchronization
YASKAWA

MP2310,
MP2400, MECHATROLINK- Τ
MP2500

Slave Slave
MP2300S MP2300S SVB-01 MP2300S MP2300S SVB-01
4&; 470 4&; 470
;#5-#9# ;#5-#9#
+ #./ '44
RUN

TX
ERR
+ #./ '44
RUN

TX
ERR

SVB-01 SVB-01
/6: $#6 /6: $#6

64: +2 M/S 64: +2 M/S

SIZE SIZE
SPD SPD

Module 5612
572
+06
%0()
59

OFF

˜10
ON
Module 5612
572
+06
%0()
59

OFF

˜10
ON

/10 /10
6'56 01 ˜1 6'56 01 ˜1
10 10

M-I/II M-I/II
59 59
'+06  '+06 
'6'56 '6'56
01 01
$#66'4; 10 $#66'4; 10
CN1 CN1
M-I/II M-I/II

4.; 4.;
176 176
'VJGTPGV 'VJGTPGV
.+0- .+0-
CN2 CN2

&% &%
8 8

&% &%
0V 0V

/ /

Synchronization

MECHATROLINK- Τ

1-6
 1.4 Devices Connectable to MECHATROLINK
1.4.1 Devices Connectable to MECHATROLINK-I/II

1.4 Devices Connectable to MECHATROLINK

1.4.1 Devices Connectable to MECHATROLINK-I/II
The devices that are compatible with MECHATROLINK-I/II and can be connected to the MP2300S and the
SVB-01 Module are listed below.

( 1 ) Compatible SERVOPACKs
Model Number Details MECHATROLINK-I MECHATROLINK-II
SGD-N MECHATROLINK-I-compatible AC
Yes No
SGDB-AN SERVOPACK
Σ-II Series SGDH SERVOPACK
SGDH-E
NS100 MECHATROLINK-I Yes No
JUSP-NS100
Application Module
Σ-II Series SGDH SERVOPACK
SGDH-E
NS115 MECHATROLINK-II Yes Yes
JUSP-NS115
Application Module
SGDS-1 Σ-III Series SGDS SERVOPACK Yes Yes
SGDX-12 SGDX SERVOPACK Yes Yes
SJDE-AN SJDE SERVOPACK No Yes
SGDV-1 SGDV SERVOPACK Yes Yes
SGD7S-10 SGD7S SERVOPACK Yes Yes

( 2 ) Compatible Inverters
Model Number Details MECHATROLINK-I MECHATROLINK-II
CIMR-G7A Varispeed G7 Inverter
Yes Yes
SI-T with MECHATROLINK interface
CIMR-F7A Varispeed F7 Inverter
Yes Yes
SI-T with MECHATROLINK interface
CIMR-V7AA VSmini V7 Inverter
Yes Yes
SI-T/V7 with MECHATROLINK interface
CIMR-A High Performance Vector Control Drive A1000

Overview
Yes Yes
SI-T3 MECHATROLINK-II Option Card
CIMR-V Compact Vector Control Drive V1000
Yes Yes
SI-T3/V MECHATROLINK-II Option Unit

( 3 ) Compatible Modules
Model Description MECHATROLINK-I MECHATROLINK-II
64-point I/O Module
JEPMC-IO350 Yes No
24 VDC, 64 inputs, 64 outputs
DC Input Module
JAMSC-120DDI34330 Yes No
12/24 VDC, 16 inputs
DC Output Module
JAMSC-120DDO34340 Yes No
12/24 VDC, 16 outputs
AC Input Module
JAMSC-120DAI53330 Yes No
100 VAC, 8 inputs
AC Input Module
JAMSC-120DAI73330 Yes No
200 VAC, 8 inputs
AC Output Module
JAMSC-120DAO83330 Yes No
100/200 VAC, 8 outputs
Relay Module
JAMSC-120DRA83030 Wide voltage range relay contacts, Yes No
8 contact outputs
A/D Module
JAMSC-120AVI02030 Yes No
Analog inputs, −10 to 10 V, 4 channels
D/A Module
JAMSC-120AVO01030 Yes No
Analog outputs, −10 to 10 V, 2 channels

1-7
 1.4 Devices Connectable to MECHATROLINK
1.4.1 Devices Connectable to MECHATROLINK-I/II

(cont’d)
Model Description MECHATROLINK-I MECHATROLINK-II
Counter Module
JAMSC-120EHC21140 Yes No
Reversible counter, 2 channels
Pulse Output Module
JAMSC-120MMB20230 Yes No
Pulse output, 2 channels
DC Input Module
JAMSC-IO2900-E Yes Yes
24 VDC, 16 inputs
DC Output Module
JAMSC-IO2910-E Yes Yes
24 VDC, 16 outputs
64-point I/O Module
JEPMC-IO2310
24 VDC, 64 inputs, 64 outputs (sink mode Yes Yes
JEPMC-IO2310-E
output)
64-point I/O Module
JEPMC-IO2330
24 VDC, 64 inputs, 64 outputs (source Yes Yes
JEPMC-IO2330-E
mode output)
JEPMC-PL2900 Counter Module
Yes Yes
JEPMC-PL2900-E Reversible counter, 2 channels
JEPMC-PL2910 Pulse Output Module
Yes Yes
JEPMC-PL2910-E Pulse output, 2 channels
JEPMC-AN2900 A/D Module
Yes Yes
JEPMC-AN2900-E Analog inputs, −10 to 10 V, 4 channels
JEPMC-AN2910 D/A Module
Yes Yes
JEPMC-AN2910-E Analog outputs, −10 to 10 V, 2 channels
8-point I/O Module 24 VDC, 8 inputs, 8
JAMSC-IO2920-E Yes Yes
outputs
Relay Module
JAMSC-IO2950-E Wide voltage range relay contacts, 8 contact Yes Yes
outputs
MECHATROLINK Bit decentralization I/O
AB023-M1 Yes Yes
terminal (by Anywire Corporation)
JAPMC-MC2310
SVB-01 Motion Module Yes Yes
JAPMC-MC2310-E
JEPMC-REP2000
MECHATROLINK-II Repeater No Yes
JEPMC-REP2000-E
JEVSA-YV250
MYVIS (image processing device) Yes Yes
JEVSA-YV250-E
JEVSA-YV260-E MYVIS YV260 Machine Vision System Yes Yes
JEPMC-MC400 MP940 Motion Controller Yes No

1-8
 1.4 Devices Connectable to MECHATROLINK
1.4.2 Devices Connectable to MECHATROLINK-III

1.4.2 Devices Connectable to MECHATROLINK-III

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

( 1 ) Compatible SERVOPACKs
Model Number Details
SGDV-2 SGDV SERVOPACKs with MECHATROLINK-III Communications References
SGD7S SERVOPACKs with MECHATROLINK-III Communications Refer-
SGD7S-20
ences
SGD7W SERVOPACKs with MECHATROLINK-III Communications Refer-
SGD7W-20
ences

( 2 ) Compatible Inverters
Model Number Details
CIMR-A High Performance Vector Control Drive A1000
SI-ET3 MECHATROLINK-III Option Card
CIMR-V Compact Vector Control Drive V1000
SI-ET3/V MECHATROLINK-III Option Unit

( 3 ) Compatible Modules
Model Number Details
JAPMC-MC2320-E SVC-01 Motion Module
64-point I/O Module
JEPMC-MTD2310-E
24 VDC, 64 inputs, 64 outputs
Analog Input Module
JEPMC-MTA2900-E
Analog input, 8 channels
Analog Output Module
JEPMC-MTA2910-E
Analog output, 4 channels
Pulse Input Module
JEPMC-MTP2900-E

Overview
Pulse input, 2 channels
Pulse Output Module
JEPMC-MTP2910-E
Pulse output, 4 channels

1-9
 1.5 Cables, Accessories and Options, and Software
1.5.1 Cables

1.5 Cables, Accessories and Options, and Software

1.5.1 Cables
The following table shows the cables that can be connected to the MP2300S Basic Module and Optional Modules.
Connector
Module Application Model Specifications
Name
MP2300S Ethernet communication
Ethernet Provided by customers. –
Basic Module cable
JEPMC-W6002--E
*with MECHATROLINK
connectors on both ends Used between the devices listed below
MECHATROLINK-II
MP2300S JEPMC-W6003--E SVB-01 and MECHATROLINK-II
cable
Basic Module M-I/II *with MECHATROLINK Compatible Devices
and SVB-01 connectors on both ends
*with ferrite core
MECHATROLINK-II
JEPMC-W6022-E –
terminator
JEPMC-W6012--E
*with MECHATROLINK-III
connectors on both ends Used between the devices listed below
JEPMC-W6013--E SVC-01 and MECHATROLINK-III
*with MECHATROLINK-III Compatible Devices
MECHATROLINK-III
SVC-01 CN1, CN2 connectors on both ends
cable
*with ferrite core
JEPMC-W6014--E
*with a MECHATROLINK-
−
III connector and loose
wires
Used between the devices listed below
Cable for analog reference
SVA-01 CH1, CH2 JEPMC-W2040--E SVA-01 and Analog reference input
input SERVOPACK
SERVOPACK
JEPMC-W6012--E
*with MECHATROLINK-III
connectors on both ends Used between the devices listed below
JEPMC-W6013--E MPU-01 and MECHATROLINK-III
*with MECHATROLINK-III Compatible Devices
MECHATROLINK-III
MPU-01 M-III connectors on both ends
cable
*with ferrite core
JEPMC-W6014--E
*with a MECHATROLINK-
−
III connector and loose
wires
LIO-01/ JEPMC-W2061--E Used between
I/O External I/O cable
LIO-02 *Loose wires on one end LIO-01/LIO-02 and external I/O device
LIO-04/ JEPMC-W6060--E Used between
CN1, CN2 External I/O cable
LIO-05 *Loose wires on one end LIO-04/LIO-05 and external I/O device
JEPMC-W2064--E Used between
LIO-06 CN1 External I/O cable
*Loose wires on one end LIO-06 and external I/O device
JEPMC-W6060--E Used between
DO-01 CN1, CN2 External output cable
*Loose wires on one end DO-01 and external I/O device
JEPMC-W6080--E Used between
AI-01 CN1, CN2 Analog input cable
*Loose wires on one end AI-01 and analog external input device
JEPMC-W6090--E Used between
AO-01 CN1 Analog output cable
*Loose wires on one end AO-01 and analog external output device
JEPMC-W2063--E Used between
CNTR-01 CN1 Cable for CNTR-01 Module
*Loose wires on one end CNTR-01 and external I/O device
JEPMC-W6060--E Used between PO-01 and external I/O
PO-01 CN1, CN2 Cable for PO-01 Module
*Loose wires on one end device

1-10
 1.5 Cables, Accessories and Options, and Software
1.5.1 Cables

(cont’d)
Connector
Module Application Model Specifications
Name
PORT
Communica- (Common to all RS-232C communication Used between
JEPMC-W5311--E
tion Module communica- cable RS-232C port and DOS/V
tion modules)
218IF-01 10Base-T Ethernet communication Cross cable (Category 3 min.)
218IF-02 Ethernet cable Cross or straight cable (Category 5)
Module-side connector:
1010214-52A2JL (manufactured by 3M
Japan Limited)
RS-422/RS-485 communica- Cable-side connector:
217IF-01 RS-422/485
tion cable 10114-3000PE (manufactured by 3M
Japan Limited)
Shell: 10314-52A0-008 (manufactured
by 3M Japan Limited)
Module-side connector:
DeviceNet communication
260IF-01 DeviceNet MSTB2.5/5-GF-5.08AU
cable
(manufactured by Phoenix Contact)
Use a commercially Module-side connector:
PROFIBUS communication available cable.
261IF-01 PROFIBUS 17LE-13090-27(D33C) (manufactured
cable
by DDK Ltd.)
262IF-01 FL-net
Ethernet communication Cross or straight cable
263F-01 EtherNet/IP
cable (Category 5)
264IF-01 EtherCAT
CompoNet communication For details, refer to the “Construction
265IF-01 CompoNet
cable Manual” issued by ODVA.
266IF-01 Ethernet communication
PROFINET Cross or Straight cable (Category 5)
266IF-02 cable
CC-Link communication CC-Link dedicated cables (three-core
267IF-01 CC-Link
cable shielded twisted-pair cables)
CC-Link IE Ethernet communication
269IF-01 Cross or Straight cable (Category 5)
Field cable

Overview
JEPMC-W6002--E
*with MECHATROLINK
connectors on both ends
MPLINK communication Used between 215AI-01 MPLINK and
JEPMC-W6003--E MPLINK compatible device
MPLINK cable
*with MECHATROLINK
(MECHATROLINK cable)
215AIF-01 connectors on both ends
*with ferrite core
JEPMC-W6022-E terminator
Provided by the customers.
CP-215 communication
CP-215 Refer to the communication module manual
cable
(Manual No.: SIEP C880700 04).

1-11
 1.5 Cables, Accessories and Options, and Software
1.5.2 Accessories and Options

1.5.2 Accessories and Options

Name Accessory/Optional Model Remarks
ER3VC + exclusive use connector
Battery Accessory JZSP-BA01
(BA000517)
Power Supply Connector Accessory 721-203/026 Cable side
RLY OUT Connector Accessory 734-YE102-2 Cable side
DIN rail spring Q’ty: 2
DIN Rail Mounting Parts Accessory
DIN rail lock Q’ty: 2
Terminator
Accessory JEPMC-W6022-E Q’ty: 1
(Terminating Resistor)
Metal Fittings for Attachment Optional JEPMC-OP2300S-E –
Optional Cover Optional JEPMC-OP2300 Front cover for the empty slot

1.5.3 Software (Programming Tool)

The MPE720, programming tool for MP2300S, is available.
Name Model Remarks
MPE720 CPMC-MPE720 (Ver. 5.38 or later) CD-ROM
MPE720 Version 6 CPMC-MPE720D (Ver. 6.04 or later) DVD-ROM
MPE720 Version 7 CPMC-MPE780D (All versions) DVD-ROM

1-12
 2
Specifications and Functions

This chapter explains detailed specifications for the Basic Module and Optional Modules of the
MP2300S.

2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2

2.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Product Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.1.3 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.2 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-7

2.2.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.2.2 External Appearance, LED Indicators, and Switch Settings - - - - - - - - - - - - - - - - - - - - 2-8

Specifications and Functions

2.2.3 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.2.4 218IFA Module (Ethernet) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.2.5 Built-in SVB Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31
2.2.6 SVR Virtual Motion Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-48
2.2.7 M-EXECUTOR Module (Motion Program Executor) - - - - - - - - - - - - - - - - - - - - - - - - 2-51

2.3 Option Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62

2.3.1 Option Module Overview List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62

2.4 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-64

2.4.1 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-64
2.4.2 Basic Module with Metal Fittings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-65

2-1
 2.1 Specifications
2.1.1 General Specifications

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

Electrical
Noise Resis-
Operating Conforming to EN 61000-6-2, EN 61000-6-4, EN 55011 (Group1 Class A)
tance
Conditions

Installation Ground Ground to 100 Ω max.

Requirements
Cooling Method Natural cooling

2-2
 2.1 Specifications
2.1.2 Product Specifications

2.1.2 Product Specifications

The following table shows the product specifications of the MP2300S.

Items MP2300S
External Dimensions 64 mm × 130 mm × 108 mm
Number of Optional Slots 1 slot
Number of Basic
16 axes
Control Axes
Number of Maximum Number of
32 axes (when one SVB-01 module is added.)
Control Axes Control Axes
Number of Virtual Axis
16 axes
Controlling Axes
MECHATROLINK-I,
Communication System MECHATROLINK-II (32 byte), or
MECHATROLINK-II (17 byte)
Communication Cycle
0.5 ms, 1 ms, 1.5 ms, or 2 ms
(MECHATROLINK-II)
MECHATROLINK Maximum Number of
Connectable Stations 21 stations (up to 16 servo stations)
(MECHATROLINK-II)
Slave Function √
Slave Synchronous
√
Function
0.5 ms to 32 ms
High-speed Scan
Scan Interval (per 0.5 ms)
Setting 2.0 ms to 300 ms
Low-speed Scan
(per 0.5 ms)
Communication 100Base-TX
Ethernet
I/F 1 port

Specifications and Functions

–
On-board I/O
(Optional)
I/O
Output Signal during
√
RUN
SDRAM 32 MB
SRAM 512 KB (Battery backup)
Memory Capacity
FLASH 8 MB
Program Capacity 5.5 MB

Ladder Language √
Programming Motion Language √
Language
Sequence Program √
C Language √

 Symbols in the table mean as follows.

√: Available, –: Not available

2-3
 2.1 Specifications
2.1.3 Function Lists

2.1.3 Function Lists

( 1 ) PLC Function Specifications
The following table shows the PLC function specifications.

Item Specifications
Control Method Sequence: High-speed and low-speed scan methods
Programming Ladder diagram: Relay circuit
Language Text-type language: Numeric operations, logic operations, etc.
Two scan levels: High-speed scan and low-speed scan
High-speed scan time setting: 0.5 to 32 ms (Integral multiple of MECHATROLINK communi-
Scan cation cycle)
Low-speed scan time setting: 2 to 300 ms (Integral multiple of MECHATROLINK communi-
cation cycle)
Startup drawings (DWG.A): 64 drawings max. Up to three hierarchical drawing
levels
Interrupt processing drawings 64 drawings max. Up to three hierarchical drawing
(DWG.I): levels
User Drawings, High-speed scan process drawings 200 drawings max. Up to three hierarchical drawing
Functions and Motion (DWG.H): levels
Programs Low-speed scan process drawings 500 drawings max. Up to three hierarchical drawing
(DWG.L): levels
Number of steps: Up to 1,000 steps per drawing
User functions: Up to 500 functions
Motion programs and sequence programs: A total of up to 256
Revision history of drawings and motion programs
Security function for drawings and motion programs
Common data (M) registers: 64 kwords
System (S) registers: 8 kwords
Drawing local (D) registers: Up to 16 kwords per drawing
Data Memory Drawing constant (#) registers: Up to 16 kwords per drawing
Input (I) registers: 32 kwords (including internal input registers)
Output (O) registers: 32 kwords (including internal output registers)
Constant (C) registers: 16 kwords
Trace Memory Data trace: 128 kwords (32 kwords × 4 groups), 16 points defined
Program memory: Flash memory: 8 MB (User area: 5.5 MB) definition files,
ladder programs, motion programs, etc.
Memory Backup
Data other than battery backup data
Data memory: Battery backup: 512 KB, M registers, S registers, alarm history, trace data
Bit (relay): 0: OFF/1: ON
Integer: −32768 to +32767
Data Types
Double-length integer: −2147483648 to +2147483647
Real number: ± (1.175E-38 to 3.402E+38)
Register number: Direct designation of register number
Register Designation
Symbolic designation: Up to 8 alphanumeric characters (up to 200 symbols per drawing)
Method
With automatic number or symbol assignment
Program control instructions: 14 instructions
Direct I/O instructions: 2 instructions
Relay circuit instructions: 14 instructions (including set and reset coils)
Logic operation instructions: 3 instructions
Numeric operation instructions: 16 instructions
Numeric conversion instructions: 9 instructions
Instructions
Numeric comparison instructions: 7 instructions
Data manipulation instructions: 14 instructions
Basic function instructions: 10 instructions
Table data manipulation instructions: 11 instructions
DDC instructions: 13 instructions
System functions: 9 instructions
Clearing D registers at startup
Optional Functions*
Security

* For details on optional functions, refer to Appendix H Optional Functions.

2-4
 2.1 Specifications
2.1.3 Function Lists

( 2 ) Motion Control Function Specifications

The following table lists the motion control function specifications for the MP2300S.
Item Specifications
Interface MECHATROLINK-I, MECHATROLINK-II
Number of Controlled Axes/Module Up to 16 axes (up to 32 axes when an SVB Modules are mounted)
PTP Control Linear, rotary, and infinite-length
Interpolation Up to 16 linear axes, 2 circular axes, and 3 helical axes
Yes
Speed Reference Output
(Only with MECHATROLINK-II)
Yes
Torque Reference Output
(Only with MECHATROLINK-II)
Yes
Phase Control
(Only with MECHATROLINK-II)
Control Positioning Yes
Specifica- External positioning Yes
tions
Zero point return Yes
Interpolation Yes

Position Interpolation with posi-

Yes
Control tion detection function
JOG operation Yes
STEP operation Yes
Parameter changes
Yes
during motion com-
(Only with MECHATROLINK-II in 32-byte mode)
mand execution
Reference Unit mm, inch, deg, or pulse
Reference Unit Minimum Setting 1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Maximum Programmable Value −2147483648 to +2147483647 (signed 32-bit value)

Specifications and Functions

Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s
Speed Reference Unit Reference unit/min. designation: mm/min., inch/ min., deg/min., pulse/min.
Percentage designation: Percentage of rated speed
Acceleration/Deceleration Type Linear, asymmetric, S-curve, exponent

Acceleration/Deceleration Reference Unit Reference unit/s2 designation: mm/s2, inch/s2, deg/s2, pulse/s2
Acceleration/deceleration time constant: Time from 0 to rated speed (ms)
Override Function Positioning: 0.01% to 327.67% by axis
Coordinate System Rectangular coordinates
DEC1+ Phase-C pulse Yes
ZERO signal Yes
DEC1+ ZERO signal Yes
Phase-C pulse Yes
Only Phase-C pulse Yes
POT and Phase-C pulse Yes
Zero
POT Yes
Point
Return Home limit switch and Phase-C
Yes
pulse
HOME Yes
NOT and Phase-C pulse Yes
NOT Yes
INPUT and Phase-C pulse Yes
INPUT Yes

2-5
 2.1 Specifications
2.1.3 Function Lists

(cont’d)
Item Specifications
 MECHATROLINK-I  MECHATROLINK-II
• SERVOPACKs • SERVOPACKs
SGD-N SGDH-E + NS115
SGDB-AN SGDS-1
Applicable SERVOPACKs SGDH-E + NS100 SGDV-1
SGDS-1 SGDV-11
SGDV-1 SGDV-15
SGDV-11
SGDV-15
• Incremental Encoder
Encoders
• Yaskawa Absolute Encoder

2-6
 2.2 Basic Module
2.2.1 Outline of Functions

2.2 Basic Module

This section describes the functions, the external appearance, the LED indicators, the setting switches, and the hard-
ware specifications of the MP2300S Basic Module and also describes the virtual motion module (SVR).

2.2.1 Outline of Functions

The Basic Module is an all-in-one, compact module that combines a power supply, a CPU, a SVB (built-in SVB) mod-
ule and a 218IFA (Ethernet) module in one module. The Basic Module has both motion control and sequence control
functions. With a slot option slot configuration, Optional Modules can be selected freely and the optimum system can
be built for your machine. An outline of the Basic Module functions is shown in the following diagram.

Ethernet
Communication
process

Motion control

M-I/II
System bus

process

࡮Ladder (DWG.H)
࡮Sequence program
Application (H scan)
execution process
࡮Ladder (DWG.L)
࡮Sequence program
(L scan)

RLY OUT
Output
process

Specifications and Functions

:Standard at fixed itervals

2-7
 2.2 Basic Module
2.2.2 External Appearance, LED Indicators, and Switch Settings

2.2.2 External Appearance, LED Indicators, and Switch Settings

( 1 ) External Appearance

MP2300S
4&; 470
;#5-#9#
#./ '44 LED 1 indicators
/6: $#6

64: +2

5612
572 DTP switch (SW1)
+06 59
%0() 
/10
6'56 01
10

DTP switch (SW2)

59
'+06 
'6'56
01
$#66'4; 10
MECHATROLINK
M-I/II
connector

RLY OUT connector 4.;

176 LED 2 indicator
Ethernet
LINK

&%
8
Ethernet connector
Power supply connector &%
0V

/
LED 2 indicator

( 2 ) Indicators
The following table shows the indicators that show the operating status of the Basic Module and error information.

Indicator Color Status

RDY Green Lit during normal operation.
RUN Green Lit during execution of user program.
<LED1>
ALM Red Lit or blinks when warning occurs.
RDY RUN Red
ERR Lit or blinks when malfunction occurs.
ALM ERR Lit when submitting MECHATROLINK-I/ MECHA-
MTX Green
TROLINK-II data.
MTX BAT
BAT Red Lit during battery alarm.
TRX IP TRX Green Lit when transmitting and receiving Ethernet data.
Lit after IP address setting is set
IP Green
Blinks when Ethernet port fails

<LED2> LINK Yellow Lit when connected to Ethernet.

• LINK
• 100M Lit when transmitting data at 100 Mbps or during automatic
(Part of Ethernet connec- negotiation at 100 Mbps.
100M Green
tor) Not lit when transmitting data at 10 Mbps or during auto-
matic negotiation at 10 Mbps.

 For details on indicator meanings, refer to 9.2 LED Indicator Meanings .

2-8
 2.2 Basic Module
2.2.2 External Appearance, LED Indicators, and Switch Settings

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

[ a ] SW1

STOP
SUP
INT SW
CNFG 1
MON
TEST NO

No. Name Setting Operating Mode Default Details

ON User program stopped Stops the user program execution. Enabled only
S1-6 STOP OFF
OFF User program running when the power is turned ON.
ON System load If set to ON, starts in a mode that can change the
S1-5 SUP OFF
OFF Normal operation version.
ON Memory clear Set to ON to clear the memory. If this switch is set
S1-4 INIT OFF to OFF, the program stored in flash memory will
OFF Normal operation be executed.
ON Self-configuration mode Set to ON to execute self-configuration for con-
S1-3 CNFG OFF
OFF Normal operation nected devices.
ON System use
S1-2 MON OFF Always leave set to OFF.
OFF Normal operation
ON System use
S1-1 TEST OFF Always leave set to OFF.
OFF Normal operation

Specifications and Functions

2-9
 2.2 Basic Module
2.2.2 External Appearance, LED Indicators, and Switch Settings

[ b ] SW2
Sets the Ethernet port condition and other operating conditions.
The change of switch setting is invalid after the power is turned ON (read only when the module is initialized by soft-
ware).

SW
E-INIT 2
E-TEST NO

Switch
No. State Operation Mode Default Description
Name
ON
S2-4 − Reserved OFF Reserved for future use
OFF
ON
S2-3 − Reserved OFF Reserved for future use
OFF
Transmission parameter for
ON When ON, transmission parameters such as an IP
S2-2 E-INIT Ethernet, default OFF
address are set to default at startup.
OFF Normal operation
ON System use
S2-1 E-TEST OFF Always leave set to OFF.
OFF Normal operation

2-10
 2.2 Basic Module
2.2.3 Specifications

2.2.3 Specifications
( 1 ) Hardware Specifications
The following table shows hardware specifications for the basic module:

Item Specifications
Classification Basic Module
Name MP2300S
Model Number JEPMC-MP2300S-E
Input Voltage 24 VDC (± 20%)
Input Current* 1 A max. (during input/output rating)
40 A max. (full discharge state, during output rating, or the secondary output of the
Inrush Current*
external 24 V power supply is turned ON)
Allowable Power Loss
2 ms
Power Time
Unit Rated Voltage 5.0 V
Rated Current 2.0 A
Output Current Range 0.0 to 2.0 A
Constant Voltage
Precision
±2% max. (including input voltage and output load fluctuations)
Battery Battery for memory retention attachable
Flash Memory 8 MB (User area 5.5 MB)
SDRAM 32 MB
SRAM 512 kB: M registers, S registers, trace memory, alarm history (battery backup)
MECHATROLINK: 1 channel
SERVOPACK and I/O for up to 21 stations connectable (SERVOPACK for up to 16
Motion Network
axes)
Baud rate: 4 Mbps (MECHATROLINK-I) or 10 Mbps (MECHATROLINK-II)

Specifications and Functions

Communication Function Ethernet: 100BASE-TX/10BASE-T
Seconds to year timer
Calendar
(Battery backup)
POWER: Power supply connector
M-I/II: MECHATROLINK connector
Connectors
Ethernet: Ethernet connector
RLY OUT: RLY OUT connector
LED1: RDY(green), RUN(green), ALM(red), ERR(red), MTX(green), BAT(red),
Indicators TRX(green), IP(green),
LED2: LINK(yellow), 100M(green)
SW1: STOP, SUP, INIT, CNFG, MON, and TEST
Switches
SW2: E-INIT and E-TEST
Current Consumption 1 A max.
Dimensions (mm) 64 × 130 × 108 (W × H × D)
Mass 390 g

* For the external 24 V power supply, select a power supply which satisfies the specifications below as well as the
rated current (not more than 1 A):
 Allowable output load capacity: 1200 μ or more
 Overcurrent detection is automatically restored by removing causes
However, except that the primary side (AC side) of the external 24 V power supply is turned ON/OFF.

2-11
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

2.2.4 218IFA Module (Ethernet)

( 1 ) Overview of 218IFA Module Functions
MP2300S built-in 218IFA module is a 10Base-T/100Base-TX Ethernet interface and a communication interface
equipped as standard in MP2300S.

• 100 Mbps transmission speed is supported (100Base-TX).

• Supports the following various communication protocols:
• Support for MEMOBUS protocol, Extended MEMOBUS protocol
• Support for MELSEC protocol (A-compatible 1E frame)
• Support for MODBUS/TCP protocol
• Support for non-procedure communication
• An I/O message communication function enables you the data exchange in the form of I/O image when commu-
nicating with upper PLC, eliminating you from creating a ladder program.
• An automatic receive function eliminates you from creating a ladder program when connected to the indicator
and the like.
• Enables you to use as a standard interface with the engineering tool MPE720. In addition, provides a simple
function for connecting with the engineering tool, allowing you to connect to MPE720 without the MP2300S IP
address.

2-12
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

( 2 ) Specification of 218IFA Module

The following table shows the specification of the 218IFA Module.

Items Specifications
Communication Interface*1 10Base-T/100Base-TX
Communication Protocol*2 TCP/UDP/IP/ARP/ICMP
Maximum Number of Communication Connections 4+2 (I/O Message communication)
Maximum Number of Communication Channels 4+2 (I/O Message communication)
Write: 100W
MEMOBUS
Read: 125W
Write: 2043W
Extended MEMOBUS
Read: 2044W
Message Communication
Write: 1017W
(maximum) MELSEC
Read: 1017W
Write: 100W
MODBUS/TCP
Read: 125W
Non-procedure Write: 2046W
Write: 100W
MEMOBUS
Read: 125W
Write: 1024W
I/O Message Extended MEMOBUS
Read: 1024W
Communication
(maximum) Write: 256W
MELSEC
Read: 256W
Write: 100W
MODBUS/TCP
Read: 125W
MEMOBUS √
Extended MEMOBUS √
Automatic Receive
MELSEC √

Specifications and Functions

MODBUS/TCP √
Non-procedure Receive Buffer Mode Selection*3 √
Simple Function for Connecting with Engineering Tool √

* 1. Communication Interface
The discrimination between 10Base-T/100Base-TX and full-duplex/half-duplex is done by the 218IFA module
based on the remote equipment. When connecting to an equipment without automatic negotiation function, set the
remote equipment to half-duplex mode.

Correspondence of Communication Mode

Device to be connected
218IFA Module Automatic 10Base-T 10Base-T 100Base-TX 100Base-TX
Negotiation Half-duplex Full-duplex Half-duplex Full-duplex
Depends on the Communicates in Communicates in
Automatic Unable to Unable to
remote equip- 10Base-T 100Base-TX
Negotiation communicate communicate
ment half-duplex mode half-duplex mode

* 2. Communication protocols
• TCP (Transmission Control Protocol): Connection-oriented transport layer protocol
• UDP (User Datagram Protocol): Connectionless transport layer protocol
• IP (Internet Protocol): Protocol for establishing a communication link between computers
• ICMP (Internet Control Message Protocol): Error control protocol for IP protocol
• ARP (Address Resolution Protocol): Address resolving protocol. Protocol for converting IP address into MAC
address
* 3. Non-procedure Receive Buffer Mode Selection
When the non-procedure application protocol of the 218IFA is used, either a single buffer or multiple buffers can be
selected for the receive buffers in the 218IFA.
If multiple buffers are selected, 20 data items per connection can be processed at the same time with data contin-

2-13
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

uously received at an interval shorter than the startup interval of the MSG-RCV function.

2-14
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

( 3 ) Module Configuration Definition

(a) Module Configuration Definition Screen Details
Click MP2300S in the Controller area to display the details of the Basic Modules’ functions in the Module Details
area. The cell No.2 provides a detailed definition of the 218IFA module.

Specifications and Functions

Items displayed in the Module Details area show the following meanings:

Items Descriptions Change

Sub-slot number.
Slot Number –
Double-click it to open the detailed definition window of the 218 IF module.
A module name is shown.
Module Type Changing the name to UNDEFINED enables you to disable functions of the 218 IF √
module.
Controller Number Not used. Fixed at “–”. –
Circuit Number Module's line number (valid range: 01-08) √
Start register of the I/O register used in the I/O message communication of the 218IFA
I/O Start Register √
module (valid range: 0000-7FFFh, size: 800h words)
End register of the I/O register used in the I/O message communication of the 218IFA
I/O End Register √
module (valid range: 0000-7FFFh, size: 800h words)
Disable Input Input Enable/Disable. √
Disable Output Output Enable/Disable. √
Motion Start Register Not used. Fixed at “– – – –”. –
Motion End Register Not used. Fixed at “– – – –”. –
Details Not used. –
Status The status of the 218IFA module in online mode. –

√: Available, –: Not available

2-15
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

(4) 218IFA Module Detailed Screen

(a) Displaying the 218IFA Module Detailed Window
The 218IFA Module Detailed Window is displayed by selecting MP2300S in the Controller area of the Module Con-
figuration Window and double-clicking the cell No.2 in the Module Details field.

2-16
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

(b) 218IFA Module Detailed Window

The 218IFA Module Detailed Window is composed of Transmission Parameter and Status Tabs, and each tab is
changed with a click.

1. Parameter Setting Tab

The Transmission Parameters Tab sets 218IFA transmission parameters of the 218IF module. The setting
details are as follows:

Specifications and Functions

2-17
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

 Transmission Parameter Setting Items

Sets local transmission parameters for the 218IFA module.

The following table shows each setting item.

Item Setting Range Details Default

Sets the IP address for the 218IFA module. However, the follow-
ing addresses are excluded:
0.0.0.1 to
IP Address 127.xxx.xxx.xxx 192.168.001.001
255.255.255.254
xxx.xxx.xxx.000
xxx.xxx.xxx.255
0.0.0.0 to
Subnet Mask Sets the 218IFA subnet mask. 255.255.255.000
255.255.255.254
Sets the gateway IP address for the 218IFA module. However, the
following addresses are excluded:
Gateway IP 0.0.0.0 to 127.xxx.xxx.xxx
000.000.000.000
Address 255.255.255.254 xxx.xxx.xxx.000 (except 000.000.000.000)
xxx.xxx.xxx.255
When you do not use it, set it to 000.000.000.000.
The 218IFA module can be any name.
The name specified here is displayed as a search result in the mod-
ule name field of controller search list when running the Search in
the communications setting dialog box of MPE720 Ver.6.

Up to 16 single- CONTROLLER
Equipment Name
byte characters NAME

Opens the screen for setting the engineering communication with

Detailed Definition – –
MPE720 and the MEMOBUS communication.

2-18
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

 Detailed Setting Screen of Transmission Parameter Setting

Sets the engineering communication with MPE720 and the message communication.

The following table shows each setting item.

Item Setting Range Details Default

Specify the port number for the 218IFA module used in the engineer-
ing communication with MPE720.
Note: When changing this setting, you must also change the engineer-
Engineering Port 256 to 65535 9999
ing port value in the logical port setting detailed screen of the MPE720
communication process.
The port number cannot be 9998 or 10000.
Specify the wait time until a remote response is returned after sending
a command, when carrying out a message communication using MSG-
SND function. (value zero waits infinitely.)
Response Time
0 to 255 If the retransmit number of times is zero, set response monitor period
(Response moni- 0
(sec) to zero.
tor period)

Specifications and Functions

Note: If no response is returned after the setting period expires, a time-
out occurs, retry the transmission the number of times specified
by resend number of times.
Specify the command retransmit number of times when a timeout is
0 to 255 detected after response monitor period expires.
Count of Retry 0
(time) Note: If no response is returned after as many retries as the retransmit
number of times, an error is returned to the MSG-SND function.

2-19
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

 Message Communication Item of Connection Parameter Setting

Sets the connection parameters for the message communication using MSG-SND/MSG-RCV function and the
message communication using automatic receive function.

The following table shows each setting item.

Item Setting Range Details Default

Opens the easy setting screen for the connection parameters. The
Easy Setting – –
content of the selected connection is shown.
In 218IFA Ethernet communication, remote stations are distin-
guished by their connection numbers.
Connection Number
(CNO)
1 to 4 This connection number is used in remote connection number –
(PARAM02) of the parameter list (PARAM) of the MSG-SND/
MSG-RCV function.
Specify the 218IFA port number for each connection. The 218IFA
module establishes a message communication with the connection
with this port number only. Set an unique channel number for the
Local Port 256 to 65535 port number of this connections. 0
Also, to delete the port number, enter zero.
Note: When the connection type = UDP, the port number cannot be
9998 or 10000.
Set the remote IP address for each connection. However, the fol-
lowing addresses are excluded:
127.xxx.xxx.xxx
xxx.xxx.xxx.000 (except 000.000.000.000)
0.0.0.0 to xxx.xxx.xxx.255 000.000.000.0
Node IP Address
255.255.255.254 Note: When 0.0.0.0 is set, it will enter into “Unpassive open 00
mode.” When the 218IFA module is within the network
specified by the subnet mask, it responds to the connection
request from the remote station regardless of the remote IP
address setting.
Specify the remote port number for each connection. A pair of
0 and
Node Port remote IP address and remote port number must not be duplicated. 0
256 to 65535
Note: In case of “Unpassive open mode,” set it to zero.

TCP, Select a transport layer protocol.

Connect Type TCP: Transmission control protocol TCP
UDP
UDP: User datagram protocol
Select an application layer protocol.

Protocol Type Overview

Extended
Yaskawa’s Extended MEMOBUS protocol.
Extended MEMOBUS
MEMOBUS, MEMOBUS Yaskawa’s MEMOBUS protocol.
MEMOBUS, Ethernet I/F protocol for the sequencer (A Extended
Protocol Type
MELSEC, MELSEC series) manufactured by Mitsubishi Elec- MEMOBUS
None, tric Corporation.
MODBUS/TCP General-purpose message communication.
Non-procedure Transmits and receives continuous data
intact in the specified register.
Industrial Ethernet protocol proposed by
MODBUS/TCP
Modicon, Inc.

2-20
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

Item Setting Range Details Default

Select a code type for the message communication data.
Depending on protocol type, available codes are restricted as fol-
lows:

Code
Protocol Type
ASCII ASCII BIN RTU
Code BIN Extended ASCII
√ √ –
RTU MEMOBUS
MEMOBUS √ – √
MELSEC √ √ –
Non-procedure √ √ –
MODBUS/TCP – √ –
√ : Available, – : Not available
Opens the automatic receive setting screen. To open the screen,
double-click this button.
Automatically – –
Note: The automatic receive function is valid only for a connection
when the connection number = 1.
Up to 32 single- Any text can be entered as a connection comment.
Remote byte characters
Blank
Station Name (16 double-byte
characters)

Specifications and Functions

2-21
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

 Simple Setting Screen for Message Communication

Graphically sets connection parameters for each connection.
Basically, the same content as with message communication items in connection parameter setting can be set.

When connection parameters are not yet set and this screen is opened, the default value for each connection will be
automatically stored.

The following table provides the default values for each connection stored when the connection parameters are not yet
set and this screen is opened.

Default
Item Connection Connection Connection Connection
Number 01 Number 02 Number 03 Number 04
Local Port No. 10001 10002 10003 10004
Node IP Address 192.168.1.2 192.168.1.3 192.168.1.4 192.168.1.5
Node Port Number 10001 10002 10003 10004
Communication
Extended MEMOBUS
Protocol Type
Connect Type TCP
Code BIN

By clicking the Default Button, default values are set for each data code type according to the selected communication
protocol type.
The following table shows the default values for each data code type.

Communication Protocol Type Default for Data Code Type

Extended MEMOBUS BIN
MEMOBUS RTU
MELSEC BIN
Non-procedure BIN
MODBUS/TCP BIN

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 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

 Automatic Receive Setting Screen for Message Communication

The automatic receive function can be enabled only for connections where the connection number = 1.
The automatic receive function enables you to automatically run a function equivalent to the MSG-RCV function.

The following table explains each setting item.

Item Setting Range Details Default

Select whether to enable automatic reception.
Automatic Recep-
Enable/Disable Enable
tion Enable/Disable Note: When the local port number is not yet set, it becomes invalid

Specifications and Functions

regardless of the enable/disable selection.
The setting items below can only be set when the Automatic Reception is set to “Enable.”
The communication buffer channel is usually used for transmitting
data to and from the 2181FA module with the MSG-SND/MSG-
RCV function.
The communication buffer channel is associated with the connec-
Transmission Buffer Cannot be set tion according to the input item “CH-NO” for the MSG-SND/
1
Channel (fixed at one) MSG-RCV function and node connection number (PARAM02)
setting for the parameter list (PARAM).
When automatic reception is running, the function equivalent to
the MSG-RCV function is realized by using the communication
buffer channel number “1.”
Readout of Input IW0000 to Set a start register of the input relay used for the automatic recep-
IW0000
Relay IWFFFF tion.
Readout of Input IW0000 to Set a start register of the input register used for the automatic
IW0000
Register IWFFFF reception.
Readout/Write-in of MW00000 to Set a start read/write register of the coil used for the automatic
MW00000
Coil MW65534 reception.
Readout/Write-in of MW00000 to Set a start read/write register of the holding register used for auto-
MW00000
Hold Register MW65534 matic reception.
Write-in Width of
MW00000 to Set a write range (LO) of the coil/holding registers used for auto-
Coil/Hold Register MW00000
MW65534 matic reception.
(LO)
Write-in Width of
MW00000 to Set a write range (HI) of the coil/holding registers used for the
Coil/Hold Register MW65534
MW65534 automatic reception.
(HI)

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 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

The following table provides the valid setting items for each communication protocol type.

Communication Protocol Type

Setting Item Extended Non-proce- MODBUS/
MEMOBUS MELSEC
MEMOBUS dure TCP
Readout of Input Relay √ √ – – √
Readout of Input Register √ √ – – √
Readout/Write-in of Coil √ √ – – √
Readout/Write-in of Hold Register √ √ √ – √
Write-in Width of Coil/Hold Register (LO) √ √ √ – √
Write-in Width of Coil/Hold Register (HI) √ √ √ – √

Note: √ : Enable
– : Disable

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 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

 I/O Message Communication Item Connection Parameter Setting

Sets connection parameters for I/O message communication.
I/O message communication exchanges the data using I/O images with the remote equipment.

The following table explains each setting item.

Item Setting Range Details Default

I/O Message
Communication Enable/Disable Select whether to enable I/O message communications. Disable
Enable/Disable
The setting items below can only be set when the I/O Message Communication is set to “Enable.”
Opens the Simple Setting screen for the read/write connection
Easy Setting – –
parameters.
Set when to update the I/O data for the controller side when the I/O
Data Update Timing H Scan/ L Scan L Scan
message communication is established.

Specifications and Functions

In 218IFA Ethernet communications, remote stations are distin-
Read/Write – guished by their connection numbers. –
I/O message communications have a connection for each read/write.
Specify the 218IFA port number for each read/write connection.
To delete the port number setting, enter zero.
To use only a read or a write connection, set the other port number to
Local Port 256 to 65535 zero to delete the connection. 0

Note: When the connection type = UDP, the port number cannot be
9998 or 10000.
Set a remote IP address for both read and write connections. Set a
common value for both read and write. However, the following
0.0.0.1 to addresses cannot be used: 000.000.000.0
Node IP Address
255.255.255.254 127.xxx.xxx.xxx 00
xxx.xxx.xxx.000
xxx.xxx.xxx.255
Specify the remote port number for each read/write connection.
Node Port 256 to 65535 A pair of a remote IP address and remote port number must not be 0
duplicated.
Select a transport layer protocol.
TCP
Connect Type TCP: Transmission control protocol TCP
UDP
UP: User datagram protocol

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 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

(cont’d)
Item Setting Range Details Default
Select an application layer protocol.

Protocol Type Overview

Extended
Yaskawa’s Extended MEMOBUS protocol.
MEMOBUS
Extended
MEMOBUS Yaskawa’s MEMOBUS protocol. Extended
Protocol Type MEMOBUS
Ethernet I/F protocol for the sequencer (A MEMOBUS
MEMOBUS
MELSEC series) manufactured by Mitsubishi Elec-
tric Corporation.
Industrial Ethernet protocol proposed by
MODBUS/TCP
Modieon, Inc.

Select a code type for the message communication data.

Depending on protocol type, available codes are restricted as fol-
lows:

Code
Protocol Type
ASCII BIN RTU
ASCII
Extended
Code BIN √ √ – ASCII
MEMOBUS
RTU
MEMOBUS √ – √
MELSEC √ √ –
MODBUS/TCP – √ –
√ : Available
–: Not available
Up to 32 single- Any text can be entered as a connection comment.
Remote Station byte characters
Blank
Name (16 double-byte
characters)
Select whether to update the input data in the I/O message commu-
Input Disable Enable/disable enable
nication.
Select whether to update the output data in the I/O message commu-
Output Disable Enable/disable enable
nication.
IW0000 to Set a start address of the input register of the MP2300S side for stor-
MP2300S Head IW7FFF ing the data read from the remote equipment. IW xxxx*1
Register Number
OW0000 to Set a start address of the MP2300S side output register for referenc- OWxxxx + 4
Data Size
OW7FFF ing the data written in the remote equipment. *2

Varies according Specify the data size (word) read from the remote equipment. 4
Data Size
to protocol type Specify the data size (word) written in the remote equipment. 4
Specify the register type and the start register address for the remote
Head Register Varies accord-
Varies according equipment to read.
Number for the ing to proto-
to protocol type Specify the register type and the start register address for the remote
Node Equipment col type.
equipment to write.
Generally, the same value specified in MP2300S data size is shown.
By way of exception, when MELSEC is selected for communication
protocol type and a bit device such as input relay (X)/ output relay 4
(Y)/ internal relay (M)/ link relay (B) is selected for read register,
Data Size of the the display is shown in bit size.
Display only
Node Equipment Generally, the same value specified in MP2300S data size is shown.
By way of exception, when MELSEC is selected for communication
protocol type and a bit device such as input relay (X)/ output relay 4
(Y)/ internal relay (M)/ link relay (B) is selected for read register,
the display is shown in bit size.

* 1. “xxxx” represents a start I/O register number specified by the 218IFA cell in the detailed field of the module config-
uration definition screen.
* 2. “xxxx” represents a start I/O register number specified by the 218IFA cell in the detailed field of the module config-
uration definition screen.

2-26
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

 Easy Setting Window for I/O Message Communication

Graphically adjusts the setting for the read/write connection parameters.
Generally, the contents are similar to I/O message communication items in connection parameter setting.
When the connection parameters are not yet set and this dialog box is opened, the default values for read/write connec-
tion will be automatically stored.

The following table provides the default values for each connection stored when the connection parameters are not yet

Specifications and Functions

set and this screen is opened.

Item Default
Local IP Address Values set in transmission parameter setting items are shown.
Read 10005
Local Port No.
Write 10006
Start I/O register number specified by the 218IFA cell in the
Input Register (IW xxxx)
MP Series detailed field of the module configuration definition screen.
Input Disable Not checked (enable)
Start I/O register number specified by the 218IFA cell in the
Output Register (OW xxxx)
detailed field of the module configuration definition screen + 4.
Data Update Timing Low
Node IP Address 192.168.1.7
Node Port Read 10005
Other Device Number Write 10006
Read Register MW00000
Write Register MW00004
Communication Protocol Type Extended MEMOBUS
Read Size 4
Write Size 4
Connect Type TCP
Code BIN

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 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

In addition, click the Default Button to set the default values for data code type, local I/O register setting, read/write
size, and node read/write register setting according to the selected communication protocol type.
The following table provides these default values.

Default
Communication
Protocol Type Data Code Node Read/Write Register
Local Input/Output Register Setting Read/Write Size
Type Setting
IW to IW+ 3 (input)
Extended 4 (read) MW0000 to MW0003 (read)
BIN OW+ 4 to OW+7
MEMOBUS 4 (write) MW0004 to MW0007 (write)
(output)
MEMOBUS RTU Same as above Same as above Same as above
D0000 to D0003 (read)
MELSEC BIN Same as above Same as above
D0004 to D0007 (write)
4X00001 to 4X0004 (read)
MODBUS/TCP BIN Same as above Same as above
4X00005 to 4X0008 (write)

2-28
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

2. Status tab
In the Status Tab, each setting for the transmission definition and transmission status of the 218IFA module is
shown.
The displayed contents are as follows:

 Transmission Parameter Item

Item Displayed Content Default

Station IP Address Displays local IP address specified in the Transmission Parameter Tab. 000.000.000.000
Displays equipment name specified in the Transmission Parameter Tab.
Equipment Name NULL
When the equipment name is not yet set, nothing is shown.

Specifications and Functions

Displays transmission rate retrieved from the status information. (Fixed at Auto-
Transmission Speed Automatic
matic)
Subnet Mask Displays a subnet mask set in the Transmission Parameter Tab. 000.000.000.000
Gateway IP Address Displays a gateway IP address set in the Transmission Parameter Tab. 000.000.000.000
Displays a port number set in the detailed definition of the Transmission Parame-
Engineering Port 9999
ter Tab.

 Message Communication and I/O Message Communication Items

Item Displayed Content Default

Trans Status Displays the transmission status for each connection. –
Error Status If an error is indicated in the transmission status, the error details are shown. –
Send Count Displays the number of packets transmitted to the remote station. –
Receive Count Displays the number of packets received from the remote station. –
Error Count Displays the number of errors that occurred in each connection. –
Displays the time taken to receive a response after issuing a command in the MSG-
Response Time (ms) SND function of the message communication and the I/O message communica- –
tion.
Connection Displays the connection type set in the Transmission Parameter Tab. –
Displays the protocol of the connection parameter set in the Transmission Param-
Protocol Type –
eter Tab.
Code Displays the code type of the data set in the Transmission Parameter Tab. –
Node Station Name Displays the remote station name set in the Transmission Parameter Tab. –

2-29
 2.2 Basic Module
2.2.4 218IFA Module (Ethernet)

Note: 1. Transmission status

In online mode, displays the transmission status for each connection.

Transmission Status State

IDLE IDLE
WAIT WAIT (waiting for connection)
CONNECT CONNECT (capable of transmitting and receiving data)
– Unused connection

2. Error status
If an error is indicated in the transmission status, the error details are shown.

Error Status State Remarks

No Error Normal –
Socket Generation Error System error Socket generation failed
Error in setting the local port num- Bind error (duplicated port number)
ber (the same address is bound while A bind error occurred while aborting using
disconnecting the TCP connection) the MSG function and ending the connec-
tion.
The error occurs if Execute is turned ON
Local Port Number Error
within one minute after an Abort is com-
pleted.
Before the connection was completed,
another function issued a command to the
same remote station.
Socket Attribute Change An error occurred while setting a socket
System error (in TCP)
Error attribute.
Connection error (when actively Tried to connect using the MSG-SND func-
open in TCP, a connection is tion, but the connection was rejected by the
Connection Error rejected by the node station) remote station, and the command was reset.
(M-SND) When disconnecting the cable, retried con-
necting for one minute (default value) with-
out a response.
Connection Error Connection error (when passively An error occurred while receiving the con-
(M-RCV) open in TCP) nection from the MSG-RCV function.
A socket polling (select specification) error
System Error System error
occurred while receiving data.
A response transmit error occurred in the
MSG-RCV function. An error also occurred
Data transmit error (in TCP, either
Data Transmit Error in the MSG-SND function.
there is no node station or a node
(TCP) An error occurred only in TCP when there
station did not startup.)
was no node station to transmit or a node sta-
tion was rebooted.
Data Transmit Error A transmit request was issued to a nonexis-
Data transmit error (in UDP)
(UDP) tent socket.
Data receive error (in TCP, a request An error occurred when disconnecting the
Data Receive Error
to disconnect the connection is connection from the node station. It also may
(TCP)
received from the node station) occur even when close is processed properly.
Data Receive Error A data receive command was issued to a
Data receive error (in UDP)
(UDP) nonexistent socket.
Socket Option Change
System error Error when changing a socket option
Error
Data Change Error Data change error Protocol change error

2-30
 2.2 Basic Module
2.2.5 Built-in SVB Module

2.2.5 Built-in SVB Module

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

Machine Controller CPU SVB

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

Torque control SERVOPACK

Torque reference

Phase control
Phase reference

[ b ] Built-in SVB and Slot-mounting Optional SVB

The SVB Modules are of two types: The built-in SVB (hereinafter referred to as Built-in SVB) and the Slot-mounting
Optional SVB (hereinafter referred to as Optional SVB)

Specifications and Functions

A built-in SVB Module is incorporated in the MP2300S.
The Optional SVB is one of the optional modules for the Machine Controller. The SVB-01 Module is an Optional
SVB that can be mounted on the optional slot of the MP2300S.

[ c ] Features
• Up to 21 slave stations can be connected to a single Module (the SERVOPACKs can be connected up to 16
axes).
MP2300S: Only an SVB-01 Module can be mounted in optional slot.
Including the MP2300S’s built-in SVB, a total of 32 axes can be controlled.
• Synchronization between Modules is also supported, making it suitable for both synchronous control and
interpolation across Modules.
• An SVB-01 Module used as a slave can be connected to a host controller equipped with MECHATROLINK
communication functions.
• Self-configuration enables automatic allocation of setting data for the slave device that is connected to
MECHATROLINK.
• SERVOPACK parameters can be managed over networks.
• When using MECHATROLINK-II, MP2300S built-in SVB is available as a slave.

2-31
 2.2 Basic Module
2.2.5 Built-in SVB Module

[ d ] System Configuration Example

The following diagram shows a system configuration example.

MP2300S SVB-01

24-VDC
power supply
MPE720

Ethernet

MECHATROLINK-II MECHATROLINK-II
PL2910

PL2910
PL2900

PL2900
IO2310

IO2310
SGDH

SGDH
SGDS

SGDV

SGDS

SGDV
NS115

NS115
M M M M M M

MECHATROLINK support Servo drive MECHATROLINK support Servo drive

input/output modules input/output modules

 Use the specified cables and connectors. Refer to 1.1.5 (3) Cables in the Machine Controller MP2000-series SVB/
SVB-01 Motion Module User’s Manual (manual number: SIEP C880700 33) to select appropriate cables and con-
nectors to connect each device.
 The SERVOPACK models that can be connected through MECHATROLINK-I differ from those connected through
MECHATROLINK-II. Refer to 1.4.1 Devices Connectable to MECHATROLINK-I/II to select appropriate SERVO-
PACK models for the MECHATROLINK interface to be used.
 If both MECHATROLINK-I (4 Mbps) compatible devices and MECHATROLINK-II (10 Mbps) compatible devices are
connected in a system, make the settings in accordance with MECHATROLINK-I specifications.
 When connecting a SERVOPACK to an SVB Module via MECHATROLINK, connect signal lines such as those for
overtravel, zero-point return deceleration limit switch, and external latch to the SERVOPACK. Refer to the relevant
SERVOPACK manual for details on the connections.
 When connecting Σ-II series SERVOPACKs (SGDH+NS100 or SGDH+NS115), do not connect a hand-held type
digital operator and SigmaWin+. If connected, alarms A.95 (command warning) and A.ED (execution not completed)
will occur for the commands sent from the SVB Module, and normal operation will be interrupted. If a digital operator
or SigmaWin+ must be connected to a Σ-II series SERVOPACK, disconnect the SERVOPACK from the SVB Mod-
ule.

2-32
 2.2 Basic Module
2.2.5 Built-in SVB Module

[ e ] Synchronization between Modules

1. Overview
MP2300S Machine Controller has a function that can synchronize hardware between the CPU and an optional
module. This function enables MECHATROLINK communications in synchronization with high-speed scans.
As a result, synchronization between a built-in SVB Module and an SVB-01 Module, or among multiple SVB-01
Modules, can be enabled.

High-speed scan

4 ms

Communication
cycle for SVB built
into the CPU

2 ms

Communication
cycle for SVB-01
#1
1 ms

Communication
cycle for SVB-01
#2

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

Specifications and Functions

2. Conditions Under Which Synchronization Is Possible
The following table shows the combinations of high-speed scan times and MECHATROLINK communication
cycles that allow synchronization between modules in the synchronization mode.

High-speed Scan MECHATROLINK Communication Cycle

(RTC: 0.5 ms) 0.5 ms 1 ms 1.5 ms 2 ms
1.0 ms Yes Yes − Yes
1.5 ms Yes − Yes −
2.0 ms Yes Yes − Yes
2.5 ms Yes − − −
3.0 ms Yes Yes Yes −
3.5 ms Yes − − −
4.0 ms Yes Yes − Yes
4.5 ms Yes − Yes −
5.0 ms Yes Yes − −
5.5 ms Yes − − −
6.0 ms Yes Yes Yes Yes
:

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 2.2 Basic Module
2.2.5 Built-in SVB Module

3. Timing At Which Modules Are Synchronized

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

4. Operation when High-speed Scan Cycle Is Changed

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

5. Operation When the MECHATROLINK Communication Cycle Is Changed

• Changing the MECHATROLINK communication cycle of the SVB module in the CPU
Synchronization may be lost when a change is made even if synchronization is possible for the high-speed
scan and communication cycle combination. When a change is made, save the settings to flash memory and
then turn the power supply OFF and ON.
• Changing the MECHATROLINK communication cycle of the SVB-01 Module
Operation will be automatically synchronized when a change is made if synchronization is possible for the
high-speed scan and communication cycle combination. It is not necessary to turn the power supply OFF and
ON.

6. Conditions when the Power Supply Must Be Turned OFF and ON

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

2-34
 2.2 Basic Module
2.2.5 Built-in SVB Module

( 2 ) Specifications
The specifications of built-in and optional SVB Modules are as follows.

[ a ] Motion Control Function

Item Details
Number of Communication
One line
Lines
Number of Communication
2 ports
Ports (Connectors)
Terminating Resistor JEPMC-W6022-E terminator must be purchased separately.
MECHATROLINK-II
Min. distance between stations: 0.5 m
Total network length: 50 m (can be extended to 100 m by connecting repeaters)
Transmission Distance
MECHATROLINK-I
Min. distance between stations: 0.3 m
Total network length: 50 m (can be extended to 100 m by connecting repeaters)
Communication Interface MECHATROLINK-II (2:N synchronous) MECHATROLINK-I (1:N synchronous)
MECHATROLINK Communication

Baud Rate 10 Mbps 4 Mbps

Transmission Cycle 0.5 ms, 1 ms, 1.5 ms, or 2 ms 2 ms
Number of Link
17 bytes or 32 bytes 17 bytes
Communication Bytes
Master Functions

Number of Connectable Up to 21 stations

Up to 14 stations
Stations (SERVOPACK for up to 16 axes)
C1 Messaging
Provided (selectable). Not provided.
(Master Function)
C2 Messaging
Provided (selectable). Not provided.
(Allocations)

Specifications and Functions

Retry Function Provided (selectable). Not provided.
For details, refer to ( 3 ) Compatible Modules in 1.4.1 Devices Connectable to
Supported Slave Devices
MECHATROLINK-I/II.
Communication Interface MECHATROLINK-II
Baud Rate 10 Mbps
Slave Functions*

The transmission cycle of the master station

Transmission Cycle
(0.5 ms min.)
Number of Link
17 bytes or 32 bytes
Communication Bytes
Messaging
Supported.
(Slave Function)

* Only with MECHATROLINK-II

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 2.2 Basic Module
2.2.5 Built-in SVB Module

(cont’d)
Item Details
Single-send (communication cycle = transmission cycle) synchronous communication
Transmission/communication error detection (hardware) provided.
Communication Method
Synchronous communication error detection (software) provided.
Automatic recovery function not provided (recovery when alarm is 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 direct-drive motors
Control Type Position control, speed control, torque control, and phase control
Positioning, External Positioning, Zero Point Return, Interpolation, Interpolation with Posi-
Motion Commands tion Detection, JOG operation, STEP operation, Speed Reference*, Torque Reference*,
Phase Control*, etc.
Servo Control

Acceleration/Deceleration One-step asymmetric trapezoidal acceleration/deceleration, exponential acceleration/decel-

Method eration filter, moving average filter
Position Unit pulse, mm, inch, degree, μm
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
Electronic Gear Provided.
Finite length position control, infinite length position control, absolute system infinite length
Position Control Method
position control, and simple absolute system infinite length position control
Software Limit Positive/negative direction for each point
Zero Point Return Method 13 types
SERVOPACK Parameter
Parameters can be managed in the MPE720’s SERVOPACK Parameter Window.
Management
Single-send (communication cycle = transmission cycle) asynchronous communication
Transmission/communication error detection (hardware) provided.
Communication Method
Synchronous communication error detection (software) not provided.
Inverter Control

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
Control Type Speed control only (V/F, vector control and other control methods use inverter settings.)
Motion Commands Inverter I/O control, etc.
Speed Unit The speed unit depends on the inverter settings.
Single-send (communication cycle = transmission cycle) asynchronous communication
Transmission/communication error detection (hardware) provided.
I/O Control

Communication Method
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-speed scan
I/O Registers
(selectable).
Self-configuration Function Module and slave devices can be automatically allocated.
Synchronization supported (enabled when power is cycled) when high-speed scan cycle =
Synchronization between Modules
communication cycle times n
* Only with MECHATROLINK-II

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 2.2 Basic Module
2.2.5 Built-in SVB Module

[ b ] MECHATROLINK Communication Specifications

Item MECHATROLINK-I MECHATROLINK-II

Topology Bus Bus
Transmission Media Twisted-pair cable Twisted-pair cable
50 m max. 50 m max.
Transmission Distance (can be extended to 100 m by connecting (can be extended to 100 m by connecting
repeaters) repeaters)
Minimum Distance
0.3 m 0.5 m
between Stations
Baud Rate 4 Mbps 10 Mbps
Communication Cycle 2 ms 0.5 ms, 1 ms, 1.5 ms, or 2 ms
Number of Connectable Up to 21 stations * (SERVOPACK for up to 16
Up to 14 stations
Stations axes)
Communication Control
Cyclic Cyclic
Method
Media Access Control
1:N 2:N
Method
Communication Mode Control communication Control communication
Error Control CRC check CRC check

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

Chapter 8 MECHATROLINK-II Repeater of the Machine Controller MP900/MP2000 Series User’s Manual
MECHATROLINK System (manual number: SIEZ-887-5.1) for details.

[ c ] Maximum Number of Slave Stations

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

Specifications and Functions

 MECHATROLINK Communication Setting and Maximum No. of Slave Stations

MECHATROLINK Communication Setting

Maximum Number of
Communication Slave Stations
Communication Method Baud Rate
Cycle
MECHATROLINK-I 4 Mbps 2 ms 14
MECHATROLINK-II 0.5 ms 6
10 Mbps
(17-byte Mode) 1 ms 15
0.5 ms 4
1 ms 9
MECHATROLINK-II
10 Mbps 1.5 ms 15
(32-byte Mode)
21 (SERVOPACK for up to
2 ms
16 axes)

 Refer to 3.4.2 MECHATROLINK Transmission Definition of Machine Controller MP2000 Series Built-in SVB/SVB-01
Motion Module User’s Manual (manual number: SIEP C880700 33) for information on the settings for MECHA-
TROLINK transmission.

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 2.2 Basic Module
2.2.5 Built-in SVB Module

 Transmission Distance and Maximum No. of Slave Stations

Maximum Number of Slave
Communication Method Transmission Distance (Total Network Length)
Stations
50 m
MECHATROLINK-I 14
(can be extended to 100 m by connecting repeaters)
30 m
16 (21)*
(can be extended to 100 m by connecting repeaters)
MECHATROLINK-II
50 m
15 (21)*
(can be extended to 100 m by connecting repeaters)

* The values in parentheses apply when a JEPMC-REP2000 Repeater is used.

JEPMC-REP2000 Repeater must be used if 17 or more slave stations are connected when using MECHATROLINK-II
communication.

( 3 ) Module Configuration
[ a ] Module Configuration Window
Click MP2300S in the Controller area to display the details of the basic module functions in the Module Details area.
The cell No.3 provides a detailed definition of the built-in SVB module.

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 2.2 Basic Module
2.2.5 Built-in SVB Module

The following table lists the items shown in the Module Configuration Window.

Item Description Modification

Slot Number Slot number Not possible
Module Type Module detected in the slot Possible
Controller Number Fixed to 01 Not possible
Circuit Number Module circuit number Possible
I/O start register number of the I/O Module to be connected to MECHA-
I/O Start Register TROLINK Possible
(Setting range: 0000 to 7FFFh, max. 400h words per SVB Module)
I/O last register number of the I/O Module to be connected to MECHA-
I/O End Register TROLINK Possible
(Setting range: 0000 to 7FFFh, max. 400h words per SVB Module)
Possible
(Not possible
Disable Input Input enabled (Enable)/disabled (Disable)
if the cell is
blank)
Possible
(Not possible
Disable Output Output enabled (Enable)/disabled (Disable)
if the cell is
blank)
Start register number of the motion parameters
Motion Start Register Not possible
(Automatically sets according to the circuit number)
Last register number of the motion parameters
Motion End Register Not possible
(Automatically sets according to the circuit number)
Opens the MECHATROLINK Transmission Definition Window.
Details −
(Double-click the MECHATROLINK cell to open the window.)
Status Status of each module in online mode Not possible

 “Possible” in the Modification line in the above table means that it is possible to change the setting of the item.

Specifications and Functions

Always save the setting to the flash memory after having changed the setting.
 When changing the setting, be careful not to set the register numbers overlapped with another module.
 I/O Start Register and I/O End Register must be set even though the I/O Module is connected or not connected
to MECHATROLINK.

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 2.2 Basic Module
2.2.5 Built-in SVB Module

( 4 ) MECHATROLINK Transmission Definition

[ a ] How to Open the MECHATROLINK Transmission Definition Window
In the Module Configuration Window, select the SVB Module in the Controller field and double-click the MECHA-
TROLINK cell in the Module Details field. The MECHATROLINK Transmission Definition Window will open.
 If several SVB Modules are mounted, select the SVB Module to be checked or set in the Controller field.
 To check or set the built-in SVB Module, select slot number 00 in the Controller field.

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 2.2 Basic Module
2.2.5 Built-in SVB Module

[ b ] MECHATROLINK Transmission Definition Window Details

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

1. Transmission Parameters Tab

The parameters required to use the MECHATROLINK transmission system are displayed.

<Communication Method in MECHATROLINK-II> <Communication Method in MECHATROLINK-I>

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

Item Display during Self-configuration Options and Precautions on Settings

Specifications and Functions

Select MECHATROLINK-II (32 Byte
Communication
Displays the detected communication method. Mode), MECHATROLINK-II (17 Byte
Type
Mode), or MECHATROLINK-I.
Displays whether the selected SVB Module is used as a
Master/Slave Select either Master or Slave.
Master station or Slave station.
My station
For Master station, fixed to 0.
address Displays the local station address set by using the rotary
For slave stations, set a number between 1 and
(Local station switches.
the number of slave stations.
address)
Displays the transmission speed:
Transmission MECHATROLINK-II (32-byte mode): 10 Mbps
Cannot be set.
Speed MECHATROLINK-II (17-byte mode): 10 Mbps
MECHATROLINK-I: 4 Mbps
Displays the number of transmission bytes.
Transmission The number of transmission bytes depends on the com-
munication type and the station type, Master or Slave. Cannot be set.
Byte*1
Refer to  Transmission Bytes, Communication Cycle,
Number of Retries to Slaves, Number of Slaves for details.
Can be set only for the Master station and when
Displays the communication cycle. MECHATROLINK-II is selected as the com-
The number of transmission bytes depends on the com- munication type. The value that can be set dif-
Communication
munication type and the station type, Master or Slave. fers depending on whether the SVB Module is
Cycle
Refer to  Transmission Bytes, Communication Cycle, a built-in SVB Module or optional SVB Mod-
Number of Retries to Slaves, Number of Slaves for details. ule. Refer to  Communication Cycle That Can
be Set for details.
Message Confi-
Not used for MECHATROLINK transmission. Set to 0 (default).
dence Level*2
For MECHATROLINK-II communications, displays
SigmaWin*1 whether or not to use SigmaWin+ for communication via Select either use or not use.
MECHATROLINK-II adapter such as JUSP-NP115.

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 2.2 Basic Module
2.2.5 Built-in SVB Module

(cont’d)
Item Display during Self-configuration Options and Precautions on Settings
Displays the maximum number of slave stations to which
Number of the Master can retry transmission in one transmission Only for Master station. Set a number between
Retry to Slaves*2 cycle when the Master has not received a normal 0 and 7. Cannot set for Slaves.
response from a slave.
Displays the number of slave stations that can be con-
nected.
The number of slave stations that can be connected is
Number of Slaves Cannot be set.
determined by communication type, communication
cycle, SigmaWin+ use/not use, and number of retry to
slaves.
Select either Enable or Disable.
Slave Synchro- When using a built-in SVB module as a slave station, For more information about the process, refer
nous Function select whether to synchronize with a master station. to Chapter 7 Slave CPU Synchronous Func-
tion.

* 1. Hidden for MECHATROLINK-I

* 2. Hidden for MECHATROLINK-II

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

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

<For Master Station>

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

<For Slave Stations>

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

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 2.2 Basic Module
2.2.5 Built-in SVB Module

 Communication Cycle That Can be Set

The communication cycle that can be set will differ depending on the communication type as follows.

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

 Communication Cycle can only be set for Master.

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

Specifications and Functions

2-43
 2.2 Basic Module
2.2.5 Built-in SVB Module

2. Link Assignment Tab Page

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

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

Item Description Options and Precautions on Settings

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

 Deleting a Station Assignment

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

 *****I/O and *****SERVO in Type

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

2-44
 2.2 Basic Module
2.2.5 Built-in SVB Module

3. I/O Map Tab

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

[ c ] Status Tab Page

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

Specifications and Functions

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

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

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

Reserved
Transmission error (High-speed scan)

Transmission error (Low-speed scan)

Reserved

Normal transmission

2-45
 2.2 Basic Module
2.2.5 Built-in SVB Module

( 5 ) SVB Definition
The SVB Definition file defines the motion parameters (motion fixed parameters, motion setting parameters, and
motion monitoring parameters) to control motion axes such as the SERVOPACK, inverter, and stepper.
 Refer to Appendix E Motion Parameter Details for details on motion parameters.

[ a ] Opening the SVB Definition Window

Open the SVB Definition Window by the following procedure.

1. Select MP2300S in the Controller area, then double-click the slot number cell of the SVB Module in the
Module Details field in the Module Configuration Window.

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

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

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

2-46
 2.2 Basic Module
2.2.5 Built-in SVB Module

3. Click the Fixed Parameters, Setup Parameters, or Monitor Tab to display the desired page.
 If the setting in Servo Type is switched from Rotary to Linear, or vice-versa, some of the displayed parameters
will change. Refer to 4.2.2 Motor Type and Related Alarms in the Machine Controller MP2000-series SVB/
SVB-01 Motion Module User’s manual (manual number: SIEP C880700 33) for details.

Fig. 2.1 Fixed Parameters Tab

Fig. 2.2 Setup Parameters Tab

Specifications and Functions

Fig. 2.3 SERVOPACK Parameters Tab
 Refer to the relevant SERVOPACK user’s manual for information on SERVOPACK parameters.
 Refer to Appendix B SERVOPACK Parameter Data Flow.

Fig. 2.4 Monitor Parameters Tab (read-only)

( 6 ) Precautions when Saving the Servo User Constant

To save it in the SERVOPACK parameter screen except when SERVOPACK is changed, make sure in advance to select
Edit (E) - SERVOPACK Current Value - To Setting Value (V) menus in order.

2-47
 2.2 Basic Module
2.2.6 SVR Virtual Motion Module

2.2.6 SVR Virtual Motion Module

( 1 ) Outline
The Virtual Motion Module is a software module provided as a standard feature with the MP2300S. It is not connected
to a motor, but provides a virtual axis interface.
The SVR module is configured in the same way as the MP2300S built-in SVB module with fixed parameters, setting
parameters, and monitoring parameters, and can be accessed from application programs using I/O registers.
The SVR module can be used to control up to 16 virtual axes in the high-speed scan control cycle.
Note: For information on how to use SVR motion parameters and motion commands, refer to Machine Control-
ler MP2000-series SVB/SVB-01 Motion Module User’s Manual (manual number: SIEP C880700 33).

In the MP2300S Basic Module, slot 4 in the default Module Configuration Window is for SVR.

 If the SVR is not used, MP2300S processing time can be reduced by setting the Module Type for SVR to UNDE-
FINED in the Module Configuration Window.

2-48
 2.2 Basic Module
2.2.6 SVR Virtual Motion Module

( 2 ) Example SVR Usage

The SVR is used in the following two applications.
• Program testing: Results are easily obtained without mounting a motor.
• Generating commands: If the SVR is used in applications where motion modules are required only for gen-
erating commands, such as master axis for phase control or multi-axis synchronous control, then Motion Mod-
ules on real axes are no longer required.
The following table lists application examples of the SVR.
Slot
Application Example Application Method
Number
Electronic cam or shaft operation can be achieved by using the SVR for the virtual
1 Master axis for phase control
master axis.
Multi-axis synchronous control can be achieved by controlling the SVR from a
Multi-axis synchronous con-
2 motion program and then using the ladder program to copy position commands of the
trol
SVR to other axes.
If the motion program is used to perform circular interpolation with the SVR, the axis
3 Sine curve commands
will operate with a sine curve command.

 The software limit function and machine lock function cannot be used with the SVR. The position error will always be
0.

( 3 ) System Configuration Example

The following figure shows an example system configuration using SVR.

MP2300S

CPU Virtual motion

module (SVR)
Parameter
Motion

High-speed scan
Virtual Servo axes

Specifications and Functions

High-speed scan

Ladder program SERVOPACK

YASKAWA SERVOPACK 200V

SGDS-01A12A

SW1
C
N

Motion module CHARGE 6

A/B
MECHATROLINK

L1

(Built-in SVB) L2
L1C C
Parameter

N
L2C 3
Motion

B1/
B2

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

High-speed scan
Real Servo axes

Motion program

Servomotor
Optional modules
SERVOPACK
YASKAWA SERVOPACK 200V

SGDS-01A12A

SW1
C
N

Motion module CHARGE 6

A/B
MECHATROLINK

L1

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

B1/
Motion

B2

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

High-speed scan

Servomotor

2-49
 2.2 Basic Module
2.2.6 SVR Virtual Motion Module

( 4 ) SVR Operation
[ a ] SVR Execution Timing
The SVR is processed at the beginning of the high-speed scan. SVR processing is performed in the next scan after
specifying and the processing results are reflected in the monitoring parameters.

Reference set SVR processing Reflected in monitoring

parameters

SVR H Drawing SVR H Drawing SVR H Drawing

High-speed scan

Results of commands in the H SVR processing results

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

[ b ] Processing Time
When fixed parameter 0 (Selection of Operation Modes) is set to 0 (Normal Operation Mode), services are started for
each of the 16 SVR Module virtual axes.
 The default for the Selection of Operation Modes parameter is 1 (Axis Unused).

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

Command MP2300S
NOP 35 +14 × Number of axes (μs)
POSING 35 +36 × Number of axes (μs)

 Number of axes: The number of axes (1 to 16) when Selection of Operation Modes (fixed parameter 0) is set to Nor-
mal Operation Mode (0). The formula listed above do not apply when the number of axes is 0.

 Differences from SVB Simulation Mode

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

2-50
 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

2.2.7 M-EXECUTOR Module (Motion Program Executor)

This section explains the M-EXECUTOR Module (motion program executor) function and its detail screen.

( 1 ) M-EXECUTOR Module Function Overview

The M-EXECUTOR Module is a software module that executes a motion or sequence program.
The M-EXECUTOR Module enables the following features:

• Executing a motion program without using a ladder program

Conventionally, in order to execute a motion program, you need to incorporate an MSEE command into a ladder
program. The M-EXECUTOR Module allows you to execute the motion program without incorporating the
MSEE command into the ladder program.
Note: You can incorporate a MSEE command into the ladder program as ever.

• Controlling a motion program without using a ladder program

You can map any register to the control signal of the motion program registered in the M-EXECUTOR Module.
So, without a ladder program, this allows you to directly control a motion program from a host PLC or other
device.

• Describing sequence control in motion language

As a new programming method, a sequence program has been added to the MP2300S.
A sequence program is a scan execution type program where a process is completed with one scan. It employs a
text language similar to a motion program.
You can use the sequence program as an alternative to the ladder program.
For information about commands available in the sequence program, see Machine Controller MP900/MP2000
Series Users Manual Motion Programming (manual number: SIEZ-C887-1.3).

Specifications and Functions

2-51
 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

( 2 ) M-EXECUTOR Module Specification

[ a ] Programs Capable of Registration in M-EXECUTOR
The following table shows programs capable of registration in M-EXECUTOR.

Program Type Number of Registrations

Motion Program 16*
Startup 1

Sequence Interrupt Disable

Program H Scan 16*
L Scan 16*

* Up to 16 programs in total

[ b ] Program Control Method

The following table shows the program control methods registered in M-EXECUTOR.

Item Motion Program Sequence Program

Startup: Event driven
Execution Method Sequential Execution H Scan: Scan execution
L Scan: Scan execution
1:1 correspondence between the definition number and system work
(The number of program definitions is set in the MPE720 screen.)

Definition No. System Work Number

System Work No. 1 1
No. 2 2
 
No. 16 16

Program Designation Method Direct or indirect designation Direct designation

Registered in the definition, turns start
Program Startup Method Starts up when registered in the definition
signal ON
Override Setting for Interpolation Yes No
I/O Link Definition Yes No
S Register Report Function of
Yes
Motion Program Status
Number of Parallels 1 to 8 (4 main parallels × 2 sub parallels) 1
Execute an Error Drawing when
Yes
Operation Error Occurred

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 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

( 3 ) Module Configuration Definition

(a) Details of Module Configuration Definition Window
Click MP2300S in the Controller area to display the details of the basic module functions in the Module Details area.
The cell No.5 provides a detailed definition of M-EXECUTOR.

Specifications and Functions

Items displayed in the Module Details area show the following:

Item Description Change

Sub-slot number. Double-click to open the M-EXECUTOR detailed definition
Slot Number –
screen.
A module name appears. Changing the name to UNDEFINED enables you to
Module Type √
disable M-EXECUTOR functions.
Controller Number Not used. Fixed to “–”. –
Circuit Number Not used. Fixed to “–”. –
Start register of the M-EXECUTOR I/O register (valid range: 0000-7FFFh, size:
I/O Start Register √
40h words)
End register of the M-EXECUTOR I/O register (valid range: 0000-7FFFh, size:
I/O End Register √
40h words)
Disable Input Not used. Fixed at “blank”. –
Disable Output Not used. Fixed at “blank”. –
Motion Start Register Not used. Fixed at “– – – –”. –
Motion End Register Not used. Fixed at “– – – –”. –
Details Not used. –
Status M-EXECUTOR Module status in online mode. –

√ : Available, – : Not available

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 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

 I/O Register Details

An I/O register assigned to M-EXECUTOR is used to run a motion program and sequence program, and to monitor a
sequence program.
M-EXECUTOR I/O register details are as follows:

M-EXECUTOR Input Register M-EXECUTOR Output Register

M-EXECUTOR M-EXECUTOR
Item Item
Input Register Output Register
Iwxxxx + 0 Status Owxxxx + 0 Program number
Iwxxxx + 1 Definition Spare Owxxxx + 1 Definition Control signal
Iwxxxx + 2 No.1 Spare Owxxxx + 2 No.1 Override
Iwxxxx + 3 Spare Owxxxx + 3 Spare
Iwxxxx + 4 Status Owxxxx + 4 Program number
Iwxxxx + 5 Definition Spare Owxxxx + 5 Definition Control signal
Iwxxxx + 6 No.2 Spare Owxxxx + 6 No.2 Override
Iwxxxx + 7 Spare Owxxxx + 7 Spare
 
 
 
Iwxxxx + 3C Status Owxxxx + 3C Program number
Iwxxxx + 3D Definition Spare Owxxxx + 3D Definition Control signal
Iwxxxx + 3E No.16 Spare Owxxxx + 3E No.16 Override
Iwxxxx + 3F Spare Owxxxx + 3F Spare

2-54
 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

( 4 ) Detailed Screen
This section describes the M-EXECUTOR detail screen.

 Program Definition Screen (M-EXECUTOR (list display) screen)

The program definition screen allows you to register a motion or sequence program to run.
Programs are executed according to the scan, in ascending numeric order.
A white cell can be set by the user, and a grey cell cannot be set by the user.

 

Specifications and Functions

    

 Individual display
Shows M-EXECUTOR (individual display) screen.

 Program definition number

Sets the number of program definitions registered in the M-EXECUTOR Module.
The valid range is 0-16 (8 by default).

 No.
Shows the program execution order. Processed according to the scan in ascending numeric order.

 D
Enables/disables the definition. Uncheck to enable the definition.

2-55
 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

 Execution type
Sets the program execution type.

Execution Type Program to Execute Execution Condition

---------- None None (select this to delete the definition)
Sequence Program
Power-up (during power-up, run only once)
(startup)
Sequence Program Periodical startup (run each time a low-sped scan is
Sequence program
(L scan) performed)
Sequence Program Periodical startup (run each time a high-speed scan is
(H scan) performed)
Turns ON the program operation start request of the
Motion Program Motion program control signal (runs when the program operation start
request is ON).

 Setting
Sets the a program designation.
The way to designate a program may differ according to the program.

Designa- Motion Sequence

Remarks
tion Method Program Program
Direct The way to designate the program number
Enable Enable
Designation Example: MPM001, SPM002, and so on
The way to designate the register for storing the program number
Indirect
Enable Disable Example: OW0C0C, and so on (refers to MPM001 by storing
Designation
one in OW0C0C)

 Program
Sets a program number.

Execution Type Remarks

Enter “1” and press ENT to automatically input “SPM001.” You can save
Sequence Program
an unregistered program or exit this screen without setting (blank), but in
(startup, L scan, H scan)
these cases, the program will not be executed.
Direct designation:
Enter “1” and press ENT to automatically input “MPM001.”
You can save an unregistered program or exit this screen without setting
Motion Program (blank), but in these cases, the program will not be executed.
Indirect designation:
O register of M-EXECUTOR Module is automatically set. It cannot be
set by the user.

 Execution monitor register (S Register)

When the execution type is set to motion program, the range of the execution monitor registers (S regis-
ters) is shown. For more information on the execution monitor register, refer to ( 6 ) Monitor the motion
program execution information using S register of 5.2.2 Motion Programs.

2-56
 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

 Control Register Mapping Window

The control register mapping screen sets a mapping register.
A white cell can be set by the user, and a shaded cell cannot be set by the user.

     

 M-EXECUTOR Control register

Displays an I/O register mapped to the M-EXECUTOR Module.
Controls the motion program and monitors the state, using the M-EXECUTOR control register.

Specifications and Functions

M-EXECUTOR
Usage
Control Register
Sets a program number.
Program Number
This register is used only when set to an indirect designation.
Status Monitors the program execution status.
Control Signal Controls the program.
Sets an override value when running a move command for the
Override
interpolation system.

Note: For more information on the M-EXECUTOR control register, refer to 2.2.7 ( 1 ) M-EXECUTOR Module
Function Overview.

 Allocation Disable
Enables/disables the mapping register. Uncheck to enable the definition.

 Direction
Displays the data I/O direction.

2-57
 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

 Allocation register
Data is exchanged between mapping and M-EXECUTOR control registers in real-time.
Any register can be mapped to the mapping register.

Registers that can be set as a Mapping Register

Word type I, O, M (except the motion register)

 Allocation Contact interlock

An allocation contact interlock is used to control the data exchange between the allocation register and
M-EXECUTOR control registers. When the allocation contact interlock is ON, data can be exchanged
between the allocation register and M-EXECUTOR control registers.
Any register bit can be mapped to the allocation contact interlock.

Registers that can be set as an Allocation Contact Interlock

Bit type I, O, S, M, C (except the motion register)

 Caution
An allocation contact interlock is used to interlock the operation of a motion program.
When setting an allocation register, be sure to set the allocation contact interlock.

 Status, Control Signal Details

Double-click the status and control register to display the bit detail.
You can check the signal sequence and status here.
• Status

• Control Signal

2-58
 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

 Program Execution Registration Screen (M-EXECUTOR (individual display) screen)

Click the Individual Display Button in the M-EXECUTOR (list display) dialog box to display this dialog box.
The items that can be set are similar to those in the program definition window and the control register mapping win-
dow.

 

 

 
 Program execution registry number
Selects a program execution registration No.

Specifications and Functions

 Program number
Sets a program number.

 Execution type
Sets the program execution type.

 Specification
Sets the method of designating a program.

 Allocation register
Sets a mapping register.

 Status, Control signal

Displays the status and the signal sequence of the control register.

 Allocation DISABLE
Enables/disables the allocation register. Uncheck to enable the definition.

 List
Displays the M-EXECUTOR (list display) screen.

 Delete
Deletes a definition.

2-59
 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

( 5 ) Execution Scheduling
Programs registered in M-EXECUTOR are executed on the basis of their priorities (execution type).
Programs registered in M-EXECUTOR are executed just before the ladder process.

Power ON

Sequence program (startup)

Drawing A
(startup process drawing)

Per high-speed scan interval Per low-speed scan interval

Batch output Batch output

Batch input Batch input

Sequence program (H scan) Sequence program (L scan)

Motion program
The execution order is
The execution order is determined by the M-EXECUTOR
determined by the M-EXECUTOR definition.
definition.

Drawing H Drawing L
(high-speed scan process drawing) (low-speed scan process drawing)

2-60
 2.2 Basic Module
2.2.7 M-EXECUTOR Module (Motion Program Executor)

An execution example is as follows:

• M-EXECUTOR program definition

• Execution scheduling
The following diagram shows the execution scheduling when set in the screen above.

Startup SPM001 DWG.A

High-speed scan cycle High-speed scan cycle

High-speed scan SPM003 MPM004 SPM005 DWG.H SPM003 MPM004 SPM005 DWG.H

Specifications and Functions

Low-speed scan cycle

Low-speed scan SPM002 SPM002 DWG.L

DWG.X : Ladder process

The hatched area indicates that the
program is being interrupted by a
higher priority process.

2-61
 2.3 Option Module
2.3.1 Option Module Overview List

2.3 Option Module

This section provides an option module overview. For more information on its specifications, functions, connections,
settings, etc., refer to the following documents separately.

2.3.1 Option Module Overview List

Option
Classification Module Overview Reference Manual
Module Name
The SVB-01 Module is a motion module equipped with a MECHA-
TROLINK supporting interface.
The adoption of MECHATROLINK enables reduced wiring and multi-
axis control. In addition, the support for MECHATROLINK-II standard
allows you to control position, speed, torque, and phase, realizing precise
synchronous control. Also, complex mechanical operation can be
achieved by changing the control mode during axis operation.
 Features Machine Controller MP2000
SVB-01 Series SVB/SVB-01 Motion Mod-
• Up to 21 slave stations per module are connectable (up to 16 servo
Module ule User’s Manual (manual num-
axes are controllable)
ber: SIEP C880700 33)
• Because synchronization between modules is enabled, adaptable to
interpolation and synchronous control between modules
• With the SVB-01 Module as a slave, connectable to an upper control-
ler with the MECHATROLINK communication function
• Self-configuration function allows you to automatically map slave
devices connected to MECHATROLINK.
• SERVOPACK parameters are manageable over the network
The SVC-01 Module is a motion module equipped with a MECHA-
TROLINK-III supporting interface.
The adoption of MECHATROLINK enables reduced wiring and multi-
axis control. In addition, the support for MECHATROLINK-III standard
allows you to control position, speed, torque, and phase, realizing precise
synchronous control. Also, complex mechanical operation can be
achieved by changing the control mode during axis operation.
 Features
Machine Controller MP2000
Controls the same number of axes in a shorter cycle than the cycle when
SVC-01 Series SVC-01 Motion Module
Motion using MECHATROLINK-II.
Module User’s Manual (manual number:
Module • Up to 21 slave stations per module are connectable (up to 16 servo
SIEP C880700 41)
axes are controllable)
• Because synchronization between modules is enabled, adaptable to
interpolation and synchronous control between modules
• With the SVC-01 Module as a slave, connectable to an upper control-
ler with the MECHATROLINK-III communication function
• Self-configuration function allows you to automatically map slave
devices connected to MECHATROLINK-III.
• SERVOPACK parameters are manageable over the network
The SVA-01 Module is a motion control module with analog output.
Capable of controlling a two-axes servo per module or an inverter.
The module has two connectors (CN1, CN2) for connection to a SER-
VOPACK and an external I/O. Each connector is equipped with an ana-
logue output to command speed and torque, an analogue input to monitor
feedback speed and torque, a pulse input phase-A, B, and C (5V differen- Machine Controller MP2000
SVA-01 tial), and a general-purpose digital input/output. Series Motion Module SVA-01
Module The control cycle is fixed at 500 μs, so precise control is enabled regard- User’s Manual (manual number:
less of high-speed scan cycles. SIEP C880700 32)
 Features
• Two axes servo module with analogue output
• Each axis can independently perform position control, speed com-
mand output, torque command output, and phase control functions.
• Self-configuration function allows you to automatically map modules.
The PO-01 Module is a motion module with pulse output and a four-axes Machine Controller MP2000
PO-01 interface. Applicable to connection to a stepping motor or SERVO- Series Pulse Output Motion Mod-
Module PACK. ule PO-01 User’s Manual (manual
number: SIEP C880700 28)

2-62
 2.3 Option Module
2.3.1 Option Module Overview List

(cont’d)
Option
Classification Module Overview Reference Manual
Module Name
Digital I/O and pulse counter functions.
As a digital I/O function, equipped with 16 digital inputs (DI), 16 digital
LIO-01/ outputs (DO) (LIO-01: sink output, LIO-02: source output). As a pulse
LIO-02 counter function, one pulse input (PI). As for when to input/output for
Module digital I/O and pulse counter functions, input/output for each MP2200
high-speed (High)/ low-speed (Low) scan is carried out at a constant
cycle. Machine Controller MP2300S
LIO-04/ Basic Module User’s Manual
As a digital I/O function, equipped with 32 digital inputs (DI), and 32 (manual number:
LIO-05
digital outputs (DO) (LIO-04: sink output, LIO-05: source output). SIEP C880700 03)
Module
As a digital I/O function, equipped with 8 digital inputs (DI), 8 digital
Input/Out- LIO-06
outputs (DO), one analog input channel, one analog output channel, and
put Module Module
one pulse counter input channel.
DO-01 As a digital output function, equipped with 64 digital outputs (DO) (sink
Module output).
8 channel analogue input module. For the input, capable of selecting Machine Controller MP2000
AI-01 Module
from three options: -10V to +10V, 0V to +10V, or 0 to 20 mA. Series I/O Module User’s Manual
AO-01 4 channel analogue output module. For the output, select one from two (manual number:
Module options: -10V to +10V, or 0V to +10V. SIEP C880700 34)
Machine Controller MP2000
CNTR-01 2 channel reversible counter module. 5 V differential/ 12 V input is Series Counter Module CNTR-01
Module optional, and phase-A or -B/ sign/ add-subtract method is optional. User’s Manual (manual number:
SIEP C880700 27)
Equipped with serial interface (RS-232C) and Ethernet interface. Allows
218IF-01
you to connect to a personal computer, HMI equipment, or controller by
Module
other makers via PORT or 10Base-T connector.
Equipped with serial interface (RS-232C) and Ethernet interface. Allows
218IF-02
you to connect to a personal computer, HMI equipment, or controller by

Specifications and Functions

Module
other makers via PORT or 10Base-T connector.
Equipped with serial interfaces (RS-232C and RS422/485). Allows you
217IF-01
to connect to a personal computer, HMI equipment, or controller by other
Module
makers via PORT or RS422/485 connector.
Equipped with serial interface (RS-232C) and DeviceNet interface.
260IF-01 Allows you to connect to a controller by other makers via DeviceNet Machine Controller MP2000
Module connector. Also, allows you to connect to a personal computer or HMI Series Communication Module
equipment by other makers via the PORT connector. User’s Manual (manual number:
Equipped with serial interface (RS-232C) and PROFIBUS interface. SIEP C880700 04)
261IF-01 Allows you to connect to a controller by other makers via the PROFI-
Communi- Module BUS connector. Also, allows you to connect to a personal computer or
cation HMI equipment by other makers via the PORT connector.
Module MPLINK and CP-215 specifications.
MPLINK specification is equipped with one line of our original real-time
core network interface MPLINK transmission and a serial interface (RS-
215AIF-01
232C).
Module
CP-215 specification is equipped with one line of our original real-time
core network interface CP-215 transmission and a serial interface (RS-
232C).
Machine Controller MP2000
Equipped with an FL-net interface. Allows you to connect to a FA con- Series 262IF-01 FL-net Commu-
262IF-01
troller, a personal computer, or HMI equipment via 100Base-TX/10Base- nication Module User's Manual
Module
T connector. (manual number:
SIEP C880700 36)
Machine Controller MP2000
Equipped with an EtherNet/IP interface. Allows you to connect a per- Series 263IF-01 EtherNet/IP
263IF-01
sonal computer or equipment that supports EtherNet/IP communication Communication Module User's
Module
protocol. Manual (manual number:
SIEP C880700 39)

2-63
 2.4 External Appearance
2.4.1 Basic Module

2.4 External Appearance

The external appearance of the basic module is as follows:

2.4.1 Basic Module

64 (42) 108

036

Model nameplate

DIN rail (35mm width)

130

(*)
Relay connector (2P)
734-YE102 Terminating resistor
for MECHATROLINK
(attachment)

(*)
Power connector (3P) (10: when DIN
721-203/026-000 (14: when released) rail is attached)
(9)

Units: mm

* The following cable-side connectors are attached to the power and relay connectors.
 Power connector: 721-203 / 026-000
 Relay connector: 734-YE102
Note: Attachment
 Handle for power connector (model: 231-131)
 Handle for relay connector (model: 734-230)
* These handles are used when connecting a cable to the cable-side connector.
 Terminating resistor for MECHATROLINK (JEPMC-W6022-E)

2-64
 2.4 External Appearance
2.4.2 Basic Module with Metal Fittings

2.4.2 Basic Module with Metal Fittings

88 (42) 111.5
6 76 6 2 x φ5 holes
108 3.5
4.5

036
121

130

Specifications and Functions

5
4.5

Approx. 8
when attached Units: mm

2-65
 3
Mounting and Wiring

This chapter explains how to handle MP2300S and the connection methods for each module.

3.1 Mounting MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2

3.1.1 Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 MP2300S Mount Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.1.3 Space Required for Mounting MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.1.4 Replacing and Adding Optional Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9

3.2 Basic Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12

3.2.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.2 Power Supply Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.2.3 MECHATROLINK Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.2.4 Ethernet Connector Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.2.5 RLY OUT Connector Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
3.2.6 System Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24

Mounting and Wiring

3-1
 3.1 Mounting MP2300S
3.1.1 Method

3.1 Mounting MP2300S

3.1.1 Method
There are two methods for mounting MP2300S.
• Using DIN rail (standard)
• Using screws

( 1 ) DIN Rail Mounting

[ a ] DIN Rails and Spacer
Several types of DIN rails are available: with 7-mm to 15-mm gap from the mounting base as shown in the following
diagram. If mounting a MP2300S using DIN rail with 10 mm gap, install a spacer on the rear of the MP2300S near the
bottom to protect the MP2300S from vibration and shock.

Gap from mounting base: 7.0 mm to 15.0 mm

For a 10-mm gap

DIN rail
Mounting base

DIN rail

Spacer

3-2
 3.1 Mounting MP2300S
3.1.1 Method

[ b ] Procedure for Mounting to DIN Rail

Use the following procedure to attach the DIN rail mounting parts to the MP2300S and then mount the MP2300S to the
DIN rail.

1. Insert the DIN rails to the dotted line in the two slots on the rear of the MP2300S as shown in the fol-
lowing figure.

MP2300S Rear Side

DIN rail
mounting bracket

Insert the parts in these positions

DIN rail mounting

bracket
(inserted position)

 The following figure shows the front and back of a mounting clip. Insert each clip so that its front faces outward.

Front Back

Mounting and Wiring

2. Pull the DIN rail mounting clips down to release them.
MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2

5612
572
+06 59
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/10
6'56
01
Option

59
' +0+6 
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01
$#66'4;

M-I/II

4.;
176 'VJGTPGV
.+0-

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8
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0V
/

㪧㪦㪮㪜㪩

Clip

3-3
 3.1 Mounting MP2300S
3.1.1 Method

 Fixing a DIN Rail

Make sure to fix a DIN rail at 300 mm or less pitch as shown in the figure below.

300 mm or less 300 mm or less

3. Hook the MP2300S to the top of the DIN rail (a), and then push the MP2300S towards the mounting
base to secure it in place (b).

a)

b)

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

MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2

5612
572
+06 59
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/10
6'56
01
Option

59
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01
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M-I/II

4.;
176 'VJGTPGV
.+0-

&%
8
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/

㪧㪦㪮㪜㪩

Clip

5. Place end plates on both sides of the MP2300S to secure it to the DIN rail.
MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6

DIN rail 64: +2

5612
572
+06 59
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/10
6'56
01
Option

59
' +0+6 
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M-I/II

4.;
176 'VJGTPGV
.+0-

&%
End plate
8
&%
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/

㪧㪦㪮㪜㪩

This completes the installation procedure.

3-4
 3.1 Mounting MP2300S
3.1.1 Method

( 2 ) Screwed Method
Use a panel mounting clamp (optional) by the following procedure to mount MP2300S on the panel.

1. Release DIN fixing locks (two) at the center of the panel mounting clamp.

Two convex clamps

Two DIN fixing

lock positions

When locked
When released
Attachment for mounting panel

2. Insert two convex portions at the top of the panel mounting clamp into holes of the MP2300S case.

Mounting and Wiring

3. Push the clamp as indicated by an arrow above onto the MP2300S case and use DIN fixing locks to fix
MP2300S.

3-5
 3.1 Mounting MP2300S
3.1.1 Method

4. Push the MP2300S mounted clamp onto the mounting plate as shown in the figure below, and use four
mounting screws to firmly secure the clamp.

MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2

5612
572
+06 59
%0() 
/10
6'56
01

Option
59
' +0+6 
'6'56
01
$#66'4;

M-I/II

4.;
176 'VJGTPGV
.+0-

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8
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/

㪧㪦㪮㪜㪩

Mounting screw
(M4 plus)
Use the screwdriver with this portion
of a driver not less than 10 cm.

Note: Vertically mount it on the wall as shown in the figure above.

3-6
 3.1 Mounting MP2300S
3.1.2 MP2300S Mount Direction

3.1.2 MP2300S Mount Direction

Be sure to mount the MP2300S using DIN rail or metal fittings.

MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2

5612
572
+06 59
%0() 
/10
6'56
01

Option
59

View from front,
' +0+6
'6'56
01
$#66'4;

when attached
M-I/II

4.;
176 'VJGTPGV
.+0-

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8
&%
0V
/

㪧㪦㪮㪜㪩

Mounting and Wiring

3-7
 3.1 Mounting MP2300S
3.1.3 Space Required for Mounting MP2300S

3.1.3 Space Required for Mounting MP2300S

Install MP2300S so that enough space is left around it as shown in the following figure:

 Mount condition
• Vertical direction: 40 mm or more
• Horizontal direction: 10 mm or more
Note: However, ambient temperature should be 55°C or less.

Electronic product,
Wall,
Cable,
Duct, etc.

40 mm or more

/25
Electronic product, Electronic product,
Wall, Wall,
Cable, Cable,
Duct, etc. Duct, etc.

10 mm or more 10 mm or more

40 mm or more

Electronic product,
Wall,
Cable,
Duct, etc.

3-8
 3.1 Mounting MP2300S
3.1.4 Replacing and Adding Optional Modules

3.1.4 Replacing and Adding Optional Modules

Use the following procedures to replace and add Optional Modules.

( 1 ) Preparations

1. Create a backup data file.

Use the MPE720 to save the MP2300S program on a computer (right-click the PLC, and select Transfer - All
Files - From Controller to MPE720.)

2. Remove the MP2300S.

Turn OFF the power supply and disconnect all cables from the MP2300S. Then remove the MP2300S from the
panel or rack and place on a workbench or other area with sufficient space.

( 2 ) Removing Optional Modules

1. Remove the battery cover.

Pull the notch on the side of the MP2300S towards you to remove the battery cover.

2. Remove the panel of Optional Module.

Mounting and Wiring

Insert the protruding part of the battery cover into the slot on top of the panel of Optional Module to unhook, as
shown in the diagram. Face the front of the battery cover towards you for this operation.
 Remove the front cover (optional) from the empty slot before mounting an Optional Module in an empty slot.

Unhook the bottom in the same way.

3-9
 3.1 Mounting MP2300S
3.1.4 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 Module will
be visible from the gap in the cover. Hook the round knob on the battery cover, shown in the diagram, 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.

Turn
Fulcrum

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 parts on the Module.

Put the removed Module into the bag that was supplied with and store the Module in this bag.

3-10
 3.1 Mounting MP2300S
3.1.4 Replacing and Adding Optional Modules

( 3 ) Installing Optional Modules

1. Insert Optional Modules.

Hold the top and bottom of the Module to be installed, line up the Module on the left-side guide rail inside the
Option Slot, and then insert it straight.
 The FG bar on the inside bottom of the Unit Case may be damaged if the Module is not inserted straight.

Guide
rail

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 Mod-
ule and push hard until the Optional Module has been inserted into the mounting base connectors. The front face
of the Optional Module and the hook will be aligned when the Optional Module has been installed properly.

3. Install the panel of the Optional Module.

Place the hole on the bottom of the panel of the Optional Module onto the hook on the bottom of the MP2300S.
Next, hook the hole at the top of the panel of the Optional Module onto the hook at the top of the MP2300S.

Mounting and Wiring

This completes the Optional Module mounting procedure.

Be sure to attach the optional cover (model: JEPMC-OP2300) on the empty slot.

3-11
 3.2 Basic Module Connections
3.2.1 Connectors

3.2 Basic Module Connections

3.2.1 Connectors
The following diagram shows the connectors for the Basic Module.
MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2

5612
572
+06 59
%0() 
/10
6'56
01

MECHATROLINK connector

Option
59
' +0+6 
'6'56
01
$#66'4;
RLY OUT connector
M-I/II

Ethernet connector
4.;
176 'VJGTPGV
.+0-
Power supply connector
&%
8
&%
0V
/

㪧㪦㪮㪜㪩

3-12
 3.2 Basic Module Connections
3.2.2 Power Supply Connector

3.2.2 Power Supply Connector

( 1 ) Specifications, Pin Arrangement, and Connection Procedure
Supply a 24-VDC to the MP2300S. Connect the power supply connector as shown in the diagram below.

Connector No. of Connector Model

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

Signal
Symbol Description
DC Name
24 V
24 VDC 24 V 24 VDC input
DC
0V 0 VDC 0V 0 V input

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

MP2300S

721-863
721-203/026

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

POWER

Mounting and Wiring

FG FG

 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.

3-13
 3.2 Basic Module Connections
3.2.3 MECHATROLINK Connectors

( 2 ) Connection Procedure
The power supply terminal has a removable connector. Use the following procedure to wire the terminal to the power
supply connector. Use 0.08 mm2 to 2.6 mm2 (AWG28 to AWG13) twisted-pair cable.

1. Strip approx. 6.5 mm the end of the wire.

8 to 9 mm

2. Open the wire insert opening on the terminal with the tool shown in Fig. A or Fig. B.

Fig. A (with lever) Fig. B (with screwdriver)

3. Insert the wire into the opening and then close the opening by releasing the lever or removing the
screwdriver.

3.2.3 MECHATROLINK Connectors

MECHATROLINK connector is used to connect the MP2300S and the SERVOPACKs and distributed I/O via
MECHATROLINK cables.

( 1 ) Specifications and Pin Arrangement

Connector No. of Connector Model

Name
Name Pins Module Cable Manufacturer
MECHATROLINK Tyco Electronics
M-I/II 8 1903815-1 2040305-1
Connector Japan G.K.

No. Signal Name Description No. Signal Name Description

A1 – – B1 – –
M-I/II A2 SRD− Signal − B2 SRD− Signal −
A3 SRD+ Signal + B3 SRD+ Signal +
A4 SLD Shield B4 SLD Shield

3-14
 3.2 Basic Module Connections
3.2.3 MECHATROLINK Connectors

( 2 ) Cables
Name and Specification Model Number Length
JEPMC-W6002-A5-E 0.5 m
JEPMC-W6002-01-E 1m
MECHATROLINK Cable JEPMC-W6002-03-E 3m
MECHATROLINK Connector – MECHATROLINK Connector
JEPMC-W6002-05-E 5m
JEPMC-W6002-10-E 10 m
JEPMC-W6002-20-E 20 m
JEPMC-W6002-30-E 30 m
JEPMC-W6002-40-E 40 m
JEPMC-W6002-50-E 50 m
JEPMC-W6003-A5-E 0.5 m
JEPMC-W6003-01-E 1m
MECHATROLINK Cable
MECHATROLINK Connector – MECHATROLINK Connector JEPMC-W6003-03-E 3m
(with Ferrite Core) JEPMC-W6003-05-E 5m
JEPMC-W6003-10-E 10 m
JEPMC-W6003-20-E 20 m
JEPMC-W6003-30-E 30 m
JEPMC-W6003-40-E 40 m
JEPMC-W6003-50-E 50 m
Terminator

JEPMC-W6022-E −

Mounting and Wiring

3-15
 3.2 Basic Module Connections
3.2.3 MECHATROLINK Connectors

( 3 ) Cable Connections between the MP2300S and I/O Units and the MP2300S and SERVO-
PACKs
Use the MECHATROLINK cable JEPMC-W6002--E or JEPMC-W6003--E with a ferrite core for connection
between the MP2300S and I/O units or SERVOPACKs.
MP2300S/SVB01 Module I/O Unit or SERVOPACK
Pin number
Signal Name Signal Name

(NC) 1 1 (NC)

/DATA 2 2 /DATA

DATA 3 3 DATA

SH 4 4 SH

Shield Shell Shell Shield

Standard model: JEPMC-W6002--E and JEPMC-W6003--E

3-16
 3.2 Basic Module Connections
3.2.3 MECHATROLINK Connectors

( 4 ) Connection Example between MP2300S, SERVOPACK, and IO2310

MP2300S
<$6.$:$ 5'< 581
$/0 (55
07; %$7
75; ,3

6723
YASKAWA
683 JEPMC-IO2310
,17 6:
&1)* 
021
7(67
12
L1 CN1
IN1 OUT1 IN2 OUT2

6: A1 B1 A1 B1 A1 B1 A1 B1
(,1,7 
(7(67
12
%$77(5<

Terminator 5/<
287 (WKHUQHW

(terminating resistance: /,1.

'&
JEPMC-W6022-E) 9
'&
0V
0

㻼㻻㼃㻱㻾

L2

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

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

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

L1 L1 L1
L2 L2 L2 Terminator:
L1C C L1C C L1C C

L2C
N
3 L2C
N
3 L2C
N
3 JEPMC-W6022-E
B1/ B1/ B1/
B2 B2 B2

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

 Use MECHATROLINK cables between modules.

 Use under the conditions that L1 + L2 + L3 + . . . + Ln ≤ 50 m

Mounting and Wiring

3-17
 3.2 Basic Module Connections
3.2.4 Ethernet Connector Details

3.2.4 Ethernet Connector Details

Connects to a personal computer or HMI device by Ethernet (100Base-TX /10Base-T).

( 1 ) Ethernet Connector Specification and Pin Arrangement/ Indicator Light

The following table provides the Ethernet connector specifications.

Connector Number Connector Model

Name
Name of Pins Module Side Cable Side Manufacturer
Ethernet Ethernet 8 RJ-45 CAT5 Socket RJ-45 CAT5 Plug Pulse Engineering, Inc.

The following table provides Ethernet connector pin arrangement/ indicator light details.

Pin Number Signal Name Description

1 TXD+ Transmitted data + side
2 TXD- Transmitted data – side
'VJGTPGV
.+0-
3 RXD+ Received data + side
4 – –
5 – –
/ 6 RXD- Received data – side
7 – –
8 – –

Display Name Display Color Description

Lit: Connect
LINK Yellow
Unlit: Unconnected
Lit: Connected at 100Mbps, or automatically
100M Green negotiating
Unlit: Connected at 10Mbps

( 2 ) Ethernet Cable
For the Ethernet cable, use a twisted pair cable with RJ-45 connector.

Ethernet Type Category Remarks

10Base-T Category 3 or more • When connecting to remote equipment through a hub: Straight cable
100Base-TX Category 5 or more • When connecting to remote equipment without using a hub: Cross cable

3-18
 3.2 Basic Module Connections
3.2.4 Ethernet Connector Details

( 3 ) Ethernet Connection Example

The following are examples of Ethernet network connections via 10Base-TX cable:

 Connection Example 1
When using a repeater HUB:

MP2300S
MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2

5612
572
+06 59
%0() 
/10
6'56
01
Option

59
' +0+6 
'6'56
01
$#66'4;

M-I/II

4.;
176 'VJGTPGV
.+0-

&%
8 Station
&%
0V
/

㪧㪦㪮㪜㪩 Station
10Base-TX
(Straight cable)
Up to 100m
Up to 100m Up to 100m

HUB HUB
Up to 100m

Up to 100m Up to 100m When connecting to a HUB without using the

auto negotiation function, set the HUB side to
half-duplex mode.
Station Station

Specification

When Connecting to a Re- When Connecting to a

Item
peater HUB Switching HUB

Mounting and Wiring

Cable Length between Node-HUB 100 m or less 100 m or less
Cable Length between HUBs 100 m or less 100 m or less
Number of HUBs between Nodes Up to four Unlimited

 Connection Example 2

MP2300S
MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2

5612
572
+06 59
%0() 
/10
6'56
01
Option

59
' +0+6 
'6'56
01
$#66'4;

M-I/II

4.;
176 'VJGTPGV

10Base-TX (cross cable, up to 100 m)

.+0-

&%
8
&%
0V
/

㪧㪦㪮㪜㪩

3-19
 3.2 Basic Module Connections
3.2.4 Ethernet Connector Details

The following are examples of Ethernet network connections via 100Base-TX cable:

 Connection Example 1
When using a repeater HUB:

MP2300S
MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2

5612
572
+06 59
%0() 
/10
6'56
01

Option
59
' +0+6 
'6'56
01
$#66'4;

M-I/II

4.;
176 'VJGTPGV
.+0-

&%
8
&%
0V Station Station
/

㪧㪦㪮㪜㪩

100Base-TX
(straight cable)
Up to 100 m Up to 100 m Up to 100 m

HUB Up to 5 m HUB

When connecting to a HUB without using

Up to 100 m Up to 100 m the auto negotiation function, set the HUB
side to half-duplex mode.

MPE720 Station

Specification

When Connecting to a When Connecting to a

Item
Repeater HUB Switching HUB
Cable Length between Node-HUB 100 m or less 100 m or less
Cable Length between HUBs 5 m or less 100 m or less
Number of HUBs between Nodes Up to two Unlimited

 Connection Example 2

MP2300S
MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2

5612
572
+06 59
%0() 
/10
6'56
01
Option

59
' +0+6 
'6'56
01
$#66'4;

M-I/II

4.;
176 'VJGTPGV

&%
.+0-
100Base-TX (cross cable)
8
&%
0V
/

㪧㪦㪮㪜㪩
Up to 100 m

MPE720

3-20
 3.2 Basic Module Connections
3.2.4 Ethernet Connector Details

 Caution
High frequency wave noise from other devices in the installation environment may cause error in communications using 100
Base-TX or MECHATROLINK connections. When constructing a system, use MP2300S protective measures to avoid the
influence of high frequency wave noise as follows:
1 Wiring
Wire Ethernet or MECHATROLINK cables so that they are well-separated from other cable systems such as the main circuit
or power lines.
2 Communication system (100Base-TX)
• Communicate data to a remote device through TCP/IP communication.
• If necessary, increase the number of communication retries.
3 Attach a ferrite core.
Attach a ferrite core in the manner described below:
Ethernet : Attach it to the communication port side and the external equipment side of the MP2300S main
unit.
MECHATROLINK : Attach it only to the communication port side of the MP2300S main unit.
(We will provide a standard cable with core. Model: JEPMC-W6003--E)

MP2300S
MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2
SERVOPACK 5612
572
+06 59
YASKAWA SERVOPACK 200V %0() 
/10
SGDS-01A12A 6'56
01

SW1
Option

C
N
CHARGE 6
A/B
Core ' +0+6
'6'56
01
59

$#66'4;
L1
L2
L1C C
N
M-I/II Other station
L2C 3

B1/ 4.;
176 'VJGTPGV
B2 .+0-

C &%
U 8
N
1 &%
V 0V
W /
C
㪧㪦㪮㪜㪩
N
2
C
N
4

100Base-TX Core
(straight cable)

Mounting and Wiring

Core

HUB

Servomotor

MPE720

Note: Recommended ferrite core

Model: Manufacturer
E04SR301334 Seiwa Electric Mfg. Co., Ltd

3-21
 3.2 Basic Module Connections
3.2.5 RLY OUT Connector Details

3.2.5 RLY OUT Connector Details

The RLY OUT connector is a terminal for outputting state and NO contact relay output. A circuit between terminals is
short-circuited when RDY LED is lit, and opens when it is unlit.
Note: A state when RDY LED is lit indicates that a controller is operating normally. It does not indicate that an
user program is running.

( 1 ) RLY OUT Connector Specifications and Pin Arrangement

The following table provides the RLY OUT connector specifications.

Connector Number Connector Model

Name
Name of Pins Module Side Cable Side Manufacturer
RLY OUT RLY OUT 2 734-162 734-YE102 Wago Corporation

The following table shows the RLY OUT connector pin arrangement.

Pin Number Signal Name Description

RLY
OUT
1 OUT • Operating normally: Short-circuit
2 OUT • Error occurred: Opened

The following table provides the RLY OUT connector contact ratings.

Input Voltage Current Capacity

0.5 A (resistance load)
24 VDC
0.25 A (induced load)
0.4 A (resistance load)
125 VAC
0.2 A (induced load)

( 2 ) RLY OUT Connection Cable

For the RLY OUT connection cable, use a cable of line size AWG28 to AWG14 (0.08 mm2 to 1.5 mm2), maximum
sheath diameter φ3.4 mm.
The manufacturing procedures for the RLY OUT connection cable and the 24-VDC power supply cable are similar.

3-22
 3.2 Basic Module Connections
3.2.5 RLY OUT Connector Details

( 3 ) RLY OUT Connection Example

The following figure shows how to connect the RLY OUT connector:

MP2300S

RLY
RLY OUT output OUT
Power supply

Operating normally: ON
Error occurred: OFF
24 VDC
24-VDC
power supply 0 VDC

POWER

Ground resistance: 100 Ω or less

Mounting and Wiring

3-23
 3.2 Basic Module Connections
3.2.6 System Connection Example

3.2.6 System Connection Example

The following diagram shows a connection example of a system using the MP2300S.
The following diagram shows a 200-VAC power supply example.
Note: elect the SERVOPACK, 24-VDC power supply to use in accordance with the input power supply specifi-
cation.
200-VAC power supply
R S T
1MCCB

Noise filter Shut OFF the Panel Programming device

Turn ON the
control power control power
1MC

1MC SA *1
Turn ON the Shut OFF the Emergency
servo power servo power stop 1MC 2MC

2MC SA *1

HUB

MP2300S
;#5-#9# 4&; 470
#./ '44
I/O Module
Terminating resistance /6:

64:
$#6
+2

5612
572
+06 59
%0() 
/10
6'56
01

SA
*1
59
' +0+6 

*2 $#66'4;
'6'56
01

RA1 M-I/II

㧝MC 4.;
176 'VJGTPGV
.+0-

24-VDC &%
8
power &%
0V
supply 1 /

㪧㪦㪮㪜㪩

RA1
Ground resistance:
RA1 Load 100 Ω or less
equipment

24-VDC 㧗24 V Machine

power 㧜24 V
supply 2 I/O
r

t
Terminating
SGDS SGDS
‫ޓޓޓ‬
SGDS
‫ޓޓޓ‬
SGDS
‫ޓޓޓ‬ resistor
C C C C
N N N N
6 6 6 6

L1 L1 L1 L1
L2 L2 L2 L2
L1C L1C L1C L1C
L2C C L2C C L2C C L2C C
N N N N
B1/ 3 B1/ 3 B1/ 3 B1/ 3
B2 B2 B2 B2
㧙 㧙 㧙 㧙
C C C C
U N U N U N U N
V 1 V 1 V 1 V 1
W W W W

M PG M PG M PG M PG
㧞MC
R
S
T
*1 SA: Surge absorber (for switching surge)
*2 RAI: CPU RUN output

3-24
 4
System Start Up and Easy Programming

This chapter explains how to start up a model system using the programming tool MPE720 Ver.6.
Note that the procedure for designing a mechanical system has been omitted here.

4.1 System Startup Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2

4.2 Preparation (step 1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3
4.2.1 Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.2.2 Self Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.3 Test Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.3 Programming (step 2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9

4.3.1 Programming Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

System Start Up and Easy Programming

4.4 Executing Motion (step 3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4.1 Registering Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4.2 Starting a Motion Program Using the Operation Control Panel - - - - - - - - - - - - - - - - - 4-12

4.5 Starting Motion Program from an External Signal - - - - - - - - - - - - - - - - - - 4-13

4.5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.2 Required Equipment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.3 Creation Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15

4-1
 4.1 System Startup Overview

4.1 System Startup Overview

This chapter, starting from section 4.2, provides detailed information on each step in the start-up procedure for a model
system.
The examples used explain how to run and check a program without external signals.
The simple motion program which you create has three lines only, moving and stopping 150,000 pulses from the cur-
rent position.

INC; Specify an incremental mode

MOV [A1]150000, [B1]150000;Position two-axes 150,000 pulses
END;

Preparation (step 1)
Wiring, Programming Executing motion
self-configuration, (step 2) (step 3)
and test operation

4-2
 4.2 Preparation (step 1)
4.2.1 Wiring

4.2 Preparation (step 1)

This section explains the steps of “wiring,” “self-configuration,” and “test operation” for starting up the model system.

4.2.1 Wiring
We use the following layout model to explain the startup of the model system. Prepare each device listed on the next
page and connect them as shown in the figure below.

( 1 ) System Layout Model

24-VDC
MECHATROLINK cable
power supply
SERVOPACK SERVOPACK
MP2300S YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V
4&; 470
;#5-#9# SGDS-A5F12A SGDS-A5F12A
#./
/6:
'44

$#6
Terminator
64: +2
SW1
C MECHATROLINK SW1
C (terminating resistor)
N N
5612
572
+06 59
CHARGE 6
A/B
cable CHARGE 6
A/B
%0() 
/10
6'56
01 L1 L1
L2 L2
Option

L1C C L1C C
N N
59 L2C 3 L2C 3
' +0+6 
'6'56
$#66'4;
01 B1/ B1/
B2 B2
M-I/II
C C
U N U N
4.; 1 1
176 'VJGTPGV V V
.+0-
W W
&%
8 C C
N N
&% 2 2
0V
C C
/ N N
4 4
㪧㪦㪮㪜㪩

Controller

100 VAC

System Start Up and Easy Programming

PP cable
Encoder Motor
cable cable
HUB

Servomotor Servomotor

Personal computer (equipped with MPE720)

4-3
 4.2 Preparation (step 1)
4.2.1 Wiring

[ a ] Required Equipment

Product Name Model Q’ty

MP2300S JEPMC-MP2300S-E 1
MECHATROLINK cable (0.5m) JEPMC-W6002-A5-E 2
Terminator (terminating resistor) JEPMC-W6022-E 2
Σ-III SERVOPACK SGDS-A5F12A 2
Σ-III servomotor SGMAS-A5A2A21 2
Motor cable (3m) JZSP-CSM01-03 2
Encoder cable (3m) JZSP-CSP05-03 2
HUB (commercial product) LSW-TX-8EP 1
MPE720 Ver.6 CPMC-MPE770 1
LAN cable (for Ethernet connection) Commercial straight cable 2
Personal computer (main unit) Commercial product 1
24-VDC Current capacity of power supply 2A or more 1

 Caution
• Install MPE720 Ver.6 in the personal computer before starting step 1.
For information on its installation, refer to Engineering Tool for MP2000 series Machine Controller MPE720 Version 6 Users
Manual (manual number: SIEP C880700 30).
• Set the PC Ethernet port in advance. For information on the setup, refer to Appendix F Simple Connection Function of the
Engineering Tool.
• The SERVOPACK station number (SW1) is set to 1 and 2.
• In a 1:1 connection without HUB, use a cross cable as a LAN cable.

4-4
 4.2 Preparation (step 1)
4.2.2 Self Configuration

4.2.2 Self Configuration

Run the self configuration to automatically recognize devices connected to the MECHATROLINK connector.
Steps for self configuration are as follows.

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

2. Turn OFF the MP2300S 24-V power supply.

3. Turn ON “INIT” and “CONFIG” of DIP switch (SW1) on the MP2300S main unit.

4. Turn ON the 24-VDC power supply on the MP2300S main unit, and confirm the LED display changes
as follows:

MP2300S RDY RUN RDY ‫ ڏ‬RUN RDY RUN

;#5-#9# 4&; 470
ALM ERR ALM ERR ALM ERR
#./ '44
MTX BAT MTX BAT MTX BAT
/6: $#6
64: +2
TRX IP TRX IP TRX IP
5612
572 :Lit :Not lit ‫ڏ‬:Blinking
+06 59
%0() 
/10
6'56
01

STOP
SUP
Option

59 INIT
' +0+6
'6'56

CNFG
01
$#66'4;
MON
TEST
M-I/II SW1

OFF ON
4.;

System Start Up and Easy Programming

176 'VJGTPGV
.+0-
24VDC
&%
8
&%
0V
/

㪧㪦㪮㪜㪩

5. Self configuration is complete, and MECHATROLINK slave device information has been written to a
definition information file.

6. Turn OFF “INIT” and “CONFIG” of DIP switch (SW1) on the MP2300S main unit.

4-5
 4.2 Preparation (step 1)
4.2.3 Test Operation

4.2.3 Test Operation

Confirm that the machine controller can command axis servo ON/OFF and jog operation.

( 1 ) Starting and Connecting MPE720 Ver.6

Launch MPE720 Ver.6 and click “1:Ethernet(LP)192.168.1.1” to connect to the controller.
For more information on the communications settings, refer to Appendix F Simple Connection Function of the Engi-
neering Tool.

When the connection is complete, the display will change from offline to online.

( 2 ) Operating Manually in the Test Operation Screen

1. Click System in the subwindow and double-click Axis Configuration - Test Run to display a warning
dialog a box for the test run. Click the Accept Button.

4-6
 4.2 Preparation (step 1)
4.2.3 Test Operation

2. Axis Selection and Servo ON

Set an axis number in the Axis Window and click the Enable (Servo ON) Button in the Test Run Window.

System Start Up and Easy Programming

Turning the servo
ON allows you to
manipulate the Jog/
Step Buttons.

4-7
 4.2 Preparation (step 1)
4.2.3 Test Operation

3. Jog Operation
Click the Speed reference icon and set a speed reference value, and check that the axis rotates normally while the
Forward Button or Reverse Button is pressed.

The operation check of the first axis is complete.

Press the Axis ... Button to change to “Axis #02” in the axis select screen, and perform the steps 1 to 3 above.

4-8
 4.3 Programming (step 2)
4.3.1 Programming Procedure

4.3 Programming (step 2)

This section describes the procedure from creating to saving a motion program.

4.3.1 Programming Procedure

1. Click the Motion Tag in the subwindow.

2. The motion program subwindow will appears.

System Start Up and Easy Programming

When you double-click Motion Program and there is not any group definition, the group definition screen will
be shown. For this setting example, you do not need to change it, so accept the default setting and click the OK
Button. Note that if a group definition already exists, the group definition screen will not be shown.

3. Right-click Main Program and select Create New to display the Create New Program Dialog Box.
Then click the OK Button.

4-9
 4.3 Programming (step 2)
4.3.1 Programming Procedure

4. Editing Motion Program

Use the command input assist feature to insert INC and MOV Commands into the motion program.
The command input assist feature is made accessible by right-clicking the mouse on the Motion Editor Window.

• Call the command input assist feature

• Insert an INC Command • Insert a MOV Command

Click the save icon to save the motion program.

4-10
 4.4 Executing Motion (step 3)
4.4.1 Registering Program Execution

4.4 Executing Motion (step 3)

4.4.1 Registering Program Execution
1. Click the Execution Registration Icon.

Note: This motion program was made with the assumption that Enable (Servo ON) was selected in step
2 of 4.2.3 ( 2 ) Operating Manually in the Test Operation Screen.

The Program Execution Registry Screen Dialog Box will appear.

2. Check the program number and click Set to save the registered contents.

System Start Up and Easy Programming

4-11
 4.4 Executing Motion (step 3)
4.4.2 Starting a Motion Program Using the Operation Control Panel

4.4.2 Starting a Motion Program Using the Operation Control Panel

1. Click the Drive Control Panel Icon.

The Device Control Panel Dialog Box will appear.

2. Check the program to run, and click the ON Button.

The MPM001’s motion program is executed.

 Caution
• This chapter explains the simple procedure where you can easily run and check a program without external signals. In prac-
tice, you need to connect to external signals and create a sequence.
• Registering a program execution enables the M-EXECUTOR definition. The MP2300S automatically controls the motion
program, so be aware that problems might occur if you change registers which are registered in ladder or sequence programs
while running the motion program.

4-12
 4.5 Starting Motion Program from an External Signal
4.5.1 Overview

4.5 Starting Motion Program from an External Signal

4.5.1 Overview
This section explains how to start a motion program created in 4.3 Programming (step 2) from external signals.
Note that in this section, we show an example which substitutes a touch panel for the external signal.

24-VDC
MECHATROLINK cable
power supply
SERVOPACK SERVOPACK
MP2300S YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V

;#5-#9# 4&;
Terminator A real machine uses an
470
SGDS-01A12A SGDS-01A12A
#./ '44

(terminating resistor )
/6: $#6

MECHATROLINK
SW1 SW1
64: +2 C C
5612
572
+06
%0()
59

CHARGE
N
6
A/B cable CHARGE
N
6
A/B external I/O, but in this
/10
L1 L1

description, we substitute the

6'56
01

L2 L2
Option

L1C C L1C C
N N
L2C 3 L2C 3

button and display on the

59
' +0+6 
$#66'4;
'6'56
01 B1/ B1/
B2 B2

panel for the external I/O.

M-I/II
C C
U N U N
4.; 1 1
176 'VJGTPGV V V
.+0-
W W
&%
8 C C
N N
&% 2 2
0V
C C
/ N N
4 4
㪧㪦㪮㪜㪩

Controller Touch panel

100 VAC
(manufactured by
Digital Electronics Corp.)
PP cable
Encoder cable Motor cable

HUB 


Personal computer
(equipped with MPE720)
Servomotor Servomotor

System Start Up and Easy Programming

    

4.5.2 Required Equipment

Product Name Model Q’ty

MP2300S JEPMC-MP2300S-E 1
MECHATROLINK cable (0.5 m) JEPMC-W6002-A5-E 2
Terminator (terminating resistor) JEPMC-W6022-E 2
Σ-III SERVOPACK SGDS-A5F12A 2
Σ-III servomotor SGMAS-A5A2A21 2
Motor cable (3 m) JZSP-CSM01-03 2
Encoder cable (3 m) JZSP-CSP05-03 2
Touch panel (manufactured by Digital Electronics Corp.) AGP3300-T1-D24 1
HUB (commercial product) LSW-TX-8EP 1
MPE720 Ver.6 CPMC-MPE770 1
LAN cable (for Ethernet connection) Commercial straight cable 3
Personal computer (main unit) Commercial product 1
24-VDC power supply Current capacity of power supply 2 A or more 1

4-13
 4.5 Starting Motion Program from an External Signal
4.5.2 Required Equipment

Mapping of the touch panel manufactured by Digital Electronics Corp.

MP2300S
No. Name Mapping Category Description
Operation
 Start MB5000 Control signal Starts up a motion program
 Stop MB5002 Control signal Displays the running of a motion program
 Clear Alarm MB5005 Control signal Stops a motion program Sets in M-
 Running Program MB5010 Status Clears an alarm of a motion program EXECUTOR
Indicates an alarm is occurring in a motion
 Alarm MB5018 Status
program
Axis 1
 (current position)
IL8016 Monitor parameter Displays current axis 1 position
Automatic
Axis 2 receive function
 (current position)
IL8096 Monitor parameter Displays current axis 2 position

 Servo (ON/OFF) MB5020 External signal Axis 1, axis 2 servo ON signal Sequence pro-
 Reset Axis Alarm MB5021 External signal Axis 1, axis 2 alarm reset signal gram is needed

Note: 1. You do not need to create a program for signals and data in  to .
2. You need to create a sequence program for outputting signals of  and  to the motion parameters.
3. For information on creating a program for the panel side, refer to 6.3 Communication with Touch Panel.

4-14
 4.5 Starting Motion Program from an External Signal
4.5.3 Creation Procedure

4.5.3 Creation Procedure

1. Creating a Sequence Program
Now create a sequence program which copies the M register content mapped to “ Servo (ON/OFF)” and “
Axis Alarm Reset” Buttons on the touch panel to the relevant registers in the motion setting parameter of the
built-in SVB module.
Follow a procedure similar to creating a motion program from the motion program subwindow.

Output the information of the

" Servo (ON/OFF)" button on the
touch panel to the motion setting
parameter "Axis 1 and axis 2 servo
ON" of the built-in SVB module.

System Start Up and Easy Programming

Output the information of the
" Axis Alarm Reset" Button
on the touch panel to the
motion setting parameter
"Axis 1 and axis 2 alarm reset"
of the built-in SVB module.

Click the Execution Registration Icon.

4-15
 4.5 Starting Motion Program from an External Signal
4.5.3 Creation Procedure

2. Registering Program Execution

• A Task Allocation Dialog Box will appear.
• Click the Set Button to set a program definition in the M-EXECUTOR Window.
→ Then register the MPM001, SPM001 executions.
For more information on how to set the M-EXECUTOR Window, refer to 2.2.7 M-EXECUTOR Module
(Motion Program Executor).

• In the Allocation Control Register Window, map the M registers allocated to control signals ( Start / 
Stop /  Alarm Clear) and status ( Running Program /  Alarm) on the touch panel as an M-EXECU-
TOR allocation register for the motion program created in 4.3 Programming (step 2).
Status=MW00501, control signal=MW00500, allocation contact interlock =SB00004

4-16
 4.5 Starting Motion Program from an External Signal
4.5.3 Creation Procedure

• Click the Save Icon to save the M-EXECUTOR definition.

3. Communication Setting with Touch Panel

For information on communication setting with the touch panel, refer to 6.3 Communication with Touch Panel.

4. FLASH Save
When all settings are completed, click the FLASH Save Icon to save the data to the flash memory.

5. Operation Check

System Start Up and Easy Programming

Turn ON MP2300S power again and press “ Servo” and “ Start” on the panel screen.
Then check that the motion program starts and the two-axes motor begins to operate to change the current posi-
tion of the axis.

4-17
 5
Outline of Motion Control Systems
This chapter describes the basic operation of MP2300S Motion Control Systems and provides an
outline of user programs and registers.

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

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

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

5.2.1 Types and Execution Timing of User Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
5.2.2 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.3 Sequence Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
5.2.4 Ladder Drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30

5.3 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35

5.3.1 Types of Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
5.3.2 Data Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

Outline of Motion Control Systems

5.3.3 How to Use Subscripts i, j - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5.3.4 Register Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40

5.4 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41

5.4.1 How to Execute Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.4.2 Definition Information Updated with Self-Configuration - - - - - - - - - - - - - - - - - - - - - - 5-50

5.5 Precaution on Using MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53

5.5.1 Precautions when User Definition File is Configured/Changed - - - - - - - - - - - - - - - - - 5-53
5.5.2 Setting or Changing Module Configuration Definition Files - - - - - - - - - - - - - - - - - - - 5-54
5.5.3 Setting and Changing the Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55

5-1
 5.1 Startup Sequence and Basic Operation
5.1.1 DIP Switch Settings

5.1 Startup Sequence and Basic Operation

This section describes the MP2300S startup sequence and basic operation together with the DIP switch settings, self-
diagnosis at startup, and LED indicator patterns.

5.1.1 DIP Switch Settings

Set the DIP switch (SW1) on the Basic Module to control operations of the startup sequence. The six switches are pro-
vided on the DIP switch (SW1) on the Basic Module as shown in the following figure. The following table lists the
functions of six switches.

STOP
SUP
INT SW
CNFG 1
MON
TEST NO

Switch Default
No. Status Operating Mode Remarks
Name Setting
ON User program stops
S1-6 STOP OFF Set to ON to stop user program operation.
OFF User program operation
ON System load If set to ON, starts up in the mode that can renew the version
S1-5 SUP OFF
OFF Normal operation of the firmware.
Set to ON to clear memory.
ON Memory clear
Programs stored in flash memory will be run when Memory
S1-4 INIT OFF
Clear is set to OFF.
OFF Normal operation
S and M registers are cleared to all zeros.
ON Self-configuration mode
S1-3 CNFG OFF Set to ON for self-configuration of connected devices.
OFF Normal operation
ON System use
S1-2 MON OFF Always set to OFF.
OFF Normal operation
System use
ON Adjusted before
S1-1 TEST OFF Always set to OFF.
Shipment
OFF Normal operation

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

5.1.2 Startup Sequence

The startup sequence for the MP2300S from the moment when the power has been turned ON is shown in the follow-
ing flowchart.
Power ON

Startup
self-diagnostics (1)

Judges the Memory clear

setting of switch 4 (INIT)
of DIP switch SW1

FLASH

FLASH → RAM
Copy

Judges the setting Normal operation

of switch 3 (CNFG)
of DIP switch SW1

Configuration mode

Self-configuration
execution (2)

Judges the ON
setting of switch 6 (STOP)
of DIP switch SW1
Operation stops (4)

OFF

RUN indicator lit User program stops

DWG.A executed

Outline of Motion Control Systems

Operation starts (3) (Ladder program)

Watchdog timer
start

RDY indicator lit

Interrupt Ladder program

signal
High-speed Low-speed Background
scan scan

Output Output Online self-diagnostics

DWG.I (5)
executed

Input Input
Completed
after one cycle.
DWG.H DWG.L
executed executed

High Order of priority Low

Note: Refer to 5.1.3 Startup Sequence Operation Details on the next page for details on (1) to (5).

5-3
 5.1 Startup Sequence and Basic Operation
5.1.3 Startup Sequence Operation Details

5.1.3 Startup Sequence Operation Details

( 1 ) Self-diagnosis at Startup
Self-diagnosis is performed on the following items after the power is turned ON.
• Read/write diagnosis of memory (RAM)
• System program (ROM) diagnosis
• Main processor (CPU) function diagnosis
• Floating Point Unit (FPU) function diagnosis
If diagnosis results in an error, the ALM and ERR LED indicators will blink red for the specified number of times.
Refer to 9.2 LED Indicator Meanings .

( 2 ) Self-configuration
Self-configuration automatically recognizes the connected Optional Modules, and automatically creates a definitions
file. For details, refer to 5.4 Self-configuration .
The RUN LED indicator will blink green during execution of self-configuration.

( 3 ) Operation Start
When the STOP switch is set to OFF (RUN) or changes from ON (STOP) to OFF (RUN), the CPU starts the watchdog
timer and then executes DWG.A in the ladder program. For DWG.A (startup processing drawing), refer to 5.2.4 Ladder
Drawings (DWG).
First scan processing is executed once DWG.A has been completed and the high-speed or low-speed scan time has
elapsed. System I/O are executed from the first scan.

( 4 ) Operation Stop
MP2300S stops motion control operation when the STOP switch is ON (STOP) and in the following circumstances.

Cause Restart method

Power supply turned OFF
Turn ON the power again.
Power interruption
Check the LED indicator for the cause of the error and
Fatal error
then turn the power OFF then ON.
STOP executed from MPE720 Execute RUN from MPE720.

( 5 ) Online Self-diagnosis
Self-diagnosis is performed on the following items when the user logs on online.
• System program (ROM) diagnosis
• Main processor (CPU) function diagnosis
• Floating Point Unit (FPU) function diagnosis
If diagnosis results in an error, the ALM and ERR LED indicators will blink red for the specified number of times.
Refer to 9.2 LED Indicator Meanings .

5-4
 5.2 User Programs
5.2.1 Types and Execution Timing of User Program

5.2 User Programs

User programs for executing machine control using the MP2300S include ladder programs and motion programs. This
section describes the basic operation and other information about user programs.
 For programming details, refer to the following manuals.
Machine Controller MP900/MP2000 Series User’s Manual Ladder Programming (manual number: SIEZ-C887-1.2)
Machine Controller MP2000 Series User’s Manual for Motion Programming (manual number: SIEP C880700 38)
Machine Controller MP900/MP2000 Series New Ladder Editor Programming Manual (manual number: SIEZ-C887-
13.1)
Machine Controller MP900/MP2000 Series New Ladder Editor User’s Manual (manual number: SIEZ-C887-13.2)
Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual (manual number: SIEP
C880700 30)

5.2.1 Types and Execution Timing of User Program

The following table shows the types and execution timing of MP2300S user program.

User Program Execution Timing

High-speed Scan Turns ON the program operation start request of the control signal
Motion Program
Process (runs when program operation start request is ON)
Startup Process Power-up (during power-up, runs only once)
High-speed Scan
Periodical startup (runs each time a high-speed scan is performed)
Sequence Program Process
Low-speed Scan
Periodical startup (runs each time a low-speed scan is performed)
Process
Startup Process Power-up (during power-up, runs only once)
Runs on external interrupt (runs on DI interrupt of option module and
Interrupt Process
counter match interrupt)
Ladder Program High-speed Scan
Periodical startup (runs each time a high-speed scan is performed)
Process
Low-speed Scan
Periodical startup (runs each time a low-speed scan is performed)
Process

For more information on the user program, refer to the next page and after.

Outline of Motion Control Systems

5-5
 5.2 User Programs
5.2.2 Motion Programs

5.2.2 Motion Programs

Motion programs are programs written in a text-based language called motion language.
The following table shows the two types of motion programs.

Specification
Type Features No. of Programs
Method
MPM
Main Program Accessed from DWG.H
( = 1 to 256) Up to 256 programs (including main and
MPS sub programs) can be created.
Sub-program Can be called from main programs
( = 1 to 256)

 The program numbers of motion programs are managed in the same manner as the sequence program num-
bers. Assign a unique number for each program number.
• Program number of Motion program MPM , MPS 
• Program number of Sequence program SPM , SPS 
 The MP2300S can execute up to 16 motion programs simultaneously. An alarm (no system work error) will
occur if 17 or more programs are executed simultaneously.
• No system work error: Bit E of the leading word in the MSEE work registers

( 1 ) Groups
A group of axes with related operations can be treated as one group by motion programs and programs can be executed
for each group. This allows one MP2300S to independently control multiple machines using group operation. Group
operation can be single group operation or multiple group operation.
Definitions for axes to be grouped together are made under Group Definitions.

(a) Single Group Operation (b) Multiple Group Operation

MP2300S MP2300S
SGDS

SGDS

SGDS

SGDS

SGDS
SGDS

SGDS

SGDS

SGDS

SGDS

 

X1 Y1 Z1 A1 B1 X1 Y1 Z1 A1 B1

GROUP 1 GROUP 1 GROUP 2 GROUP 3

5-6
 5.2 User Programs
5.2.2 Motion Programs

This section explains the Group Definition screen.

  

  
 No. of Group
Set a number for the operation as a group.
Set it to 1 for the operation as one group.
Set it to the number of groups for the operation with multiple groups.

 Group Name
Define a group name.

 Control Axis No.

Set the number of axes controlled in the group.

Outline of Motion Control Systems

 Circuit
Set a line number for the used motion module.
The line number can be checked in the module configuration definition.

Line number

5-7
 5.2 User Programs
5.2.2 Motion Programs

 Axis No.
Set an axis number for the used axis.
The axis number can be checked in the detailed screen of the used motion module.

Axis number

Double-click

 Logical Axis Name

Define a name for the specified axis number.
The name defined here is used when programming a motion program.

MVS [A1]1000 [B1]2000 [C1]3000 F1000;

Logical axis name

5-8
 5.2 User Programs
5.2.2 Motion Programs

( 2 ) How to Run a Motion Program

The following two methods are available for running a motion program.
• Registering it to the M-EXECUTOR program execution definition
• Executing it using a MSEE command from a ladder program of H drawing

Now, this section explains each way to run a motion program:

[ a ] Registering it to the M-EXECUTOR Program Execution Definition

After creating a motion program, register it in the M-EXECUTOR program execution definition screen.
The programs registered in the M-EXECUTOR program execution definition screen are executed in ascending
numeric order.
The execution example is shown in the figure below.
Motion program
MPM001

VEL [a1]5000 [b1]..

FMX T10000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
.
M-EXECUTOR program execution definition END

MPM002

END

Subroutine
MPM003
MPS101

MSEE
MPS101

Outline of Motion Control Systems

END RET

The above method is a preparation for running a motion program. When registered in the M-EXECUTOR program
execution definition, a motion program does not start up. To start up the motion program, after the motion program reg-
istration, use a control signal to turn ON the request for the program operation startup.
The motion program registered in M-EXECUTOR is executed at a scan cycle, but similar to a ladder, the whole pro-
gram cannot be executed at a single scan. In case of the motion program, a motion management function in the system
carries out an execution control exclusive for the motion programs.

 Caution
When registering a motion program to M-EXECUTOR, pay attention to the followings:
• Multiple motion programs with the same number cannot be registered.
• Multiple motion programs with the same number cannot be referenced using an indirect designation.

5-9
 5.2 User Programs
5.2.2 Motion Programs

[ b ] Executing H Drawings by MSEE Command

Motion programs are always called from H drawings using the MSEE command (motion program call command).
Motion programs can be called from any parent, child, or grandchild drawing in an H drawing.
The following figure shows an example of motion program execution.
System programs are
started according to
execution conditions.

Parent Drawings Child Drawings Grandchild Drawings Motion Programs

DWG.H DWG.H01 DWG.H01.01 MPM001
SEE SEE H01.01 VEL [a1]5000 [b1]..
H01 FMX T10000000;
MSEE IAC T25;
MPM001 IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
DEND .
END

MPM002
MSEE
MPM002

DEND END

Subroutine
MPM003
MSEE MPS101
MPM003
MSEE
MPS101

DEND END RET

H drawing ladder commands are executed in hierarchical order i.e., parent drawings, child drawings, then grandchild
drawings each high-speed scan cycle.
The above method is a preparation for running a motion program. When a MSEE command is built in, the motion pro-
gram does not start up. To start up the motion program, after the MSEE command is incorporated, use a control signal
to turn on the request for the program operation startup.
Motion programs are also called each scan cycle, but unlike ladder programs, all motion programs cannot be executed
in one scan. For this reason, motion programs are executed and controlled by special system’s motion management
function.

 Caution
When running a motion program, pay attention to the followings:
• The motion program registered in M-EXECUTOR cannot be executed using a MSEE command.
• Multiple motion programs with the same number cannot be executed using a MSEE command.
• A subroutine (MPS ) cannot be executed from a MSEE command in a ladder.
It can only be referenced from a motion program (MPM , MPS ).
• A sequence program (SPM , SPS ) cannot be executed from a MSEE command in a ladder.
• The same subroutine cannot be referenced at the same time.

5-10
 5.2 User Programs
5.2.2 Motion Programs

( 3 ) How to Designate a Motion Program

The following two methods are available for designating a motion program.
• Using a direct designation to invoke a motion program
• Using a indirect designation to invoke a motion program

Now, this section explains each way to designate a motion program.

[ a ] Using a Direct Designation to Call a Motion Program

A direct designation method designates a motion program to call using a program number (MPM ).

 A motion program registered in the M-EXECUTOR program execution definition

Select Direct for the Setting and set a program number (MPM ).

MPM001

ABS;

MOV[X] _ [Y] _

MVS[X] _ [Y] _ F

IOW MB0001

MOV[X] _ [Y] _
.
.
.
Motion program
Fig. 5.1 Calling a Motion Program Using a Direct Designation - 1

Outline of Motion Control Systems

 A motion program referenced by a MSEE command from a ladder program
Set a program number to Program No. () in the MSEE command.

MPM001

ABS;
Motion program reference command
MOV[X] _ [Y] _

MVS[X] _ [Y] _ F

IOW MB0001

MOV[X] _ [Y] _
.
.
MPM number
.
Ladder program Motion program

Fig. 5.2 Calling a Motion Program Using a Direct Designation -2

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 5.2 User Programs
5.2.2 Motion Programs

[ b ] Using an Indirect Designation to Call a Motion Program

An indirect designation method designates a motion program to call using a register.
In this method, a program (MPM ) coinciding with value stored in the register is called.

 A motion program registered in the M-EXECUTOR program execution definition

Select Indirect for the Setting. A register for the indirect designation is automatically mapped.

MPM003

ABS;

MOV[X] _ [Y] _
0 3
MVS[X] _ [Y] _ F
Setter
IOW MB0001

MOV[X] _ [Y] _
Register:
.
Stored in
.
OW0C00 .
∗ OW0C00=3

Motion program

Fig. 5.3 Calling a Motion Program Using an Indirect Designation - 1

 A motion program referenced by a MSEE command from a ladder program

Specify any register (M or D register) used for an indirect designation for Program No. in the MSEE command.

MPM003

Motion program reference command ABS;

0 3 MOV[X] _ [Y] _
Setter MVS[X] _ [Y] _ F

IOW MB0001
Register:
Stored in MOV[X] _ [Y] _
MW00200 .
.
∗ MW00200 =3 Register number .
Ladder program Motion program

Fig. 5.4 Calling a Motion Program Using an Indirect Designation -2

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 5.2 User Programs
5.2.2 Motion Programs

( 4 ) Work Register
Configure and monitor a motion program via a work register.
The work register constitution for motion programs registered in the M-EXECUTOR program execution definition dif-
fers from that for motion programs referenced by a MSEE command from a ladder program.
The work register constitution in each case is as follows:

 A motion program registered in the M-EXECUTOR program execution definition

The work register is assigned to a M-EXECUTOR control register. (automatically defined by system)
The M-EXECUTOR control register constitution is as follows:

Work register
(automatically defined
by system)

M-EXECUTOR
Control Register Description
Status Status flag of a motion program
Control Signal Control Signal of a motion program
Override Override for interpolation

 A motion program executed by a MSEE command from a ladder program

Use a MSEE command of a ladder program to designate the work register (M or D register).

Outline of Motion Control Systems

The work register constitution is as follows:

Work register
(designate M or D register)

Work Register Description

First word Status flag of a motion program
Second word Control signal of a motion program
Third word Override for interpolation
Fourth word System work number

For more information on the work register, refer to the subsequent pages.

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 5.2 User Programs
5.2.2 Motion Programs

[ a ] Status Flag of a Motion Program

The motion program status flag shows the execution status of the motion program.
The following table shows details of status flag.

Table 5.1 Status Flag

Bit No. Status
0 Program running
1 Program paused
2 Program stopped by stop request (used by system)
3 (Reserved)
4 Single program block operation stopped
5 (Reserved)
6 (Reserved)
7 (Reserved)
8 Program alarm
9 Stopped by brake point
A (Reserved)
B In debug mode (EWS debugging operation)
C Program type 0: Motion program
D Start request signal history
E No system work error
F Main program number exceeded error

 When program alarm has occurred, the error details of the motion program are stored in the error information screen
and S registers.

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 5.2 User Programs
5.2.2 Motion Programs

[ b ] Control Signal
Program control signals (e.g., program operation start requests and program stop requests) need to be entered to exe-
cute the motion program.
The following types of signals for controlling motion programs are available.

Table 5.2 Control Signals

Bit No. Signal Name Signal Type
0 Program operation start request Differential or NO contact input
1 Program pause request NO contact
2 Program stop request NO contact
3 Program single block mode selection NO contact
4 Program single block start request Differential or NO contact input
5 Alarm reset request NO contact
6 Program continuous operation start request Differential or NO contact input
7 (Reserved) −
8 Skip 1 information NO contact
9 Skip 2 information NO contact
A (Reserved) −
B (Reserved) −
C (Reserved) −
D *1 NO contact
System work number setting
E *2 NO contact
Override setting for interpolation
F (reserved) −

* 1. System work number setting

 When a motion program is registered in M-EXECUTOR:
Unable to designate it. The same system work number as No. defined in the system is used.
 When a motion program is invoked by a MSEE command from a ladder program:
OFF: A system work automatically retrieved by system is used. The system work number may differ in each
case.
ON: A work with the designated system work number is used.
However, when a work occupied by M-EXECUTOR is designated, “BitE: Error without a system work” is

Outline of Motion Control Systems

reported to the status.
* 2. Override setting for interpolation
OFF: 100% fixed at an override for interpolation
ON: Depends on the designated override for interpolation.

Use signals conforming to the above signal types when writing ladder programs.
Note: Motion programs are executed if the program operation start request signal is ON when the power is
turned ON.

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 5.2 User Programs
5.2.2 Motion Programs

 Timing Chart for Motion Program Control Signals

The following figure shows an example of a timing chart for motion program control signals.
 Program Operation Start Request

Control signal: Operation start request

Status: Operating

Distribution

 Pause Request

Control signal: Operation start request

Control signal: Pause request

Status: Operating One scan

Status: Paused

Distribution

 Stop Request

Control signal: Operation start request

Control signal: Stop request

Control signal: Alarm clear

Status: Operating

Status: Stopped
One scan

Status: Alarm
One scan

Distribution (MVS)

Distribution (MOV)
 An alarm will occur if the stop request is turned ON during axis operation using a motion command.

[ c ] Interpolation Override
The override when executing interpolation travel commands (setting; unit: 1 = 0.01%) is set.
This interpolation override is enabled only when the motion program control signal bit E (interpolation override set-
ting) is ON.

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 5.2 User Programs
5.2.2 Motion Programs

[ d ] System Work Number

The system work number n (setting range: 1 to 16) used when executing motion programs is set by the MSEE work
registers.
This system work number is enabled only when the motion program control signal bit D (system work number setting)
is ON. The status bit, bit E (No system work error), will turn ON if the work number setting is outside the setting range
or the specified system work is in use.

 The total number of system works of a motion program is 16 for both M-EXECUTOR and ladder. The number
configured in the number of program definitions of the M-EXECUTOR detailed screen is set for the system
work for M-EXECUTOR.

System work for

M-EXECUTOR Number of
program
definitions

System
work Total number of system works=16
System work for
ladder

1. A work not occupied by M-EXECUTOR can execute a motion program using a MSEE command from a ladder program.
2. When the number of a system work occupied by M-EXECUTOR is specified by a ladder program, an alarm (Error without a
system work) occurs. Therefore, when the number of program definitions is set to 16 in the M-EXECUTOR detailed screen,
a motion program cannot be executed by a ladder MSEE command.
• Error without a system work: Status flag Bit E of the motion program

Outline of Motion Control Systems

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 5.2 User Programs
5.2.2 Motion Programs

( 5 ) How to Operate a Work Register

The way to operate a work register of a motion program registered in the M-EXECUTOR program execution definition
differs from that of a motion program referenced by a MSEE command from a ladder program.
The way to operate it in each case is shown as follows:

[ a ] A motion program registered in the M-EXECUTOR program execution definition

When a motion program is registered in M-EXECUTOR program execution definition, select one from the following
two execution processings.
• A way to immediately control a motion program from external equipment
• A way to control a motion program via a sequence or ladder program

Now, this section explains each execution processing in the subsequent pages.

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 5.2 User Programs
5.2.2 Motion Programs

 A Way to Immediately Control a Motion Program from External Equipment

M-EXECUTOR has a function which allocates any register to an M-EXECUTOR control register.
Using this function allows you to automatically exchange data between an M-EXECUTOR control register and an I/O
register connected to an external equipment. This allows you to immediately control the motion program from the
external equipment.
The following figure shows a setting example in this method.

Figure for allocating the M-EXECUTOR register

Specify any registers for mapping register and

mapping interlock contact.

Execution control using a

motion management function
Program number MPM001
Status
Allocation VEL [a1] 5000 [b1]..
Control signal FMX T10000000;
interlock
Override for interpolation IAC T25;
External equipment Allocation register contact
IDC T30;
- Upper PLC External signal MOV [a1] 300. [b1]..
- Program number Reference of MVS [a1] 200. [b1]..
- Touch panel
- Operation startup M-EXECUTOR .
- Switch .
- Pause control register
- LED, etc. .
- Stop, etc. .

Data is exchanged END

at H scan cycle. Motion program

Outline of Motion Control Systems

 An allocation contact interlock is used to interlock the operation of a motion program. When setting an alloca-
tion register, be sure to set an allocation contact interlock.
It is processed, as shown below, by turning ON/OFF an allocation contact interlock:
• When an allocation contact interlock contact is ON, data is exchanged between an allocation register and M-EXECUTOR
control register at H scan cycle. Now, the motion program becomes executable.
• When an allocation contact interlock is OFF, data is not exchanged between an allocation register and M-EXECUTOR con-
trol register. Now, the motion program becomes unexecutable.
• When an allocation contact interlock is switched from ON to OFF while running a motion program, the running motion pro-
gram stops and an axis in operation also stops. Now, the motion program falls into the alarm “1Bh: Executing an emergency
stop command” state, and the status “Bit8: Program alarm is occurring” is turned ON.
Again, to execute a motion program, follow the procedure below for operation:
1. Switch the interlock contact from OFF to ON.
2. Turn ON a control signal “Bit5: Alarm reset request.”
3. Make sure that the status “Bit8: Program alarm is occurring” is turned OFF.
4. Turn OFF the control signal “Bit5: Alarm reset request.”
5. Turn ON a control signal “Bit0: Request for the program operation startup.”

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 5.2 User Programs
5.2.2 Motion Programs

 A Way to Control a Motion Program via a Sequence or Ladder Program

Without using the allocating function of the above mentioned M-EXECUTOR control register, controls a motion
program via a sequence or ladder program.
To use this execution processing, save the blank Allocation register and the blank Allocation interlock contact as
a blank.
In this case, the M-EXECUTOR control register configures and monitors the motion program.
The following figure shows a setting example in this method.

M-EXECUTOR program execution definition

Save the mapping register and the mapping

interlock contact as a blank.

Execution control using a

motion management function
Status
MPM001
Program for controlling a motion program Control signal
Override for interpolation VEL [a1] 5000 [b1]..
DWG.H FMX T10000000;
IAC T25;
External signal Ladder for controlling
- Operation startup a motion program Reference of IDC T30;
MOV [a1] 300. [b1]..
- Pause
. M-EXECUTOR MVS [a1] 200. [b1]..
.
- Stop, etc. . control register .
. .
.
. .
. .
.
END
DEND

Ladder program Motion program

Each example which uses a sequence program and ladder program respectively as a program for controlling the
motion program is shown as follows:

1. Example using a sequence program

OB80000 = IB00000; “axis 1 servo on”

OB0C010 = PON( IB00001 DB000000 ); “program start”
OB0C011 = IB00002; “hold”
OB0C012 = IB00003; “program stop”
OB0C015 = IB00004; “alarm reset”
OB8000F = IB00005; “Turn ON a single axis servo”
IF NON( IB0C000 DB000001 ) == 1; “Is the program operation OFF?”
; “Process when program operation is stopped”
IEND;

END;

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 5.2 User Programs
5.2.2 Motion Programs

2. Example using a ladder program

Outline of Motion Control Systems

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 5.2 User Programs
5.2.2 Motion Programs

[ b ] A motion program referenced by a MSEE command from a ladder program

When a motion program is referenced by a MSEE command from a ladder program, control the motion program via a
sequence or ladder program.
To use this execution processing, incorporate a MSEE command in the ladder H drawing. In this case, MSEE work reg-
ister configures and monitors the motion program.
The following figure shows a setting example in this method.

External ladder control

signal MSEE
• Operation start work registers
• Pause address
• Stop, etc. DA Status
DA+1 Control signal
DA+2 Override for interpolation
DWG.H DA+3 System work number
(: decimal number)
Ladder program for Execution control using a
motion program control motion management function
Reference of MSEE
MPM001
work registers
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
Motion
program No.
IDC T30;
. MOV [a1] 300. [b1]..
. Start address of an MVS [a1] 200. [b1]..
. MSEE work register
. .
. .
. .
.
. .
DEND END

Motion program
 For information about the meaning and estimation of the register number, refer to 5.3 Registers .

Each example which uses a sequence program and ladder program respectively as a program for controlling the motion
program is shown as follows:

1. Example using a sequence program

OB80000 = IB00000; “axis 1 servo on”

MB00010 = PON( IB00001 DB000000 ); “program start”
MB00011 = IB00002; “hold”
MB00012 = IB00003; “program stop”
MB00015 = IB00004; “alarm reset”
OB8000F = IB00005; “alarm reset for axis 1”
IF NON( MB00000 DB000001 ) == 1; “motion program stop”
; “Process when program operation is stopped”
IEND;

END;

Note: An MSEE command cannot be incorporated into a sequence program.

Incorporate an MSEE command separately into a ladder H drawing.

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 5.2 User Programs
5.2.2 Motion Programs

2. Example using a ladder program

Outline of Motion Control Systems

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 5.2 User Programs
5.2.2 Motion Programs

( 6 ) Monitor the motion program execution information using S register

Using S register (SW03200 to SW04191) allows you to monitor the motion program execution information.
The way to monitor the execution information for a motion program registered in the M-EXECUTOR program execu-
tion definition differs from that for a motion program referenced by an MSEE command from a ladder program.
The way to monitor it in each case is shown as follows:

[ a ] A motion program registered in the M-EXECUTOR program execution definition

When a motion program is registered in the M-EXECUTOR program execution definition, the same system work num-
ber as the definition No. is used.
For example, a motion program is registered as “Definition No.” =3, the used system work number is “System
Work”=3. In this case, the execution information for the motion program can be monitored in “Program Information
Using Work 3” (=SW03380 to SW03437).

[ b ] A motion program referenced by an MSEE command from a ladder program

When a motion program is referenced by an MSEE command from a ladder program, the way differs, depending on the
“BitD” setting (system work number setting) of the motion program control signal, as follows:

 The motion program control signal “BitD, System Work Number Setting” = ON
The execution information is reported to “Program Information Using Work n” register (SW03264-SW04191).
For example, when “System Work Number”=1, the motion program execution information can be monitored in SW03264-
SW03321 “Program Information Using Work 1”.

 The motion program control signal “BitD, System Work Number Setting” = OFF
The used system work is automatically decided by system. Thus, to check which work is used, refer to “Running Program Num-
ber” (=SW03200 to SW03215).
For example, when you want to monitor the motion program MPM001 and SW03202=001, as used the work number=3, the
execution information for the motion program MPM001 can be monitored in “Program Information Using Work 3” (=SW03380
to SW03437).

For more information on the register area of the motion program execution information, refer to the subsequent pages.

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 5.2 User Programs
5.2.2 Motion Programs

 Register Areas for Motion Program Execution Information

Motion program execution information Executing program number
SW03200 SW03200 Program number used by work 1
Executing program number
(No. of main program currently Program number used by work 2
SW03201
executing) 16W
SW03216 SW03202 Program number used by work 3
Reserved by the system. 16W
SW03232 SW03203 Program number used by work 4
Executing Program Bit
(Executing when corresponding SW03204 Program number used by work 5
bit is ON) 16W
SW03205 Program number used by work 6
SW03248
Reserved by the system. 16W Program number used by work 7
SW03206
SW03264
Program information used
58W SW03207 Program number used by work 8
by work 1
SW03222 SW03208 Program number used by work 9
Program information used by
work 2 58W
SW03209 Program number used by work 10
SW03380 Program information used by SW03210 Program number used by work 11
58W
work 3
SW03211 Program number used by work 12
SW03438 Program information used by
work 4 58W SW03212 Program number used by work 13

SW03496 SW03213 Program number used by work 14

Program information used by
58W
work 5 SW03214 Program number used by work 15
SW03554 SW03215 Program number used by work 16
Program information used by
58W
work 6
SW03612
Program information used by 58W
work 7
SW03670
Program information used by
58W Executing program bit
work 8
SW03728 SW03232 MP016 (Bit15) to MP001 (Bit0)
Program information used by
58W
work 9 SW03233 MP032 (Bit15) to MP017 (Bit0)
SW03786
Program information used by SW03234 MP048 (Bit15) to MP033 (Bit0)
58W
work 10
SW03235 MP054 (Bit15) to MP049 (Bit0)

Outline of Motion Control Systems

SW03844
Program information used by
58W SW03236 MP080 (Bit15) to MP055 (Bit0)
work 11
SW03902 SW03237 MP096 (Bit15) to MP081 (Bit0)
Program information used by
58W
work 12 SW03238 MP112 (Bit15) to MP097 (Bit0)
SW03960
Program information used by SW03239 MP128 (Bit15) to MP113 (Bit0)
58W
work 13
SW03240 MP144 (Bit15) to MP129 (Bit0)
SW04018
Program information used by
58W SW03241 MP160 (Bit15) to MP145 (Bit0)
work 14
SW04076 SW03242 MP176 (Bit15) to MP161 (Bit0)
Program information used by 58W
work 15 SW03243 MP192 (Bit15) to MP177 (Bit0)
SW04134
Program information used by SW03244 MP208 (Bit15) to MP193 (Bit0)
58W
work 16
SW03245 MP224 (Bit15) to MP209 (Bit0)
SW04192
SW03246 MP240 (Bit15) to MP225 (Bit0)
Reserved by the system. 928W
SW03247 MP256 (Bit15) to MP241 (Bit0)
SW05120 Reserved by the system. 64W Note:  indicates M or S.

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 5.2 User Programs
5.2.2 Motion Programs

 Details of Program Information Used by Work n

Program information used by work n

+0
Program status
+1
Program control signal Executing program number
+2
Parallel 0 information 3W Executing block number
+5
Parallel 1 information 3W Error code

+8
Parallel 2 information 3W

+11 3W
Parallel 3 information
+14
Parallel 4 information 3W
+17
Parallel 5 information 3W

+20
Parallel 6 information 3W

+23
Parallel 7 information 3W

+26
Logical axis #1 program current position 2W
+28 Logical axis #2 program current position 2W
+30
Logical axis #3 program current position 2W
+32
Logical axis #4 program current position 2W
+34
Logical axis #5 program current position 2W
+36 Logical axis #6 program current position 2W
+38 Logical axis #7 program current position 2W
+40 Logical axis #8 program current position 2W
+42 Logical axis #9 program current position 2W
+44
Logical axis #10 program current position 2W
+46
Logical axis #11 program current position 2W
+48
Logical axis #12 program current position 2W
+50
Logical axis #13 program current position 2W
+52
Logical axis #14 program current position 2W
+54
Logical axis #15 program current position 2W
+56
Logical axis #16 program current position 2W

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 5.2 User Programs
5.2.3 Sequence Program

5.2.3 Sequence Program

A sequence program is a program described with motion language of text format.
The following table shows two types of sequence programs.

Designation
Category Features Number of Programs
Method
Up to 256 programs of the following types can
SPM Calling from the M-EXECUTOR
Main program be created:
(=1 to 256) program execution definition
• Main motion program
• Sub motion program
SPS
Sub program Calling from the main program • Main sequence program
(=1 to 256)
• Sub sequence program

 The program numbers of sequence programs are managed in the same manner as the motion program num-
bers. Assign a different number for each program number.
• Motion program MPM: Program number of MPS
• Sequence program SPM: Program number of SPS

( 1 ) How to Run a Sequence Program

A sequence program is executed by registering it in the M-EXECUTOR program execution definition.
Sequence programs are executed in ascending numeric order.
The following figure shows an execution example.

Sequence program
SPM001

IF MW000<32767;
MW000=MW000+1;
ELSE;
MW000;
IEND;

Outline of Motion Control Systems

M-EXECUTOR program execution definition END

SPM002

END

Subroutine
SPM003
SPS101

SSEE
SPS101

END RET

When the execution type is set to “Sequence Program (H scan)” or “Sequence Program (L scan)”, the program is
executed at the time the definition is saved. When the execution type is set to Sequence Program (Start), the program
is executed when the power supply is turned ON again next time.

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 5.2 User Programs
5.2.3 Sequence Program

( 2 ) How to Designate a Sequence Program

You can only designate a sequence program directly. Indirect designation is unavailable.
Use the program number (SPM) when designating a sequence program to execute.

Sequence program
M-EXECUTOR program execution definition SPM001

IF MW000<32767;
MW000=MW000+1;
ELSE;
MW000;
IEND;

Fig. 5.5 Calling a Sequence Program

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 5.2 User Programs
5.2.3 Sequence Program

( 3 ) Work Register
Monitor a sequence program through a work register.
A work register, similar to the motion program registered in M-EXECUTOR, has status flags in the M-EXECUTOR
control register.
The following table shows the work register configuration of the sequence program.

Work Register Content

Status Status flag of a sequence program

[ a ] Status Flag of Sequence Program

The status flags of a sequence program allow you to know the execution status of the sequence program.
The following table explains the detailed contents of status flags.
[Status]

Table 5.3 Status

Bit No. Status
0 Program running
1 (Reserved)
2 (Reserved)
3 (Reserved)
4 (Reserved)
5 (Reserved)
6 (Reserved)
7 (Reserved)
8 Program alarm is occurring
9 Stopping at breakpoint
A (reserved)
B In debug mode (EWS debug operation)
C Program type 1: Sequence program
D Start request history
E (Reserved)

Outline of Motion Control Systems

F (Reserved)

 Sequence program alarm

When referencing a sub sequence program (SSEE command execution) and an error is detected, “Bit8: Program alarm is occur-
ring” is turned ON. If the error is cleared, it is turned OFF.
Error details are as follows:

Error Details
Called program is unregistered
Called program is not a sequence program
Called program is not a sub program (main program is called)
Called program number is over
Nest over error

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 5.2 User Programs
5.2.4 Ladder Drawings (DWG)

5.2.4 Ladder Drawings (DWG)

( 1 ) Types of Drawings
Ladder programs are managed in units of ladder drawings, which are identified by drawing numbers. These drawings
form the basis of user programs.
Ladder drawings include parent drawings, child drawings, grandchild drawings, and operation error processing draw-
ings. In addition to drawings, there are functions that can be freely accessed from each drawing.
• Parent Drawings
Parent drawings are automatically executed by the system program when the execution conditions, outlined in
the table below, are met.
• Child Drawings
Child drawings are accessed using a SEE command from a parent drawing.
• Grandchild Drawings
Grandchild drawings are accessed using a SEE command from a child drawing.
• Operation Error Processing Drawings
Operation error processing drawings are automatically executed by the system program when an operation error
occurs.
• Functions
Functions are accessed and executed from parent, child, and grandchild drawings using the FUNC command.

[ a ] Drawing Types and Order of Priority

Drawings are classified by their first letter (A, I, H, or L) based on the processing purpose. The following table outlines
the order of priority and execution conditions for these drawings.

Type of Parent Max. No. of

Function Priority Execution Conditions
Drawing Drawings
DWG.A Power ON
Startup processing 1 64
(Drawing A) (Executed once only, when power turned ON)
DWG.I External interrupt (executed by Option Module
Interrupt processing 2 64
(Drawing I) DI interrupt or counter match interrupt)
DWG.H High-speed scan pro- Scheduled cycle startup
3 200
(Drawing H) cessing (Executed each high-speed scan)
DWG.L Scheduled cycle startup (Executed each low-
Low-speed scan 4 500
(Drawing L) speed scan)

The following table provides details of the number of drawings for each drawing.

Number of Drawings
Drawing
DWG.A DWG.I DWG.H DWG.L
Parent Drawings 1 (A) 1 (I) 1 (H) 1 (L)
Operation Error
1 (A00) 1 (I00) 1 (H00) 1 (L00)
Processing Drawings
Child Drawings
Total: 62 max. Total: 62 max. Total: 198 max. Total: 498 max.
Grandchild Drawings

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 5.2 User Programs
5.2.4 Ladder Drawings (DWG)

( 2 ) Execution Control of Drawings

[ a ] Execution Control
The following table shows when each drawing is executed based on the order of priority.

Power ON

DWG.A (initial
processing drawing)

Each high-speed scan Each low-speed scan Operation error Interrupt signal

Input all Input all DWG.X00* (Operation DWG.I (Interrupt

error processing
drawing) processing drawing)
Output all Output all
* X=A, I, H, or L
DWG.H (High-speed DWG.H (Low-speed
scan processing scan processing Continuation of Continuation of
drawing) drawing) processing before processing before
error occurred interruption occurred

[ b ] Execution Schedule for Scan Processing Drawings

The scan processing drawings are not executed simultaneously. As shown in the following figure, the execution of each
drawing is scheduled based on the order of priority and time sharing.
Low-speed scan

High-speed scan High-speed scan High-speed scan High-speed scan

DWG.H

Outline of Motion Control Systems

DWG.L

Background*

: Executing

* Background processing is used to execute internal system processing, e.g., communication processing.

Low-speed scan processing is executed in spare processing time of the high-speed scan. Set the time of the high-speed
scan to approximately double the total execution time for DWG.H.

5-31
 5.2 User Programs
5.2.4 Ladder Drawings (DWG)

[ c ] Hierarchical Structure of Drawings

Each processing program is made up of parent drawings, child drawings, and grandchild drawings. Parent drawings
cannot call child drawings from a different type of drawing and child drawings cannot call grandchild drawings from a
different type of drawing. Also, parent drawings cannot directly call grandchild drawings. Child drawings are always
called from parent drawings and grandchild drawings are always called from child drawings. This is the hierarchical
structure of drawings.
As shown in the following figure, each processing program is created from a hierarchy of parent, child, and grandchild
drawings.

Parent Child Grandchild User Functions

Drawings Drawings Drawings
DWG.X DWG.X01 DWG.X01.01

DWG.X01.02 FUNC-001

࡮ ࡮
࡮ ࡮
FUNC-006
࡮
࡮
DWG.Xnn DWG.X01.03 FUNC-032
࡮
FUNC-064

Note: X means A, I, H, or L.

DWG Description: DWG.X YY . ZZ

Grandchild drawing number (01 to 99)

Child drawing number (01 to 99)

Parent drawing type (A, I, H, and L)

: DWG.X 00

Operation error drawing (A, I, H, and L)

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 5.2 User Programs
5.2.4 Ladder Drawings (DWG)

[ d ] Drawing Execution Processing Method

The execution processing of hierarchical drawings are performed by calling lower-level drawings from higher-level
drawings.
The following figure shows the execution processing for drawings, using DWG.A as an example.

System programs are started

according to execution
conditions.

Parent Drawings Child Drawings Grandchild Drawings

DWG.A DWG.A01 DWG.A01.01

SEE A01 SEE A01.01 Functions

FUNC-001
FUNC-001

DEND

DWG.A01.02
DEND

SEE A01.02
FUNC-001

DEND DEND

SEE A02 DWG.A02 System starts

automatically.
DWG.A00
Operation
error

DEND DEND DEND

Outline of Motion Control Systems

Note: 1. Parent drawing is automatically called and executed by system. Therefore, you can execute the child
and grandchild drawings by programming a DWG reference command (SEE command) in the parent
and child drawings.
2. Functions can be referenced from any drawing. Functions can also be referenced from other functions.
3. When an operation error occurs, the operation error processing drawing for that drawing will be
started.

5-33
 5.2 User Programs
5.2.4 Ladder Drawings (DWG)

( 3 ) Functions
Functions are executed by calling them from parent, child, or grandchild drawings using the FUNC command.
Functions can be called from any drawing, and the same function can be called at the same time from different types of
drawings and from different levels of drawings. Another completed functions can also be called from functions.
Using functions has the following advantages.
• Easier creation of user program components
• Easier writing and maintenance of user programs
Functions include standard system functions that are already in the system and user functions that are defined by the
user.

[ a ] Standard System Functions

The transmission and other functions listed below are already created as standard system functions. Standard system
functions cannot be changed by users.

Type Name Symbol Contents

Counter COUNTER Incremental/decremental counter
First in/first out FINFOUT First in/first out
System functions

Trace function TRACE Data trace execution control

Data trace read DTRC-RD Reads data from data trace memory to user memory
Inverter trace read function ITRC-RD Reads trace data from inverter trace memory to user memory
Message send MSG-SND Sends messages to external communication devices
Message receive MSG-RCV Receives messages from external communication devices

[ b ] User Functions
The functions (programs) and the function definitions can be changed (programmed) freely by users.
The maximum number of user functions that can be defined is 500 drawings.
 Refer to the following manual for information on defining functions.
• Machine Controller MP900/MP2000 Series User’s Manual Ladder Programming
(manual number: SIEZ-C887-1.2)
• Machine Controller MP2000 Series User’s Manual for Motion Programming
(manual number: SIEP C880700 38)
• Machine Controller MP900/MP2000 Series New Ladder Editor Programming Manual
(manual number: SIEZ-C887-13.1)
• Machine Controller MP900/MP2000 Series New Ladder Editor User’s Manual
(manual number: SIEZ-C887-13.2)
• Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual
(manual number: SIEP C880700 30)

5-34
 5.3 Registers
5.3.1 Types of Registers

5.3 Registers
This section describes the types of registers used in MP2300S user programs (mainly ladder programs) and how to use
them.

5.3.1 Types of Registers

( 1 ) DWG Registers
Registers used by ladder programs (ladder drawings; DWG). Each drawing can use the registers outlined in the follow-
ing table.

Type Name Specification Method Range Details Characteristics

Registers provided by the system. SW00000 to
SB, SW, SL, SFnnnnn SW00000 to
S System registers SW00049 are cleared to all zeros when the sys-
(SAnnnnn) SW08191
tem starts.
MB, MW, ML,
MW00000 to Registers shared by all drawings. Used, e.g., as
M Data registers MFnnnnn
MW65534 an interface between drawings.
(MAnnnnn) Common to all
IB, IW, IL, IFhhhh IW0000 to drawings
I Input registers Registers used for input data.
(IAhhhh) IW13FFF
OB, OW, OL, OFhhhh OW0000 to
O Output registers Registers used for output data.
(OAhhhh) OW13FFF
Constants regis- CB, CW, CL, CFnnnnn CW00000 to
C Registers that can only be called from programs.
ters (CAnnnnn) CW16383
Call-only registers Can be called only by corre-
#B, #W, #L, #W00000 to
# # registers sponding drawing. The usage range is set by the
#Fnnnnn (#Annnnn) #W16383
user using MPE720.
Unique to each
Internal registers unique to each drawing. Can be drawing
DB, DW, DL,
DW00000 to used only by corresponding drawing.
D D registers DFnnnnn
DW16383 The usage range is set by the user using
(DAnnnnn)
MPE720.

Note: 1. n: Decimal number; h: Hexadecimal number

2. B, W, L, F, and A: Data type (B: Bit, W: Integer, L: Double-length integer, F: Real number, A: Address.

Outline of Motion Control Systems

Refer to 5.3.2 Data Types.)
3. Up to 32 D registers (32 words, DW0000 to DW0031) can be used when creating drawings, but this
can be changed in the MPE720 Drawings Properties Window. Refer to the Machine Controller MP900/
MP2000 Series MPE720 Software for Programming Device User’s Manual (manual number: SIEP
C880700 05) or, refer to Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6
User’s Manual (manual number: SIEP C880700 30) for details.
4. S and M register data has a battery backup to ensure the data is held even if the MP2300S power is
turned OFF and ON.
It is recommended that data to be held regardless of whether or not the power is turned OFF and ON
should be written to M registers if possible.

5-35
 5.3 Registers
5.3.1 Types of Registers

( 2 ) Function Registers
The following table shows the registers that can be used with each function.

Type Name Specification Method Range Details Characteristics

Input to functions
Bit input: XB000000 to XB00000F
Function input regis- XW00000 to
X XB, XW, XL, XFnnnnn Integer input: XW00001 to XW00016
ters XW00016
Double-length integer input: XL00001 to
XL00015
Output from functions
Bit output: YB000000 to YB00000F
Function output reg- YW00000 to
Y YB, YW, YL, YFnnnnn Integer output: YW00001 to YW00016
isters YW00016
Double-length integer output: YL00001
to YL00015
Internal registers unique to each function
Internal function ZW00000 to
Z ZB, ZW, ZL, ZFnnnnn Can be used for function internal process-
registers ZW00063 Unique to each
ing.
function
External registers with the address input
External function AW00000 to value as the base address.
A AB, AW, AL, AFhhhhh
registers AW32767 For linking with S, M, I, O, #, and
DAnnnnn.
Call-only registers
#B, #W, #L, #Fnnnnn #W00000 to Can be called only from the relevant func-
# # registers
(#Annnnn) #W16383 tion. The usage range is set by the user
using MPE720.
Internal registers unique to each function.
DB, DW, DL, DFnnnnn DW00000 to Can be called only the relevant function.
D D registers
(DAnnnnn) DW16383 The usage range is set by the user using
MPE720.
SB, SW, SL, SFnnnnn
S System registers
(SAnnnnn)
MB, MW, ML,
M Data registers MFnnnnn
(MAnnnnn) Same as DWG registers
These registers are shared by drawings and functions. Pay attention to how these
IB, IW, IL, IFhhhh
I Input registers registers are to be used when calling the same function from a drawing of a dif-
(IAhhhh)
ferent priority level.
OB, OW, OL, OFhhhh
O Output registers
(OAhhhh)
CB, CW, CL, CFhhhh
C Constants registers
(CAnnnn)

 n: Decimal number; h: Hexadecimal number

 B, W, L, F, and A: Data type (B: Bit, W: Integer, L: Double-length integer, F: Real number, A: Address. Refer to 5.3.2
Data Types.)
 SA, MA, IA, OA, DA, #A, and CA registers can be used within functions.

5-36
 5.3 Registers
5.3.1 Types of Registers

( 3 ) Register Ranges in Programs

The following figure shows DWG programs, function programs, and register call ranges.

Common DWG registers

DWG. H (drawing)

Program System registers

(SB, SW, SL, SFnnnnn)
(1)
1000 steps max.
(2)
Data registers
DWG registers (MB, MW, ML, MFnnnnn)

Constant data, 16384 words max.

(#B, #W, #L, #Fnnnnn)
Individual data, 16384 words max.
(DB, DW, DL, DFnnnnn)

FUNC-000 (function)
Input registers
(IB, IW, IL, IFnnnnn)
Program
(4)
Function external
1000 steps max.
registers
(AB, AW, AL, AFnnnnn)
(3)
(1)
Function individual registers Output registers
(OB, OW, OL, OFnnnnn)
Function input registers, 17 words
(XB, XW, XL, XFnnnnn)
Function output registers, 17 words
(YB, YW, YL, YFnnnnn)

Outline of Motion Control Systems

Function internal registers, 64 words Constants registers
(ZB, ZW, ZL, ZFnnnnn) (CB, CW, CL, CFnnnnn)
Constant data, 16384 words max.
(#B, #W, #L, #Fnnnnn)
Individual data, 16384 words max.
(DB, DW, DL, DFnnnnn)

(1): Registers that are common to all drawings can be called from any drawing or function.
(2): Registers that are unique to each drawing can be called only from within the drawing.
(3): Registers that are unique to each function can be called only from within the function.
(4): Registers that are common to all drawings and registers that are unique to each
drawing can be called from functions using the external function registers.

5-37
 5.3 Registers
5.3.2 Data Types

5.3.2 Data Types

There are five kinds of data: Bit, integer, double-length integer, real number, and address data. Each is used differently
depending on the application. Address data, however, is used only inside functions when specifying pointers.
The following table shows the types of data.

Type Data types Numeric Value Range Remarks

B Bit 0: OFF/1: ON Used by relay circuits.
−32768 to +32767 Used for numeric value operations. The values in paren-
W Integer
(8000H) (7FFFH) theses ( ) indicate use with logical operations.
Double-length −2147483648 to +2147483647 Used for numeric value operations. The values in paren-
L
integer (80000000H) (7FFFFFFFH) theses ( ) are for use with logical operations.
F Real number ± (1.175E-38 to 3.402E+38), 0 Used for numeric value operations.
A Address 0 to 32767 Used only when specifying pointers.

A digit to indicate the bit (6) is added to

the register number (00100).

Data Types and Register

Specifications
[ MB001006 ] Bit type
Integer type
F E D C B A 9 8 7 6 5 4 3 2 1 0
[ MW00100 ]
[ ML00100 ]
[ MF00100 ]
[ MW00101 ]

[ MW00102 ]
[ ML00102 ]
[ MF00102 ]
[ MW00103 ]

Double-length and real

[ MB00103A ] Bit type
number type

Each register number A digit to indicate the bit (A) is added to The words for the given register number
is one word. the register number (00103). (00102) and the next number (00103) are
included. Therefore, every second number
is used.

Pointer Specification and Address

Type

Register area
Address in
memory

[ MA00100 ]

Indicates registers with consecutive

multiple addresses with MA00100
as the leading address

5-38
 5.3 Registers
5.3.3 How to Use Subscripts i, j

5.3.3 How to Use Subscripts i, j

Two type of registers (i, j) are available as dedicated registers to modify the relay and register numbers. Both i and j
have the same function. They are used when you want to handle a register number as a variable.
An example for each register data type is given as explanation.

( 1 ) Bit Type Attached with a Subscript

The result is a relay number

added with i or j value.
Equivalent For example, MB000000i for
i=2 is the same as MB000002.
Also, MB000000j for j=27 is
the same as MB00001B.

( 2 ) Integer Type Attached with a Subscript

The result is a register number

added with i or j value.
Equivalent For example, MW00010i for
i=3 is the same as MW00013.
Also, MW00001j for j=30 is
the same as MW00031.

( 3 ) Long Integer or Real Type Attached with a Subscript

Upper word Lower word
The result is a register number with an
Long integer type
MW00001 MW00000 added i or j value.
ML00000j for j = 0: ML00000
For example, “ML00000j for j=1” is the
MW00002 MW00001
ML00000j for j = 1: ML00001
same as ML00001. Also, “MF00000j for
j=1” is the same as MF00001.
However, as a word indicated by a regis-

Outline of Motion Control Systems

Real type Upper word Lower word
MW00001 MW00000 ter number is the lower word for a long
MF00000j for j = 0: MF00000
integer/real type, for the same ML00001
MW00002 MW00001
MF00000j for j = 1: MF00001
and MF00001, be aware that an upper/
lower word of ML00001 and MF00001
for j=0 may differ from those of

Program example using subscript

The left program uses a subscript j and

calculates the total amount of a hundred
registers from MW00100 to MW00199,
and stores the total amount in
MW00200.

5-39
 5.3 Registers
5.3.4 Register Designation

5.3.4 Register Designation

Registers can be specified directly by register number or by symbol (register name). A combination of both of these
register designation methods can be used in ladder programs.
When using the symbol specification method, the relationship between symbols and register numbers must be defined.
The following table shows the register specification methods.

Designation
Designation Example for Each Data Type
Method
Bit register: MB00100AX
Register Integer register: MW00100X
Number Double-length integer register: ML00100X
Direct Real number register: MF00100X
Designation Address register: MA00100X
X: When specifying subscripts, subscript i or j is added after the register number.
Bit register: RESET1-A.X
Integer register: STIME-H.X
Double-length integer registers: POS-REF.X
Real number registers: IN-DEF.X
Symbol
Designation Address registers: PID-DATA.X
↓
8 alphanumeric characters max.
X: When specifying subscripts, a period (.) is added after the symbol (8 alphanu-
meric characters max.) and then a subscript i or j is added.

Direct Designation
Register Number

Register No.: V T No. Bit No. Subscript

Subscript i or j can be specified

When T = B (bit register) (hexadecimal: 0
to F)
Register number allocated for V
(decimal/hexadecimal)
Data type allocated by V (B, W, L, F, or A)
Register type
(DWG: S, M, I, O, C, #, or D)
(Function: S, M, I, O, C, #, D, X, Y, Z, or A)

Symbol
Designation

Symbol: Symbol name . Subscript

Subscript i or j can be specified

Required if using subscripts
Name for registers: 8 characters max.
X XXXXXXX
Alphanumeric characters or symbols
English characters or symbols
(Symbol names cannot start with numerals.)

5-40
 5.4 Self-configuration

5.4 Self-configuration
The self-configuration function automatically recognizes the Optional Modules mounted to the MP2300S Basic Mod-
ule and all slave data for slaves connected to the MECHATROLINK network, and automatically generates a definition
file.
Self-configuration greatly simplifies the procedure needed to start the system.
Refer to 5.4.2 Definition Information Updated with Self-Configuration for items that are automatically generated.

[Execute Self-Configuration]

Automatically write into

"Module Configuration Definition"
MP2300S
YASKAWA RDY RUN

ALM ERR

MTX BAT

TRX IP

STOP
SUP

Detect the option module information

INT SW
CNFG 1
MON
TEST NO
ON

SW
E-INT 2
E-TEST
NO
BATTERY ON

M-I/II

Allocate I and O registers

RLY
OUT
Ethernet
LINK

DC
24V

DC
0V

100M

Automatically write into "218IFA"

MECHATROLINK-Τ

IO2310
Detect the slave
Automatically write into
equipment
"MECHATROLINK Transmission Definition"
SGDS M information

SGDH
NS115 M

Outline of Motion Control Systems

Automatically write into "SVB Definition"

Detect the motion parameter information

(SERVOPACK & stepper)

Automatically write into "SVR Definition"

Automatically write into "M-EXECUTOR Definition"

5-41
 5.4 Self-configuration
5.4.1 How to Execute Self-Configuration

5.4.1 How to Execute Self-Configuration

The following two methods are available for executing the self-configuration.
• Execute the self-configuration (from DIP switch)
• Execute the self configuration (from MPE720)
Now, this section explains each way to execute the self-configuration.

( 1 ) Procedure Using the DIP Switch

Self-configuration can be executed from the Basic Module DIP switch.

[ a ] When Executing the Self-Configuration First Time after Connecting Equipment

By performing the operation below, the self-configuration for all modules is newly executed, and all new definition
files are created.
Before performing the operation, turn ON the power supply of equipment such as SERVOPACK.

 Caution
Note that this operation can clear the following data in MP2300S.
• All definition files, all user programs, and all registers

1. Turn OFF the power supply.

‫ ޓ‬Turn OFF the 24-VDC power supply to the MP2300S.
STOP
SUP
INIT 2. Set the DIP switch.
CNFG ‫ ޓ‬Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300S
MON Basic Module to ON.
TEST

3. Turn ON the power supply.

Turn ON the 24-VDC power supply to the MP2300S.

4. Check the LED indicators.

Check that the LED indicators on the MP2300S Basic Module change as
follows.
RDY RUN RDY ‫ڎ‬ RUN RDY RUN
ALM ERR ALM ERR ALM ERR
MTX BAT MTX BAT MTX BAT
TRX IP TRX IP TRX IP

STOP : Lit : Unlit ‫ ڎ‬: Blinking

SUP
INIT
CNFG
5. Reset the DIP siwtch.
MON
‫ ޓ‬Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300S
TEST
Basic Module to OFF.

5-42
 5.4 Self-configuration
5.4.1 How to Execute Self-Configuration

[ b ] Self-configuration after Adding Devices Such as SERVOPACKs

By performing the following operation, a definition for an axis newly detected in the MECHATROLINK transmission
is created. The definitions for already mapped axes are not updated.
Before performing the operation, turn ON the power supply of devices such as SERVOPACK.

1. Turn OFF the power supply

Turn OFF the MP2300S's 24-VDC power supply.
STOP
SUP
INIT
CNFG 2. DIP switch setting
Turn ON CNFG of MP2300S's DIP switch (SW1).
MON ‫ޓޓޓ‬
TEST

3. Turn ON the power supply

Turn ON the MP2300S's 24-VDC power supply.

4. Check the display

Check that LED display of the MP2300S main unit is changed as
follows:

RDY RUN RDY ‫ڎ‬ RUN RDY RUN

ALM ERR ALM ERR ALM ERR
MTX BAT MTX BAT MTX BAT
TRX IP TRX IP TRX IP

: Lit : Unlit ‫ ڎ‬: Blinking

STOP
SUP
INIT
CNFG
5. DIP switch resetting
Turn OFF CNFG of MP2300S's DIP switch (SW1).
MON ‫ޓޓޓ‬
TEST

Outline of Motion Control Systems

Note: Since a register mapping was manually changed after the self-configuration was last executed last time,
input/output addresses may be changed by executing subsequent self-configurations.
Also, when SVR is set to Disable, SVR may be reset to Enable.
To retain the changed register mapping, etc., manually map a register to the additional devices instead of
using self-configuration, and then update the definition file.

 INIT Switch and RAM Data

RAM data will be cleared if the INIT switch of the DIP switch on the MP2300S Basic Module is ON and the power is turned
ON. Flash memory data is read and overwritten when the INIT switch is OFF and the power is turned ON. Therefore, to protect
RAM data, always save data to the MP2300S flash memory before turning OFF the power when writing or editing programs.
 Turning OFF Power After Executing Self-configuration
Do not turn OFF the 24-VDC power supply to the MP2300S after executing self-configuration until the definitions data has
been saved to flash memory in the MP2300S. If the power is somehow turned OFF before the data is saved to flash memory, re-
execute the self-configuration.

5-43
 5.4 Self-configuration
5.4.1 How to Execute Self-Configuration

( 2 ) Procedure Using MPE720

Executing self-configuration from MPE720 allows self-configuration for individual Modules as well as for all mod-
ules.
When self-configuration is carried out from MPE720, a definition for any axis newly detected in the MECHA-
TROLINK transmission is created. The definitions for already mapped axes are not updated.

This section explains each way to execute the self-configuration.

[ a ] Self-configuration for All the Modules

By performing the following operation, the self-configuration for MP2300S basic and option modules is executed.
Before performing the operation, turn ON the power supply of equipment such as SERVOPACK.

1. Double-click System - Module Configuration.

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

2. Select Order - Self Configure All Modules to execute self-configuration.

3. Click Yes for the following message.

4. While running the self-configuration, the following message is shown.

5-44
 5.4 Self-configuration
5.4.1 How to Execute Self-Configuration

5. If the following warning message is shown after performing step 4, the module configuration definitions
for CPU and MPE720 may differ from each other. Continue to perform step 6. When the message is
not shown, go to step 9.

6. Select Online(O) - Read from Controller(A).

7. Click Individual, and only check Module Configuration.

Outline of Motion Control Systems

5-45
 5.4 Self-configuration
5.4.1 How to Execute Self-Configuration

8. Click Start to read the module configuration definition from a controller.

9. Click the Save & FLASH Save Button to flash save the definition information.

10. Check that the definition is successfully created in the Module Configuration Window.

5-46
 5.4 Self-configuration
5.4.1 How to Execute Self-Configuration

[ b ] Self Configuration of Each Module

If modules or devices are added, self-configuration can be executed separately for the Module (port) that has been
changed.
By performing the following operation, self-configuration will be executed for the selected slot.
Before performing the operation, turn ON the power supply of devices such as SERVOPACK.

1. Double-click System - Module Configuration.

The Engineering Manager Window will start and the Module Configuration Window will appear.

2. Right-click the Module for which devices have been added and select Module Self Configuration
from the pop menu to execute self-configuration.

Outline of Motion Control Systems

3. Click Yes for the following message.

5-47
 5.4 Self-configuration
5.4.1 How to Execute Self-Configuration

4. While running the self-configuration, the following message is shown.

5. If the following warning message is shown after performing step 4, the module configuration definitions
for CPU and MPE720 may differ from each other. Continue to perform step 6. When the message is
not shown, go to step 9.

6. Select Online(O) - Read from Controller(A).

5-48
 5.4 Self-configuration
5.4.1 How to Execute Self-Configuration

7. Click Individual, and only check Module Configuration.

8. Click Start to read the module configuration definition from a controller.

Outline of Motion Control Systems

9. Click the Save & FLASH Save Button to flash save the definition information.

10. In the Module Configuration Definition Window, check that the definition has been created.

5-49
 5.4 Self-configuration
5.4.2 Definition Information Updated with Self-Configuration

5.4.2 Definition Information Updated with Self-Configuration

Now, the definition information updated during executing the self-configuration and the module configuration defini-
tion example based on the module combination are as follows:

( 1 ) Definition Data of MP2300S Basic Module

[ a ] I/O Allocations

Item Allocation
• Start I/O register: IW0000/OW0000
• End I/O register: IW07FF/OW07FF
218IFA
(Input register: IW0000 to IW07FF,
Output register: OW0000 to OW07FF)
• Start I/O register: IW0800/OW0800
• End I/O register: IW0BFF/OW0BFF
MECHATROLINK
(Input register: IW0800 to IW0BFF,
Output register: OW0800 to OW0BFF)
SVB
• Start motion register: IW8000/OW8000
• End motion register: IW87FF/OW87FF
Motion Parameter
(Input register: IW8000 to IW87FF,
Output register: OW8000 to OW87FF)
• Start motion register: IW8800/OW8800
• End motion register: IW8FFF/OW8FFF
SVR Motion Parameter
(Input register: IW8800 to IW8FFF,
Output register: OW8800 to OW8FFF)
• Start I/O register: IW0C00/OW0C00
• End I/O register: IW0C3F/OW0C3F
M-EXECUTOR
(Input register: IW0C00 to IW0C3F,
Output register: OW0C00 to OW0C3F)

[ b ] 218IFA Definition

Item Allocation
Local IP Address 192.168.1.1
Subnet Mask 255.255.255.0
Gateway IP Address 0.0.0.0
Module Name Definition “CONTROLLER NAME”
System Port
9999 (UDP)
(engineering port)
Check & Monitor Time of MEMOBUS
0s
response
Retransmit Count 0

Note: The self-configuration allows you to connect with MPE720 for engineering transmission. In order to carry
out MEMOBUS message transmission, manually use an automatic reception and I/O message commu-
nication separately, or MSG-SND/MSG-RCV functions are required.

5-50
 5.4 Self-configuration
5.4.2 Definition Information Updated with Self-Configuration

[ c ] SVB Module Definitions

MECHATROLINK transmission definitions are automatically set according to the detected communication method
and the number of slaves.
For more information on self-configuration for SVB module, refer to Chapter 3 of Machine Controller MP2000-series
SVB/SVB-01 Motion Module User’s Manual (manual number: SIEP C880700 33).

 Master

MECHATROLINK-II MECHATROLINK-II
Item
(32-byte mode) (17-byte mode)
MECHATROLINK-I
Maximum Slave 10 to
1 to 8 9 17 to 21 1 to 14 15
Station Number 16
Number of Transmit Bytes 31 bytes 16 bytes –
Communication Cycle 1 ms 1 ms 2 ms 2 ms 1 ms 1 ms 2 ms
21: Maximum
Number of Retry Stations 1 0 5 1 0 14
station number
Maximum station
Number of Slave Stations 8 9 16 14 15 14
number

 Slave

MECHATROLINK-II MECHATROLINK-II
Item MECHATROLINK-I
(32-byte mode) (17-byte mode)
Number of Transmit Bytes – – –
Communication Cycle 1 ms 1 ms 2 ms
Number of Slave Stations 30 30 15

Note: To use MP2300S/SVB as a Slave, before executing the self-configuration, the parameter setting for
MECHATROLINK transmission definition must be set to Slave in MPE720.

Outline of Motion Control Systems

5-51
 5.4 Self-configuration
5.4.2 Definition Information Updated with Self-Configuration

[ d ] SVR Definition

Type No. Name Allocation

0 Selection of Operation Modes Axis unused
1 Function Selection Flag 1 0000h
4 Reference Unit Selection pulse
5 Number of Digits below Decimal Point 3
6 Travel Distance per Machine Rotation 10000 reference unit
8 Servo Motor Gear Ratio 1 rev (rotation)
Fixed Parameter
9 Machine Gear Ratio 1 rev (rotation)
10 Infinite Length Axis Reset Position (POSMAX) 360000 reference unit
34 Rated Motor Speed 3000 min-1
36 Number of Pulses per Motor Rotation 65536 pulse/rev
Feedback Speed Movement Averaging Time
42 10 ms
Constant
OW00 RUN Command Setting 0000h
OW03 Function Setting 1 0011h
OW08 Motion Command 0: No command
OW09 Motion Command Control Flag 0000h
OW0A Motion Subcommand 0: No command
OL0C Torque/Thrust Reference Setting 0.00%
OL10 Speed Reference Setting 3000×10n reference unit/min
OL16 Secondly Speed Compensation 0.00%
OL1C Position Reference Setting 0 reference unit
OW31 Speed Compensation 0.00%
Straight Line Acceleration/ Acceleration Time
OL36 0 ms
Setting Parameter Constant
Straight Line Deceleration/ Deceleration Time
OL38 0 ms
Constant
OW3A Filter Time Constant 0.0 ms
Bias Speed for Index Deceleration/ Acceleration
OW3B 0 reference unit/s
Filter
OW3D Width of Starting Point Position Output 100 reference unit
OL44 STEP Travel Distance 1000 reference unit
Zero Point Position in Machine Coordinate Sys-
OL48 0 reference unit
tem Offset
OL4A Work Coordinate System Offset 0 reference unit
OL4C Number of POSMAX Turns Presetting Data 0 turn
OW5C Fixed Parameter Number 0

[ e ] M-EXECUTOR Definition

Item Allocation
Number of Program Definitions 8
Program Allocation None
Control Register Allocation None

5-52
 5.5 Precaution on Using MP2300S
5.5.1 Precautions when User Definition File is Configured/Changed

5.5 Precaution on Using MP2300S

This section explains precautions when a user definition file is configured/changed and when setting a scan time.

5.5.1 Precautions when User Definition File is Configured/Changed

System settings, scan time settings, and module configuration definitions must be saved in flash memory (flash save).
When a system setting, scan time setting, or module configuration definition is configured/changed, be sure to use
MPE720 to flash save it. Note that when the MP2300S power supply is turn ON again without flash saving, the config-
ured/changed data may be lost.
• System Setting

• Scan Time Setting

Outline of Motion Control Systems

5-53
 5.5 Precaution on Using MP2300S
5.5.2 Setting or Changing Module Configuration Definition Files

• Module Configuration Definition

5.5.2 Setting or Changing Module Configuration Definition Files

Observe the following precautions when setting or changing module configuration definition files.
• Always check to make sure that the mounted Module is the one that is defined.
• Be sure to save any new settings or changes to flash memory.
• After the settings or changes have been completed, turn the power supply to the MP2300S OFF and ON.

5-54
 5.5 Precaution on Using MP2300S
5.5.3 Setting and Changing the Scan Time

5.5.3 Setting and Changing the Scan Time

( 1 ) Precautions When Setting or Changing the Scan Time
The scan time can be set and changed in the Scan Time Setting Window in the Environmental Setting Dialog Box on
the MPE720.
Observe the following precautions when setting or changing the scan time.
• Set the set values of the scan time for both the high-speed (H) and low-speed (L) scans to at least the maximum
time required to execute the scans. We recommend setting the set values of the scan time using the formula (set
value − maximum time to execute scan) ≥ (0.2 × set values of the scan time), i.e., setting the set values of the
scan time to at least 1.25 times the maximum times required to execute the scans.
Note: If the scan time is set too close to the maximum execution time for the scan, the refresh time for the
screen on the MPE720 will be very slow and communication timeouts may occur. If the maximum execu-
tion time exceeds the scan time set value, a watchdog timer timeout error will occur and the MP2300S
system will stop.
• Set the set values of the high-speed (H) and low-speed (L) scan time to an integral multiple of the
MECHATROLINK communication cycle (1 or 2 ms) set in the MP2300S. Always check the set values of the
scan time after changing the MECHATROLINK communication cycle.
• Do not change the scan time set value while the Servo is ON. Never change the setting while the axis is moving
(while the motor is running). Otherwise an error may occur during motor operation (e.g., high-speed rotation).
• When the scan time is set or changed, be sure to save the data to flash memory.

Outline of Motion Control Systems

5-55
 5.5 Precaution on Using MP2300S
5.5.3 Setting and Changing the Scan Time

( 2 ) Scan Time Set Value Examples

 0.8-ms Maximum Scan Time and 1-ms Communication Cycle (MECHATROLINK-II Only)
High-speed (or low-speed) scan set value ≥ 1.25 × 0.8 (= 1 ms)
High-speed (or low-speed) scan set value = 1 ms, 2 ms, 3 ms, etc. (an integral multiple of at least 1 ms)

 1.4-ms Maximum Scan Time and 1-ms Communication Cycle (MECHATROLINK-II Only)
High-speed (or low-speed) scan set value ≥ 1.25 × 1.4 (= 1.75 ms)
High-speed (or low-speed) scan set value = 2 ms, 3 ms, etc. (an integral multiple of at least 2 ms)

 0.8-ms Maximum Scan Time and 2-ms Communication Cycle (MECHATROLINK-I or MECHA-
TROLINK-II)
High-speed (or low-speed) scan set value ≥ 1.25 × 0.8 (= 1 ms)
High-speed (or low-speed) scan set value = 1 ms, 2 ms, 4 ms, etc. (an integral multiple of 2 ms at 1 ms and 2 ms or
higher)

 1.4-ms Maximum Scan Time and 2-ms Communication Cycle (MECHATROLINK-I or MECHA-
TROLINK-II)
High-speed (or low-speed) scan set value ≥ 1.25 × 1.4 (= 1.75 ms)
High-speed (or low-speed) scan set value = 2 ms, 4 ms, etc. (an integral multiple of 2 ms at 2 ms or higher)

5-56
 6
Built-in Ethernet Communications

This chapter explains how to communicate with devices (PLC, touch panel, etc.) connected to the
MP2300S by Ethernet.

6.1 Communication Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2

6.2 Communication with Other MP Series - - - - - - - - - - - - - - - - - - - - - - - - - -6-3
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used) - - - - - - - - - - - 6-3
6.2.2 When the MP2300S Acts as Slave
(ladder program which uses a MSG-RCV function) - - - - - - - - - - - - - - - - - - - - - - - - 6-17
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used) - 6-36
6.2.4 When the MP2300S Acts as Master
(ladder program which uses a MSG-SND function) - - - - - - - - - - - - - - - - - - - - - - - - 6-49

6.3 Communication with Touch Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-65

6.3.1 When the MP2300S Acts as Slave (automatic receive function is used) - - - - - - - - - - 6-65

6.4 Communication with PLC Manufactured

by Mitsubishi Electric Corporation (MELSEC protocol) - - - - - - - - - - - - - 6-75

Built-in Ethernet Communications

6.4.1 When the MP2300S Acts as Slave (automatic receive function is used) - - - - - - - - - - 6-75
6.4.2 When the MP2300S Acts as Master (I/O message communication function is used) - 6-83

6-1
 6.1 Communication Methods

6.1 Communication Methods

The following table provides the appropriate mode of communication for each remote device and purpose.

Remote
Purpose Communication Method Remarks
Equipment
Uses the Extended MEMOBUS communication protocol.
The remote equipment (master) creates ladder programs using the
MP2300S can com-
MSG-SND function.
municate with only
The MP2300S (slave) uses the automatic receive function. (You do
one master using the
not need to create ladder programs.)
automatic receive
function.
When other MP series  Refer to 6.2.1 When the MP2300S Acts as Slave (automatic
equipment reads/writes receive function is used)
the coil state or register Uses the Extended MEMOBUS communication protocol.
content of MP2300S The remote equipment (master) creates ladder programs using the
MSG-SND function.
Communication with
The MP2300S (slave) creates ladder programs using the MSG-RCV
multiple masters is
function.
possible.
 Refer to 6.2.2 When the MP2300S Acts as Slave (ladder program
Other MP which uses a MSG-RCV function)
Series Uses the Extended MEMOBUS communication protocol. Only the holding reg-
ister (M register) is
The MP2300S (master) uses the I/O message communication func-
tion. (You do not need to create ladder programs.) capable of reading/
The remote equipment (slave) creates ladder programs using the
writing using the I/O
MSG-RCV function. message communica-
tion function.
When MP2300S reads/  Refer to 6.2.3 When the MP2300S Acts as Master (I/O message It can communicate
writes the coil state or communication function is used) with only one slave.
register content of other Uses the Extended MEMOBUS communication protocol.
MP series equipment Registers other than
The MS2300S creates ladder programs using the MSG-SND func-
the holding register
tion.
are capable of reading/
The remote equipment (slave) creates ladder programs using the
writing.
MSG-RCV function.
Communication with
 Refer to 6.2.4 When the MP2300S Acts as Master (ladder pro- multiple slaves is
enabled.
gram which uses a MSG-SND function)
Uses the Extended MEMOBUS communication protocol.
Set the protocol for the touch panel side to the Extended MEMO-
When a touch panel
BUS protocol.
reads/writes the coil
Touch Panel The MP2300S (slave) uses the automatic receive function. (You do –
state or register content not need to create ladder programs.)
of MP2300S
 Refer to 6.3 Communication with Touch Panel.
Uses the MELSEC communication protocol.
When a PLC Manufac- The remote equipment (master) creates ladder programs using the
The MP2300S can
tured by Mitsubishi BUFSND function.
communicate with
Electric Corporation The MP2300S (slave) uses the automatic receive function. (You do
only one master when
reads/writes the not need to create ladder programs.)
using the automatic
MP2300S register con-
PLC Manu- receive function.
tent.  Refer to 6.4.1 When the MP2300S Acts as Slave (automatic
factured by receive function is used)
Mitsubishi
Electric Uses the MELSEC communication protocol.
When an MP2300S The MP2300S (master) uses the I/O message communication func- The MP2300S can
Corporation
reads/writes the relay tion. (You do not need to create ladder programs.) communicate with
state or register content The remote equipment (slave) needs to set the network parameters. only one slave when
of PLC Manufactured (You do not need to create ladder programs.) using the I/O message
by Mitsubishi Electric communication func-
Corporation.  Refer to 6.4.2 When the MP2300S Acts as Master (I/O message tion.
communication function is used)

Note: For information on applications where the remote device is a PLC or Windows computer, refer to the
Machine Controller MP2300S/MP2310/MP2400 Basic Module Supplement for Ethernet Communications
(manual number: SIEP C880700 37).

6-2
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

6.2 Communication with Other MP Series

When Ethernet communication is carried out between the MP2300S and other MP series, the Extended MEMOBUS
protocol is used as a communication protocol. The Extended MEMOBUS protocol allows the master to read/write the
slave register contents.
This chapter explains communications when an MP2300S acts as a slave and a master respectively.
When the MP2300S acts as a slave, this chapter explains communications using an automatic receive function and a
ladder program with the MSG-RCV function.
When the MP2300S acts as a master, this chapter explains communications using an I/O message communication func-
tion and a ladder program with the MSG-SND function.

6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)
This section explains how to communicate with the MP2300 message transmit function (MSG-SND) using the
MP2300S automatic receive function.

Slave Master
MP2300S MP2300
(Local station) (Remote station)
MP2300 218IF-01
MP2300S YASKAWA RDY RUN RUN ERR

4&; 470 ALM ERR STRX COL

;#5-#9#
#./ '44
TX BAT TX RX

/6: $#6

64: STOP
+2 SUP INIT
INT TEST
5612 CNFG
572 OFF ON
MON
+06 59 TEST SW1
%0()  PORT
/10
6'56
OFF ON
01
10

59 BATTERY
'+06 
$#66'4;

M-I/II
'6'56
01
10
Communication Protocol Extended MEMOBUS
Type protocol CPU I/O

DC24V 10Base-T
4.;
176
Ethernet
LINK
Connection Type TCP / UDP DC 0V

&%
8 Data Code Type BIN / ASCII
&%
0V

/

Ethernet Ethernet

MP2300S MP2300

Built-in Ethernet Communications

Automatic receive function MSG-SND function
(ladderless) (ladder application)

218IFA Option Module

(218IF-01)

Extended MEMOBUS protocol

Fig. 6.1 Message Flow with MP2300 when Automatic Receive Function Is Used

6-3
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

 Setting Example
The following figure illustrates how the content of the MP2300S (master) holding register (MW00000 to MW00099) is
written into the MP2300S (slave) holding register (MW00000 to MW00099).

Slave Master
MP2300S MP2300
(Local station) (Remote station)
IP address: 192.168.001.001 IP address: 192.168.001.002

MP2300 218IF-01
MP2300S YASKAWA RDY RUN RUN ERR

4&; 470 ALM ERR STRX COL

;#5-#9#
#./ '44
TX BAT TX RX

/6: $#6

64: STOP
+2 SUP INIT
INT TEST
5612 CNFG
572 OFF ON
MON
+06 59 TEST SW1
%0()  PORT
/10
6'56
OFF ON
01
10

59 BATTERY
'+06 
$#66'4;

M-I/II
'6'56
01
10
Communication Protocol Extended MEMOBUS
Type protocol CPU‫ޓ‬
I/O

DC24V
4.;
176
Ethernet
LINK
Connection Type TCP DC 0V
10Base-T

&%
8 Data Code Type BIN
&%
0V

/

Port number: 10001 Ethernet Port number: 10001

MP2300S MP2300
(Local station) (Remote station)
Holding register (M register) Holding register (M register)
Write
MW00000 MW00000
MW00001 MW00001

Data size Data size

100W 100W

MW00098 MW00098
MW00099 MW00099

The setup procedure is explained in the following pages.

6-4
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

( 1 ) How to Set up the MP2300S Side

If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.

1. Double-click the 218IFA Tab in the Module Details Window of the module configuration definition.

2. Set transmission parameters.

 

 How to set up transmission parameters

 Set IP Address (“192.168.001.001,” for example).
 Set Subnet Mask (“255.255.255.000,” for example).
 Set Gateway IP Address (“000.000.000.000,” for example).

 Caution

Built-in Ethernet Communications

Set up a unique IP address in the network.
For the IP address, check with your network administrator.

3. Click the Easy Setting Button in the Message Communication area of the connection parameter set-
ting.

6-5
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

4. Set a communication setting in the Message Communication Easy Setting Window.

    

  
 How to set up in the Message Communication Easy Setting Window
 When automatic receive is used, select “1” for the Connect No.
 Set Port No. of the MP2300S side (“10001,” for example).
 Select Extended MEMOBUS for the Communication Protocol Type, and click Default Button.
 Select Connect Type (TCP, for example).
 Select Code (BIN, for example).
 Set Node Port IP Address for the other device (MP2300) to be connected (“192.168.001.002,” for example).
 Set Port No. of the other device (MP2300) to be connected (“10001,” X for example).
 Click OK Button.

 Caution
When message functions (MSG-SND, MSG-RCV) are used with the connection number 01, disable the automatic receive func-
tion. If message functions are used while the automatic receive function is enabled, communications will not function properly.

Note: The automatic receive function with a connection number 01 is set to “Enable” by default.

6-6
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

5. Click Yes in the confirmation dialog of the parameter setting.

 Caution
Note that when a parameter with the same connection number is already set and you click Yes in the confirmation dialog of the
parameter setting, the setting will be overwritten by the parameter configured in the Message Communication Easy Setting
Window.

6. Check the setting value and click the Detail Button of the Automatically.

Built-in Ethernet Communications

6-7
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

7. Click Enable in the Automatically Reception Setting Dialog Box and then click the OK Button.

Note: For more information on Slave Side I/F Register Settings and Automatic input precessing delay time,
refer to 2.2.4 ( 4 ) (b)  Automatic Receive Setting Screen for Message Communication .

Now, the automatic receive function is set up when the MP2300S acts as a slave.

 Caution
When any transmission or connection parameter is changed, the change will be reflected after FLASH has been saved and the
power is turned ON again.

6-8
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

( 2 ) How to Set up the Remote Device (MP2300) to Be Connected

If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.

1. Double-click the 218IF Tab in the Module Details of the module configuration definition.

2. Set transmission parameters.

Built-in Ethernet Communications

  

 How to set up transmission parameters

 Set IP Address (“192.168.001.001,” for example).
 Click Edit, and then click Local Station: TCP/IP Setting in the Engineering Manager Window.

6-9
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

 Set Subnet Mask (“255.255.255.000,” for example).

 Set Gateway IP Address (“000.000.000.000,” for example).

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

3. Set connection parameters.

     

 How to set up with a connection number 01 in the connection parameter setting screen
 Set Local Port to the port number used in the MP2300 side (“10001,” for example).
 Set Node IP Address to the IP address configured in the MP2300S side.
 Set Node Port to the port number configured in the MP2300S side (“10001,” for example).
 Select Connect Type (TCP, for example).
 Select Extended MEMOBUS for Protocol Type.
 Select Code (BIN, for example).

 Caution
When any transmission or connection parameter is changed, the change will be reflected after FLASH has been saved and the
power turned ON again.

6-10
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

4. Create a ladder program with a message transmit function (MSG-SND).

A ladder program for transmitting messages to/from the remote equipment (MP2300) side is shown as follows:

 Message transmit function (MSG-SND)

Required for transmitting messages. Message transmission is carried out by describing and executing this mes-
sage transmit function in a ladder program.

MSGSND
Communication device = Ethernet(218IF) Execute &$ Busy &$
Protocol type Abort &$ Complete &$
Dev-Typ  Error &$
Line number = 1 Pro-Typ 
Communication buffer channel number Cir-No 
Ch-No 
Parameter list start address
Param &#
=DA00000

Communication device = 218IF Line number = 1

Fig. 6.2 MPE720 Module Configuration Definition Window

Built-in Ethernet Communications

6-11
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

 Input/output definitions for message transmit functions

The input/output definitions for the message transmit function are explained as follows:

Table 6.1 Input/Output Definitions for Message Transmit Functions

I/O Setting
No. Name Explanation
Definition Example
Executes a transmission
1 Execute DB000200
When the Execute bit is ON, the message is transmitted.
Aborts a transmission
2 Abort DB000201 When the Abort bit is ON, the message transmission is forcibly
stopped.
Communication device type
3 Dev-Typ 00006 Specify the type of the communication device used in transmission.
When Ethernet (218IF) is used, specify “6”.
Communication protocol
Specify the type of the communication protocol.
4 Pro-Typ 00001
MEMOBUS(*1) = 1, non-procedure 1(*2) = 2, non-procedure 2(*2)
=3
Input Item
Circuit number
Specify the circuit number of the communication device.
5 Cir-No 00001
Specify it in accordance with the circuit number displayed in the
MPE720 module configuration definition screen.
Communication buffer channel number
Specify the channel number of the communication buffer.
6 Ch-No 00001 When Ethernet (218IF) is used, specify it in the range between “1”
and “10”.
Note: Set up a unique channel number in the circuit.
Parameter list start address
7 Param DA00000 Specify the start address of the parameter list. For the Parameter List,
17 words are automatically assigned from the configured address.
In process
1 Busy DB000210 Busy is turned ON while executing a message transmission or forced
abort process.
Process completed
Output Item
2 Complete DB000211 When a message transmission or abort process is properly completed
properly, Complete will turn ON only for one scan.
Error occurred
3 Error DB000212
When an error occurs, the Error bit will turn ON only for one scan.

* 1. When transmitting in MEMOBUS, Extended MEMOBUS, MELSEC, or MODBUS/TCP protocol, set

the communication protocol (Pro-Typ) to MEMOBUS(=1). The communication device automatically
converts the protocol.
* 2. Non-procedure 1: In non-procedural communications, data is transmitted on a per-word basis.
Non-procedure 2: In non-procedural communications, data is transmitted on a per-byte basis.

6-12
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

 Parameter list setting example for the message transmit function

An example of a parameter list setting when writing 100 words of data from MW00000 to the destination using
the connection with a connection number = 1 follows:

Table 6.2 Sample Parameter List Setting (parameter list start address Param=DA00000)
Register Setting Parameter
IN/OUT Remarks
Number Value Number
DW00000 – PARAM00 OUT Process result
DW00001 – PARAM01 OUT Status
DW00002 00001 PARAM02 IN Connection number = 1
DW00003 – PARAM03 IN Option (Setting unnecessary)
DW00004 000BH PARAM04 IN Function code = 0BH (Writes to holding register)
DW00005 00000 PARAM05 IN Data address = 0 (Starting from MW00000)
DW00006 00100 PARAM06 IN Data size = 100 (100 words)
DW00007 00001 PARAM07 IN Remote CPU number = 1
DW00008 00000 PARAM08 IN Coil offset = 0 word
DW00009 00000 PARAM09 IN Input relay offset = 0 word
DW00010 00000 PARAM10 IN Input register offset = 0 word
DW00011 00000 PARAM11 IN Holding register offset = 0 word
DW00012 – PARAM12 SYS Reserved by the system. (Zero clear at startup)
DW00013 – PARAM13 SYS Reserved by the system.
DW00014 – PARAM14 SYS Reserved by the system.
DW00015 – PARAM15 SYS Reserved by the system.
DW00016 – PARAM16 SYS Reserved by the system.
Note: IN: Input, OUT: Output, SYS: For system use

Built-in Ethernet Communications

6-13
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

 Example of Using the Message Transmit Function in a Ladder Program

Here is one example of the message transmit function through Ethernet (218IF).

Continued on the next page

6-14
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

Continued from the previous page

Built-in Ethernet Communications

Continued on the next page

6-15
 6.2 Communication with Other MP Series
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used)

Continued from the previous page

The communication setting and the ladder program creation are now finished, when MP2300 acts as a master.

( 3 ) How to Start Communications

1. The MP2300S side starts to receive the messages.

When the automatic receive function is used, the message receive operation starts automatically.

2. Turn Execute ON for the message transmit function in the MP2300 side to transmit messages.
Messages are transmitted by turning ON the register (DB000200, for example), configured in Execute of the
message transmit function, starting communication with the MP2300S.

Table 6.3 Input/Output Definition for Message Transmit Function

Setting
I/O Definition No. Name Content
Example
Executes a transmission
Input Item 1 Execute DB000200 When Execute is ON, the message transmission will be carried
out.

The sample ladder program is created to transmit a message every one second when five seconds have elapsed
after the low-speed scan (or high-speed scan) startup.
To change the message transmission interval, change the timer value .

6-16
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV
function)
The MP2300S can communicate with only one master when using the automatic receive function.
To communicate with more than one master, use a ladder program with a message receive function (MSG-RCV) at the
MP2300S end. You can use the message receive function (MSG-RCV) as well as the automatic receive function by
keeping connections separate from each other.

This section explains how to communicate with an MP2300 message transmit function (MSG-SND) using the
MP2300S message receive function (MSG-RCV).

Slave Master
MP2300S MP2300
(Local station) (Remote station)
MP2300 218IF-01
MP2300S YASKAWA RDY RUN RUN ERR

4&; 470 ALM ERR STRX COL

;#5-#9#
#./ '44
TX BAT TX RX

/6: $#6

64: STOP
+2 SUP INIT
INT TEST
5612 CNFG
572 OFF ON
MON
+06 59 TEST SW1
%0()  PORT
/10
6'56
OFF ON
01
10

59 BATTERY
'+06 
$#66'4;

M-I/II
'6'56
01
10
Communication Protocol Extended MEMOBUS
Type protocol CPU I/O

DC24V 10Base-T
4.;
176
Ethernet
LINK
Connection Type TCP / UDP DC 0V

&%
8 Data Code Type BIN / ASCII
&%
0V

/

Ethernet Ethernet

MP2300S MP2300

MSG-RCV function MSG-SND function

(ladder application) (ladder application)

Built-in Ethernet Communications

218IFA Option Module
(218IF-01)

Extended MEMOBUS protocol

Fig. 6.3 Message Flow with MP2300 when Message Receive Function (MSG-RCV) Is Used

6-17
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

 Setting Example
The following figure illustrates one example of writing the contents of the MP2300 (master) holding register
(MW00100 to MW00199) into the MP2300S (slave) holding register (MW00100 to MW00199).

Slave Master
MP2300S MP2300
(Local station) (Remote station)
IP address: 192.168.001.001 IP address: 192.168.001.002

MP2300 218IF-01
MP2300S YASKAWA RDY RUN RUN ERR

4&; 470 ALM ERR STRX COL

;#5-#9#
#./ '44
TX BAT TX RX

/6: $#6

64: STOP
+2 SUP INIT
INT TEST
5612 CNFG
572 OFF ON
MON
+06 59 TEST SW1
%0()  PORT
/10
6'56
OFF ON
01
10

59 BATTERY
'+06 
$#66'4;

M-I/II
'6'56
01
10
Communication Protocol Extended MEMOBUS
Type protocol CPU‫ޓ‬
I/O

DC24V 10Base-T
4.;
176
Ethernet
LINK
Connection Type TCP DC 0V

&%
8 Data Code Type BIN
&%
0V

/

Port number: 10002 Ethernet Port number: 10002

MP2300S MP2300
(Local station) (Remote station)
Holding register (M register) Holding register (M register)
Read
MW00100 MW00100
MW00101 MW00101

Data size Data size

100W 100W

MW00198 MW00198
MW00199 MW00199

The particular setup procedure is explained in the subsequent pages.

6-18
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

( 1 ) How to Set up the MP2300S Side

If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.

1. Double-click the 218IFA Tab in the Module Details of the module configuration definition.

2. Set transmission parameters.



 How to set up transmission parameters

 Set IP Address (“192.168.001.001,” for example).
 Set Subnet Mask (“255.255.255.000,” for example).
 Set Gateway IP Address (“000.000.000.000,” for example).

Built-in Ethernet Communications

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

6-19
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

3. Click the Easy Setting Button in the Message Communication area of the connection parameter set-
ting.

4. Set a communication setting in the Message Communication Easy Setting Window.

    

  
 How to set up in the Message Communication Easy Setting Window
 When automatic receive is used, select “2” for the Connect No.
 Set Port No. of the MP2300S side (“10002,” for example).
 Select Extended MEMOBUS for Communication Protocol Type, and click the Default Button.
 Select Connect Type (TCP, for example).
 Select Code (BIN, for example).
 Set Node Port IP Address for the other device (MP2300) to be connected (to “192.168.001.002,” for exam-
ple).
 Set Port No. of the other device (MP2300) to be connected (to “10002,” for example).
 Click OK.

6-20
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

 Caution
When message functions (MSG-SND, MSG-RCV) are used with the connection number 01, disable the automatic receive func-
tion. If message functions are used while the automatic receive function is enabled, communications will not function properly.

Note: The automatic receive function with a connection number 01 is set to “Enable” by default.

5. Click Yes in the parameter setting confirmation dialog.

 Caution
Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma-
tion dialog, the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window.

6. Check the setting values.

 Caution
When any transmission or connection parameter is changed, the change will be reflected after FLASH has been saved and the
power supply is turned ON again.

Built-in Ethernet Communications

6-21
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

7. Create a ladder program with a message receive function (MSG-RCV) in it.

An example of a ladder program for receiving messages in the MP2300S side is as follows:

 Message receive function (MSG-RCV)

Required for receiving messages. A message reception is carried out by inputting and executing this message
receive function in a ladder program.

MSG  RCV
Communication device Execute &$ Busy &$

Protocol type Abort &$ Complete &$

Dev-Typ  Error &$
Circuit number=1 Pro-Typ 
Communication buffer channel number Cir-No 
Ch-No 
Parameter list start address
Param &#
=DA00000

Communication device Circuit number=1

Fig. 6.4 MPE720 Module Configuration Definition Window

6-22
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

 Input/output definition contents for message receive functions

The input/output definition content for message receive function is as follows:

Table 6.4 Input/Output Definitions for Message Receive Functions

I/O Setting
No. Name Contents
Definition Example
Executes a reception
1 Execute DB000200
When Execute is ON, message reception will be carried out.
Aborts a reception
2 Abort DB000201
When Abort is ON, message reception is forcibly stopped.
Communication device type
3 Dev-Typ 00016 Specify the type of the communication device used in reception.
When Ethernet (218IF) is used, specify “16.”
Communication protocol
Specify the type of the communication protocol.
4 Pro-Typ 00001
MEMOBUS(*1) = 1, non-procedure 1(*2) = 2, non-procedure 2(*2)
=3
Input Item Circuit number
Specify a circuit number of the communication device.
5 Cir-No 00001
Specify it in accordance with the circuit number displayed in the
MPE720 Module Configuration Definition Window.
Communication buffer channel number
Specify the channel number of the communication buffer.
6 Ch-No 00002 When Ethernet (218IF) is used, specify it in the range between “1”
and “4.”
Note: Set up a unique channel number in the line.
Parameter list start address
7 Param DA00000 Specify the start address of the parameter list. For the Parameter List,
17 words are automatically assigned from the configured address.
In process
1 Busy DB000210 Busy will be ON while executing a message reception or forced abort
process.
Process completed
Output Item
2 Complete DB000211 When a message reception or forced abort process is properly com-
pleted, Complete will turn ON only for one scan.
Error
3 Error DB000212

Built-in Ethernet Communications

When an error occurs, Error will turn ON only for one scan.

* 1. When transmitting in MEMOBUS, Extended MEMOBUS, MELSEC, or MODBUS/TCP protocol, set

the communication protocol (Pro-Typ) to MEMOBUS(=1). The communication device automatically
converts the protocol.
* 2. Non-procedure 1: In non-procedural communication, data is received on a per-word basis.
Non-procedure 2: In non-procedural communication, data is received on a per-byte basis.

6-23
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

 Parameter list setting example for message receive function

An example of a parameter list setting when receiving messages from a transmit source using the connection with
a connection number = 2 follows:

Table 6.5 Parameter List Setting Example (parameter list start address Param=DA00000)
Register Setting Parameter
IN/OUT Remarks
Number Value Number
DW00000 – PARAM00 OUT Process result
DW00001 – PARAM01 OUT Status
DW00002 00002 PARAM02 IN Connection number = 2
DW00003 – PARAM03 OUT Option
DW00004 – PARAM04 OUT Function code
DW00005 – PARAM05 OUT Data address
DW00006 – PARAM06 OUT Data size
DW00007 – PARAM07 OUT Remote CPU number
DW00008 00000 PARAM08 IN Coil offset = 0 word
DW00009 00000 PARAM09 IN Input relay offset = 0 word
DW00010 00000 PARAM10 IN Input register offset = 0 word
DW00011 00000 PARAM11 IN Holding register offset = 0 word
DW00012 00000 PARAM12 IN Writable address lower limit = MW00000
DW00013 65534 PARAM13 IN Writable address upper limit = MW65534
DW00014 – PARAM14 SYS Reserved by the system. (Zero clear at startup)
DW00015 – PARAM15 SYS Reserved by the system.
DW00016 – PARAM16 SYS Reserved by the system.
Note: IN: Input, OUT: Output, SYS: For system use

6-24
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

 Example of Using the Message Receive Function in a Ladder Program

Here is an example of the message receive function through Ethernet (218IFA).

Built-in Ethernet Communications

Continued on the next page

6-25
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

Continued from the previous page

The communication setting and the ladder program creation are now finished, when the MP2300S acts as a slave.

6-26
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

( 2 ) How to Set up the Remote Device (MP2300) to Be Connected

If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.

1. Double-click the 218IF Tab in the Module Details of the module configuration definition.

Built-in Ethernet Communications

6-27
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

2. Set transmission parameters.

  

 How to set up transmission parameters

 Set IP Address (“192.168.001.001,” for example).
 Click Edit, and then click Local Station: TCP/IP Setting in the Engineering Manager Window.
 Set Subnet Mask (“255.255.255.000,” for example).
 Set Gateway IP Address (“000.000.000.000,” for example).

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

6-28
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

3. Set connection parameters.

     

 How to set up with a connection number 02 in the CP-218 Connection Parameter Window
 Set Local Port (the port number “10002” used in the MP2300 side, for example).
 Set the Node IP Address (the IP address “192.168.001.001” configured in the MP2300S side, for example).
 Set the Node Port (the port number “10002” configured in the MP2300S side, for example).
 Select Connect Type (TCP, for example).
 Select Extended MEMOBUS for Protocol Type.
 Select Code (BIN, for example).

 Caution
When any transmission or connection parameter is changed, the change will be reflected after FLASH has been saved and the
power supply is turned ON again.

Built-in Ethernet Communications

6-29
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

4. Create a ladder program containing a message transmit function (MSG-SND).

An example of a ladder program for transmitting messages in the remote device (MP2300S) side follows:

 Message transmit function (MSG-SND)

Required for transmitting messages. Message transmission is carried out by describing and executing this mes-
sage transmit function in a ladder program.

MSG  SND
Communication device = Ethernet(218IF) Execute &$ Busy &$

Protocol type Abort &$ Complete &$

Dev-Typ  Error &$
Circuit number = 1 Pro-Typ 
Communication buffer channel number Cir-No 
Ch-No 
Parameter list start address
Param &#
= DA00000

Communication device = 218IF Circuit number = 1

Fig. 6.5 MPE720 Module Configuration Definition Screen

6-30
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

 Input/output definitions contents for message transmit functions

The input/output definition content for the message transmit function is as follows:

Table 6.6 Input/Output Definitions for Message Transmit Functions

I/O Setting
No. Name Contents
Definition Example
Executes a transmission
1 Execute DB000200
When Execute is ON, the message transmission will be carried out.
Forcibly aborts a transmission
2 Abort DB000201
When Abort is ON, the message transmission is forcibly stopped.
Communication device type
3 Dev-Typ 00006 Specify the type of the communication device used in transmission.
When Ethernet (218IF) is used, specify “6.”
Communication protocol
Specify the type of the communication protocol.
4 Pro-Typ 00001
MEMOBUS(*1) = 1, non-procedure 1(*2) = 2, non-procedure 2(*2)
=3
Input Item Circuit number
Specify a circuit number of the communication device.
5 Cir-No 00001
Specify it in accordance with the circuit number displayed in the
MPE720 module configuration definition screen.
Communication buffer channel number
Specify the channel number of the communication buffer.
6 Ch-No 00002 When Ethernet (218IF) is used, specify it in the range between “1”
and “10.”
Note: Set up a unique channel number in the line.
Parameter list start address
7 Param DA00000 Specify the start address of the parameter list. For the Parameter List,
17 words are automatically assigned from the configured address.
In process
1 Busy DB000210 Busy will be ON while executing a message transmission or forced
abort process.
Process completed
Output Item
2 Complete DB000211 When a message transmission or forced abort process is properly
completed, Complete will turn ON only for one scan.
Error
3 Error DB000212

Built-in Ethernet Communications

When an error occurs, Error will turn ON only for one scan.

* 1. When transmitting in MEMOBUS, Extended MEMOBUS, MELSEC, or MODBUS/TCP protocol, set

the communication protocol (Pro-Typ) to MEMOBUS(=1). The communication device automatically
converts the protocol.
* 2. Non-procedure 1: In non-procedural communication, data is transmitted on a per-word basis.
Non-procedure 2: In non-procedural communication, data is transmitted on a per-byte basis.

6-31
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

 Parameter list setting for the message transmit function

An example of a parameter list setting when reading 100 words of data from MW00100 from the destination
using the connection with a connection number = 2 follows:

Table 6.7 Parameter List Setting Example (parameter list start address Param=DA00000)
Register Setting Parameter
IN/OUT Remarks
Number Value Number
DW00000 – PARAM00 OUT Process result
DW00001 – PARAM01 OUT Status
DW00002 00002 PARAM02 IN Connection number = 2
DW00003 – PARAM03 IN Option (Setting unnecessary)
DW00004 0009H PARAM04 IN Function code = 09H (Reads a holding register)
DW00005 00100 PARAM05 IN Data address = 100 (Starting from MW00100)
DW00006 00100 PARAM06 IN Data size = 100 (100 words)
DW00007 00001 PARAM07 IN Remote CPU number = 1
DW00008 00000 PARAM08 IN Coil offset = 0 word
DW00009 00000 PARAM09 IN Input relay offset = 0 word
DW00010 00000 PARAM10 IN Input register offset = 0 word
DW00011 00000 PARAM11 IN Holding register offset = 0 word
DW00012 – PARAM12 SYS Reserved by the system. (Zero clear at startup)
DW00013 – PARAM13 SYS Reserved by the system.
DW00014 – PARAM14 SYS Reserved by the system.
DW00015 – PARAM15 SYS Reserved by the system.
DW00016 – PARAM16 SYS Reserved by the system.
Note: IN: Input, OUT: Output, SYS: For system use

6-32
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

 Example of Using the Message Transmit Function in a Ladder Program

Here is one example of the message transmit function through Ethernet (218IF).

Built-in Ethernet Communications

Continued on the next page

6-33
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

Continued from the previous page

Continued on the next page

6-34
 6.2 Communication with Other MP Series
6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function)

Continued from the previous page

The communication setting and the ladder program creation are now finished, when MP2300 acts as a master.

( 3 ) How to Start Communications

1. The MP2300S side starts to receive the messages.

As the sample ladder program automatically starts the message receive operation just after system startup, you
are not required to do anything. In normal operation, accept the default.

2. Turn Execute ON for the message transmit function in the MP2300 side to transmit messages.
Messages are transmitted by turning on the register DB000200 configured in Execute of the message transmit
function, for example, starting communication with MP2300S.

Table 6.8 Input/Output Definition for Message Transmit Function

Setting
I/O Definition No. Name Contents
Example
Executes a transmission
Input Item 1 Execute DB000200
When Execute is ON, the message transmission is carried out.

The sample ladder program is created to transmit a message every one second when five seconds have elapsed
after the low-speed scan (or high-speed scan) startup.

Built-in Ethernet Communications

To change the message transmission interval, change the timer value .

6-35
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

6.2.3 When the MP2300S Acts as Master (I/O message communication function is
used)
This section explains how to communicate with the MP2300 message receive function (MSG-RCV) using the
MP2300S I/O message communication function.

Master Slave
MP2300S MP2300
(Local station) (Remote station)
MP2300 218IF-01
MP2300S YASKAWA RDY RUN RUN ERR

4&; 470 ALM ERR STRX COL

;#5-#9#
#./ '44
TX BAT TX RX

/6: $#6

64: STOP
+2 SUP INIT
INT TEST
5612 CNFG
572 OFF ON
MON
+06 59 TEST SW1
%0()  PORT
/10
6'56
OFF ON
01
10

59 BATTERY
'+06 
$#66'4;

M-I/II
'6'56
01
10
Communication Protocol Extended MEMOBUS
Type protocol CPU I/O

DC24V 10Base-T
4.;
176
Ethernet
LINK
Connection Type TCP / UDP DC 0V

&%
8 Data Code Type BIN / ASCII
&%
0V

/

Ethernet Ethernet

MP2300S MP2300

I/O message receive function MSG-RCV function

(ladderless) (ladder application)

218IFA Option Module

(218IF-01)

Extended MEMOBUS protocol

Fig. 6.6 Message Flow with MP2300 when I/O Message Communication Function Is Used

 I/O Message Communication

I/O message communication implements out 1:1 communication.
In addition, you can read and write only the holding register in the case of “Communication Protocol Type: Extended MEMO-
BUS” used in the communication with MP series.
When you communicate with multiple remote devices, or when you need to read a coil state or input relay, or change a coil state
as well as read/write a holding register, use the message transmit function (MSG-SND).

6-36
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

 Setting Example
The following figure illustrates one example of reading the contents of the holding register (MW00200 to MW00299)
of MP2300 (slave) into an input register (IW0000 to IW0063) of MP2300S (master) and writing the contents of an out-
put register (OW0064 to OW00C7) of MP2300S (master) into a holding register (MW00300 to MW00399) of MP2300
(slave).

Master Slave
MP2300S MP2300
(Local station) (Remote station)
IP address: 192.168.001.001 IP address: 192.168.001.002

MP2300 218IF-01
MP2300S YASKAWA RDY RUN RUN ERR

4&; 470 ALM ERR STRX COL

;#5-#9#
#./ '44
TX BAT TX RX

/6: $#6

64: STOP
+2 SUP INIT
INT TEST
5612 CNFG
572 OFF ON
MON
+06
%0()
59

TEST ‫ޓ‬ SW1
PORT
/10
6'56
OFF‫ޓ‬ON
01
10

59 BATTERY
'+06 
$#66'4;
'6'56
01
10 Communication Protocol Extended MEMOBUS
M-I/II
Type protocol CPU‫ޓ‬
I/O

DC24V
4.;
176
Ethernet
LINK
Connection Type TCP DC 0V
10Base-T

&%
8 Data Code Type BIN
&%
0V

/

Ethernet Ethernet
 Port number: 10005  Port number: 10005
 Port number: 10006  Port number: 10006

MP2300S MP2300
(Local station) (Remote station)
Input register (I register) Read Holding register (M register)

IW0000 MW00200 Data size

Data size
 100W 100W 

Built-in Ethernet Communications

IW0063 MW00299
Output register (O register)
Write
OW0064 MW00300
Data size Data size
 100W 100W 

OW00C7 MW00399

The particular setup procedure is explained in the subsequent pages.

6-37
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

( 1 ) How to Set up the MP2300S Side

If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.

1. Double-click the 218IFA Tab in the Module Details of the module configuration definition.

2. Set transmission parameters.

 

 How to set up transmission parameters

 Set IP Address (“192.168.001.001,” for example).
 Set Subnet Mask (“255.255.255.000,” for example).
 Set Gateway IP Address (“000.000.000.000,” for example).

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

3. Click Enable in the I/O Message Communication of the connection parameter setting.

6-38
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

4. Set a communication setting in the I/O Message Communication Easy Setting Window.

    

   
 How to set up in the I/O Message Communication Easy Setting Window
 Set Port No. of the MP2300S side (“10005, 10006,” X for example).
 Select Extended MEMOBUS for Communication Protocol Type, and click the Default Button.

Built-in Ethernet Communications

 Caution
When the communication protocol is Extended MEMOBUS, the register type that can select both read and write is fixed at the
Holding Register (MW).

 Select Connect Type (TCP, for example).

 Select Code (BIN, for example).
 Set Remote IP Address for the other device (MP2300) to be connected (“192.168.001.002,” for example).
 Set Port No. of the other device (MP2300) to be connected (“10005, 10006,” for example).

 Caution
In I/O message communication, as a message is transmitted from each port number for register read/write, a connected remote
device needs the message receive functions to receive two messages.

6-39
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

 Set a storage area (Input Reg) of data read by MP2300S (IW0000, for example).
 Set the Read Size of data to be the read by the MP2300S (“100” W, for example).
 Set a storage area (Output Reg) of data written by the MP2300S (OW0064, for example).
 Set the Write Size of data written by the MP2300S (“100” W, for example).
Set an I/O data update timing (Data update timing) for CPU and built-in Ethernet (“Low” scan, for example).

 Data Update Timing

Data update timing indicates when to send and receive data between the CPU and built-in Ethernet. Communication with the
remote device is carried out asynchronously, so note that a message is not necessarily transmitted to the remote equipment at
each set data update time.

Set the register type and start address (Read Reg) of the remote device (MP2300) read by the MP2300S
(“MW00200,” for example).
Set the register type and start address (Write Reg) of the remote device (MP2300) written by the MP2300S
(“MW00300,” for example).
Click OK.

5. Click Yes in the parameter setting confirmation window.

 Caution
Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma-
tion window, the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Win-
dow.

6. Check the setting values.

The I/O message communication is now set up, when MP2300S acts as a master.

 Caution
When any transmission or connection parameter is changed, the change will be not reflected after FLASH has been saved and
the power supply is turned ON again.

6-40
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

( 2 ) How to Set up the Remote Device (MP2300) to Be Connected

When the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.

1. Double-click the 218IF Tab in the Module Details of the module configuration definition.

2. Set transmission parameters.

  

Built-in Ethernet Communications

6-41
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

 How to set up transmission parameters

 Set IP Address (“192.168.001.001”, for example).
 Click Edit, and then click Local Station: TCP/IP Setting in the Engineering Manager Window.
 Set Subnet Mask (“255.255.255.000”, for example).
 Set Gateway IP Address (“000.000.000.000”, for example).

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

3. Set connection parameters.

     

 How to set up in the CP-218 Connection Parameter Window with connection numbers 05, 06
 Set Local Port (the port number “10005, 10006” used in the MP2300 side, for example).
 Set Node IP Address (the IP address “192.168.001.001” configured in the MP2300S side, for example).
 Set Node Port (the port number “10005, 10006” configured in the MP2300S side, for example).
 Select Connect Type (TCP, for example).
 Select Extended MEMOBUS for Protocol Type.
 Select Code (BIN, for example).

 Caution
When any transmission or connection parameter is changed, the change will be reflected after FLASH has been saved and the
power supply is turned ON again.

6-42
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

4. Create a ladder program with a message receive function (MSG-RCV) in it.

An example of a ladder program for receiving messages in the remote equipment (MP2300) side follows:

 Message receive function (MSG-RCV)

Required for receiving messages. Message reception is carried out by inputting and executing this message
receive function in a ladder program.

In addition, in order to support Read and Write by MP2300S, two message receive functions should be provided.
Here, the input item and parameters (Communication buffer channel number and Connection number) of the
message receive function need to accord with the MP2300S side settings.

MSG  RCV
Communication device = Ethernet(218IF) Execute &$ Busy &$
Abort &$ Complete &$
Protocol type
Dev-Typ  Error &$
Circuit number = 1 Pro-Typ 
Communication buffer channel number Cir-No 
Ch-No 
Parameter list start address
Param &#
=DA00000

Note: Similarly, a message receive function with the communication buffer channel number = 6 is required.

Communication device = 218IF Circuit number = 1

Built-in Ethernet Communications

Fig. 6.7 MPE720 Module Configuration Definition Window

6-43
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

 Input/output definition contents for message receive functions

The input/output definition content for message receive function is as follows:

Table 6.9 Input/Output Definitions for Message Receive Functions

I/O Setting
No. Name Content
Definition Example
Executes a reception
1 Execute DB000200
When Execute is ON, message reception is carried out.
Forcibly aborts a reception
2 Abort DB000201
When Abort is ON, the message reception is forcibly stopped.
Communication device type
3 Dev-Typ 00006 Specify the type of the communication device used in reception.
When Ethernet (218IF) is used, specify “6.”
Communication protocol
Specify the type of the communication protocol.
4 Pro-Typ 00001
MEMOBUS(*1) = 1, non-procedure 1(*2) = 2, non-procedure 2(*2)
=3
Input Item Circuit number
Specify a circuit number of the communication device.
5 Cir-No 00001
Specify it in accordance with the circuit number displayed in the
MPE720 module configuration definition screen.
Communication buffer channel number
00005 Specify the channel number of a communication buffer.
6 Ch-No & When Ethernet (218IF) is used, specify it in the range between “1”
00006 and “10.”
Note: Set up a unique channel number in the line.
Parameter list start address
7 Param DA00000 Specify the start address of the parameter list. For the Parameter List,
17 words are automatically assigned from the configured address.
In process
1 Busy DB000210 Busy will be ON while executing a message reception or forced abort
process.
Process completed
Output Item
2 Complete DB000211 When a message reception or forced abort process is properly com-
pleted, Complete will turn ON only for one scan.
Error
3 Error DB000212
When an error occurs, Error will turn ON only for one scan.

* 1. When transmitting in MEMOBUS, Extended MEMOBUS, MELSEC, or MODBUS/TCP protocol, set

the communication protocol (Pro-Typ) to MEMOBUS (=1). The communication device automatically
converts the protocol.
* 2. Non-procedure 1: In non-procedural communication, data is received on a per-word basis.
Non-procedure 2: In non-procedural communication, data is received on a per-byte basis.

6-44
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

 Parameter list setting example for message receive function

An example of a parameter list setting when receiving messages from a transmit source using the connection with
connection numbers = 5 and 6 follows:

Table 6.10 Parameter List Setting Example 1 (parameter list start address Param = DA00000)
Register Setting Parameter
IN/OUT Remarks
Number Value Number
DW00000 – PARAM00 OUT Process result
DW00001 – PARAM01 OUT Status
DW00002 00005 PARAM02 IN Connection number = 5 (For receiving read operation)
DW00003 – PARAM03 OUT Option
DW00004 – PARAM04 OUT Function code
DW00005 – PARAM05 OUT Data address
DW00006 – PARAM06 OUT Data size
DW00007 – PARAM07 OUT Remote CPU number
DW00008 00000 PARAM08 IN Coil offset = 0 word
DW00009 00000 PARAM09 IN Input relay offset = 0 word
DW00010 00000 PARAM10 IN Input register offset = 0 word
DW00011 00000 PARAM11 IN Holding register offset = 0 word
DW00012 00000 PARAM12 IN Writable address lower limit = MW00000
DW00013 65534 PARAM13 IN Writable address upper limit = MW65534
DW00014 – PARAM14 SYS Reserved by the system. (Zero clear at startup)
DW00015 – PARAM15 SYS Reserved by the system.
DW00016 – PARAM16 SYS Reserved by the system.
Note: IN: Input, OUT: Output, SYS: For system use

Table 6.11 Parameter List Setting Example 2 (parameter list start address Param = DA00000)
Register Setting Parameter
IN/OUT Remarks
Number Value Number
DW00000 – PARAM00 OUT Process result
DW00001 – PARAM01 OUT Status
Connection number = 6 (For receiving write opera-
DW00002 00006 PARAM02 IN
tion)

Built-in Ethernet Communications

DW00003 – PARAM03 OUT Option
DW00004 – PARAM04 OUT Function code
DW00005 – PARAM05 OUT Data address
DW00006 – PARAM06 OUT Data size
DW00007 – PARAM07 OUT Remote CPU number
DW00008 00000 PARAM08 IN Coil offset = 0 word
DW00009 00000 PARAM09 IN Input relay offset = 0 word
DW00010 00000 PARAM10 IN Input register offset = 0 word
DW00011 00000 PARAM11 IN Holding register offset = 0 word
DW00012 00000 PARAM12 IN Writable address lower limit = MW00000
DW00013 65534 PARAM13 IN Writable address upper limit = MW65534
DW00014 – PARAM14 SYS Reserved by the system. (Zero clear at startup)
DW00015 – PARAM15 SYS Reserved by the system.
DW00016 – PARAM16 SYS Reserved by the system.
Note: IN: Input, OUT: Output, SYS: For system use

6-45
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

 Example of Using the Message Receive Function in a Ladder Program

Here is one example of using the message receive function through Ethernet (218IF). In addition, this ladder pro-
gram is for receiving read operation. A ladder program for receiving write operations is required separately.

MP2300S Remote device (MP2300)

I/O Message Communication X.01

Read [MSG-RCV]
For receiving
read operations
Write

X.02

[MSG-RCV]

For receiving
write operations

6-46
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

書き込み受信用には、
Set DW00002 = 6
to receive =
DW00002 write
6 を設定
operations.
してください

Built-in Ethernet Communications

書き込み受信用には、
Set Ch-No = 6
to receive
Ch-No write
= 6 を設定
operations.
してください

Continued on the next page

6-47
 6.2 Communication with Other MP Series
6.2.3 When the MP2300S Acts as Master (I/O message communication function is used)

Continued from the previous page

The communication setting and the ladder program creation are now finished, when MP2300 acts as a slave.

( 3 ) How to Start Communication

1. The MP2300 side starts to receive the messages.

As the sample ladder program starts the message receive operation just after the system startup, you are not
required to do anything. In normal operation, accept the default.

2. The MP2300S side transmits messages.

When an I/O message communication function is used, message transmit operation status automatically.

6-48
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND
function)
The I/O message communication function cannot operate any registers other than the holding register (M register).
Note that it can communicate with only one slave.
To communicate with more than one slave, use a ladder program with a message transmit function (MSG-SND) on the
MP2300S side. You can use the message transmit (MSG-SND) function as well as the I/O message communication
function by keeping connections separate from each other.

This section explains how to communicate with the MP2300 message receive function (MSG-RCV) using the
MP2300S message transmit function (MSG-SND).

Master Slave
MP2300S MP2300
(Local station) (Remote station)

MP2300 218IF-01
MP2300S YASKAWA RDY RUN RUN ERR

4&; 470 ALM ERR STRX COL

;#5-#9#
#./ '44
TX BAT TX RX

/6: $#6

64: STOP
+2 SUP INIT
INT TEST
5612 CNFG
572 OFF ON
MON
+06
%0()
59

TEST ‫ޓ‬ SW1
PORT
/10
6'56
OFF‫ޓ‬ON
01
10

59 BATTERY
'+06 
$#66'4;

M-I/II
'6'56
01
10
Communication Protocol Extended MEMOBUS
Type protocol CPU‫ޓ‬
I/O

DC24V 10Base-T
4.;
176
Ethernet
LINK
Connection Type TCP / UDP DC 0V

&%
8 Data Code Type BIN / ASCII
&%
0V

/

Ethernet Ethernet

MP2300S MP2300

MSG-SND function MSG-RCV function

(ladder application) (ladder application)

Built-in Ethernet Communications

218IFA Option Module
(218IF-01)

Extended MEMOBUS protocol

Fig. 6.8 Message Flow with MP2300 when Message Transmit Function (MSG-SND) Is Used

6-49
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

 Setting Example
The following figure illustrates one example of reading the content of the MP2300 (slave) holding register
(MW00400 to MW00499) into the MP2300S (master) holding register (MW00400 to MW00499).

Slave Master
MP2300S MP2300
(Local station) (Remote station)
IP address: 192.168.001.001 IP address: 192.168.001.002

MP2300 218IF-01
MP2300S YASKAWA RDY RUN RUN ERR

4&; 470 ALM ERR STRX COL

;#5-#9#
#./ '44
TX BAT TX RX

/6: $#6

64: STOP
+2 SUP INIT
INT TEST
5612 CNFG
572 OFF ON
MON
+06
%0()
59

TEST ‫ޓ‬ SW1
PORT
/10
6'56
OFF‫ޓ‬ON
01
10

59 BATTERY
'+06 
$#66'4;

M-I/II
'6'56
01
10 Communication Protocol Extended MEMOBUS
Type protocol CPU‫ޓ‬
I/O

DC24V
4.;
176
Ethernet
LINK
Connection Type TCP DC 0V
10Base-T

&%
8 Data Code Type BIN
&%
0V

/

Port number: 10003 Ethernet Port number: 10003

MP2300S MP2300
(Local station) (Remote station)
Holding register (M register) Holding register (M register)
Read
MW00400 MW00400
MW00401 MW00401

Data size Data size

100W 100W

MW00498 MW00498
MW00499 MW00499

The particular setup procedure is explained in the subsequent pages.

6-50
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

( 1 ) How to Set up the MP2300S Side

When the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.

1. Double-click the 218IFA Tab in the Module Details of the module configuration definition.

2. Set transmission parameters.



 How to set up transmission parameters

 Set IP Address (“192.168.001.001,” for example).
 Set Subnet Mask (“255.255.255.000,” for example).
 Set Gateway IP Address (“000.000.000.000,” for example).

Built-in Ethernet Communications

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

3. Click the Easy Setting Button in the Message Communication area of the connection parameter set-
ting.

6-51
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

4. Set a communication setting in the Message Communication Easy Setting Window.

    

  

 How to set up in the Message Communication Easy Setting Window

 When automatic receive is used, select “3” for the Connect No.
 Set Port No. of the MP2300S side (“10003,” for example).
 Select Extended MEMOBUS for Communication Protocol Type, and click the Default Button.
 Select Connect Type (TCP, for example).
 Select Code (BIN, for example).
 Set Node Port IP Address for the other device (MP2300) to be connected (“192.168.001.002,” for example).
 Set Port No. of the other device (MP2300S) to be connected (“10003,” for example).
 Click OK.

 Caution
When message functions (MSG-SND, MSG-RCV) are used with the connection number 01, disable the automatic receive func-
tion. If message functions are used while the automatic receive function is enabled, the communication will not function prop-
erly.
Note: The automatic receive function with a connection number 01 is set to “Enable” by default.

6-52
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

5. Click Yes in the parameter setting confirmation dialog box.

 Caution
Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma-
tion dialog, the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window.

6. Check the setting values.

 Caution
When any transmission or connection parameter is changed, the change will be reflected after FLASH has been saved and the
power supply is turned ON again.

Built-in Ethernet Communications

6-53
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

7. Create a ladder program containing a message transmit function (MSG-SND).

An example of a ladder program example for transmitting messages from the MP2300S side follows:

 Message transmit function (MSG-SND)

Required for transmitting messages. A message transmission is carried out by describing and executing this mes-
sage transmit function in a ladder program.

MSG SND
Communication device Execute &$ Busy &$
Protocol type Abort &$ Complete &$
Dev-Typ  Error &$
Circuit number = 1 Pro-Typ 
Communication buffer channel number Cir-No 
Ch-No 
Parameter list start address
Param &#
=DA00000

Communication device Circuit number = 1

Fig. 6.9 MPE720 Module Configuration Definition Window

6-54
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

 Input/output definition contents for message transmit functions

The input/output definition content for the message transmit function is as follows:

Table 6.12 Input/Output Definitions for Message Transmit Functions

I/O Setting
No. Name Contents
Definition Example
Executes a transmission
1 Execute DB000200
When Execute turns ON, the message transmission is carried out.
Aborts a transmission
2 Abort DB000201 When the Abort bit turns ON, message transmission is forcibly
stopped.
Communication device type
3 Dev-Typ 00016 Specify the type of the communication device used in transmission.
When Ethernet (218IF) is used, specify “16.”
Communication protocol
Specify the type of the communication protocol.
4 Pro-Typ 00001
MEMOBUS(*1) = 1, non-procedure 1(*2) = 2, non-procedure 2(*2)
=3
Input Item Circuit number
Specify a circuit number of the communication device.
5 Cir-No 00001
Specify it in accordance with the circuit number displayed in the
MPE720 module configuration definition screen.
Communication buffer channel number
Specify the channel number of a communication buffer.
When Ethernet (218IF) is used, specify it in the range between “1”
6 Ch-No 00003
and “4.”

Note: Set up a unique channel number in the line.

Parameter list start address
7 Param DA00000 Specify the start address of the parameter list. For the Parameter List,
17 words are automatically assigned from the configured address.
In process
1 Busy DB000210 Busy is ON while executing a message transmission or forced abort
process.
Process completed
Output Item
2 Complete DB000211 When a message transmission or abort process is properly completed,

Built-in Ethernet Communications

Complete will turn ON only for one scan.
Error occurred
3 Error DB000212
When an error occurs, Error will turn ON only for one scan.

* 1. When transmitting in MEMOBUS, Extended MEMOBUS, MELSEC, or MODBUS/TCP protocol, set

the communication protocol (Pro-Typ) to MEMOBUS(=1). The communication device automatically
converts the protocol.
* 2. Non-procedure 1: In non-procedural communication, data is transmitted on a per-word basis.
Non-procedure 2: In non-procedural communication, data is transmitted on a per-byte basis.

6-55
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

 Parameter list setting example for the message transmit function

An example of a parameter list setting when writing 100 words of data from MW00400 to the destination using
the connection with a connection number = 3 follows:

Table 6.13 Parameter List Setting Example (parameter list start address Param = DA00000)
Register Setting Val- Parameter Num-
IN/OUT Remarks
Number ue ber
DW00000 – PARAM00 OUT Process result
DW00001 – PARAM01 OUT Status
DW00002 00003 PARAM02 IN Connection number = 3
DW00003 – PARAM03 IN Option (Setting unnecessary)
DW00004 0009H PARAM04 IN Function code = 09H (Reads a holding register)
DW00005 00400 PARAM05 IN Data address = 400 (Starting from MW00400)
DW00006 00100 PARAM06 IN Data size = 100 (100 words)
DW00007 00001 PARAM07 IN Remote CPU number = 1
DW00008 00000 PARAM08 IN Coil offset = 0 word
DW00009 00000 PARAM09 IN Input relay offset = 0 word
DW00010 00000 PARAM10 IN Input register offset = 0 word
DW00011 00000 PARAM11 IN Holding register offset = 0 word
DW00012 – PARAM12 SYS Reserved by the system. (Zero clear at startup)
DW00013 – PARAM13 SYS Reserved by the system.
DW00014 – PARAM14 SYS Reserved by the system.
DW00015 – PARAM15 SYS Reserved by the system.
DW00016 – PARAM16 SYS Reserved by the system.
Note: IN: Input, OUT: Output, SYS: For system use

6-56
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

 Example of Using the Message Transmit Function in a Ladder Program

Here is one example of using the message transmit function through Ethernet (218IFA).

Built-in Ethernet Communications

Continued on the next page

6-57
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

Continued from the previous page

Continued on the next page

6-58
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

Continued from the previous page

The communication setting and the ladder program creation are now finished, when MP2300S acts as a master.

Built-in Ethernet Communications

6-59
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

( 2 ) How to Set up the Remote Equipment (MP2300) to Be Connected

If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.

1. Double-click the 218IF Tab in the Module Details of the module configuration definition.

2. Set transmission parameters.

  

6-60
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

 How to set up transmission parameters

 Set IP Address (“192.168.001.001,” for example).
 Click Edit, and then click Local Station: TCP/IP Setting in the Engineering Manager Window.
 Set Subnet Mask (“255.255.255.000,” for example).
 Set Gateway IP Address (“000.000.000.000,” for example).

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

3. Set connection parameters.

     

 Procedure to set up in the CP-218 Connection Parameter Window, for example, with a connection
number 03
 Set Local Port (the port number “10003” used in the MP2300 side, for example).
 Set Node IP Address (the IP address “192.168.001.001” configured in the MP2300S side, for example).
 Set Node Port (the port number “10003” configured in the MP2300S side, for example).

Built-in Ethernet Communications

 Select Connect Type, (TCP, for example).
 Select Extended MEMOBUS for Protocol Type.
 Select Code (BIN, for example).

 Caution
When any transmission or connection parameter is changed, the change will be reflected after FLASH has been saved and the
power supply is turned ON again.

6-61
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

4. Create a ladder program with a message receive function (MSG-RCV) in it.

An example of a ladder program for receiving messages in the remote equipment (MP2300) side follows:

 Message receive function (MSG-RCV)

Required for receiving messages. Message reception is carried out by describing and executing this message
receive function in a ladder program.

In addition, in order to support Read and Write by MP2300S, two message receive functions should be provided.
Here, the input item and parameters (communication buffer channel number and connection number) of the mes-
sage receive function need to accord with the MP2300S side settings.

MSG  RCV
Communication device = Ethernet(218IF) Execute &$ Busy &$
Abort &$ Complete &$
Protocol type
Dev-Typ  Error &$
Circuit number = 1 Pro-Typ 

Communication buffer channel number Cir-No 

Ch-No 
Parameter list start address Param &#
= DA00000
Note: Similarly, a message receive function with the communication buffer channel number=6 is required.

Communication device = 218IF Circuit number = 1

Fig. 6.10 MPE720 Module Configuration Definition Screen

6-62
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

 Input/output definitions contents for message receive functions

The input/output definition content for message receive function is as follows:

Table 6.14 Input/Output Definitions for Message Receive Functions

I/O Setting
No. Name Contents
Definition Example
Executes a reception
1 Execute DB000200
When Execute turns ON, the message reception is carried out.
Aborts a reception
2 Abort DB000201
When Abort turns ON, the message reception is forcibly stopped.
Communication device type
3 Dev-Typ 00006 Specify the type of the communication device used in reception.
When Ethernet (218IF) is used, specify “6.”
Communication protocol
Specify the type of the communication protocol.
4 Pro-Typ 00001
MEMOBUS(*1) = 1, non-procedure 1(*2) = 2, non-procedure 2(*2)
=3
Input Item Circuit number
Specify a circuit number of the communication device.
5 Cir-No 00001
Specify it in accordance with the circuit number displayed in the
MPE720 module configuration definition screen.
Communication buffer channel number
Specify the channel number of a communication buffer.
6 Ch-No 00003 When Ethernet (218IF) is used, specify it in the range between “1”
and “10.”
Note: Set up a unique channel number in the line.
Parameter list start address
7 Param DA00000 Specify the start address of the parameter list. For the Parameter List,
17 words are automatically assigned from the configured address.
In process
1 Busy DB000210 Busy will be ON while executing a message reception or forced abort
process.
Process completed
Output Item
2 Complete DB000211 When a message reception or forced abort process is properly com-
pleted, Complete will turn ON only for one scan.
Error occurred
3 Error DB000212

Built-in Ethernet Communications

When an error occurs, Error will turn ON only for one scan.

* 1. When transmitting in MEMOBUS, Extended MEMOBUS, MELSEC, or MODBUS/TCP protocol, set

the communication protocol (Pro-Typ) to MEMOBUS(=1). The communication device automatically
converts the protocol.
* 2. Non-procedure 1: In non-procedural communication, data is received on a per-word basis.
Non-procedure 2: In non-procedural communication, data is received on a per-byte basis.

6-63
 6.2 Communication with Other MP Series
6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function)

 Parameter list setting example for message receive function

A parameter list setting example is as follows when receiving messages from a transmit source using the connec-
tion with a connection number = 3:

Table 6.15 Parameter List Setting Example1 (parameter list start address Param = DA00000)
Register Setting Parameter
IN/OUT Remarks
Number Value Number
DW00000 – PARAM00 OUT Process result
DW00001 – PARAM01 OUT Status
DW00002 00003 PARAM02 IN Connection number = 3 (For receiving read operation)
DW00003 – PARAM03 OUT Option
DW00004 – PARAM04 OUT Function code
DW00005 – PARAM05 OUT Data address
DW00006 – PARAM06 OUT Data size
DW00007 – PARAM07 OUT Remote CPU number
DW00008 00000 PARAM08 IN Coil offset = 0 word
DW00009 00000 PARAM09 IN Input relay offset = 0 word
DW00010 00000 PARAM10 IN Input register offset = 0 word
DW00011 00000 PARAM11 IN Holding register offset = 0 word
DW00012 00000 PARAM12 IN Writable address lower limit = MW00000
DW00013 65534 PARAM13 IN Writable address upper limit = MW65534
DW00014 – PARAM14 SYS Reserved by the system. (Zero clear at startup)
DW00015 – PARAM15 SYS Reserved by the system.
DW00016 – PARAM16 SYS Reserved by the system.
Note: IN: Input, OUT: Output, SYS: For system use

 Example of Using the Message Receive Function in a Ladder Program

A ladder program for receiving messages in the remote equipment (MP2300) side is similar to that in ( 2 ) How to
Set up the Remote Device (MP2300) to Be Connected of 6.2.3 When the MP2300S Acts as Master (I/O message
communication function is used).
However, change Communication buffer channel number and Connection number respectively based on the I/O
definition and parameter list settings.

( 3 ) How to Start Communication

1. MP2300 side starts to receive the messages.

As the sample ladder program starts the message receive operation just after the system startup, you don’t need to
operate it particularly. Normally, accept the default.

2. Turn Execute ON for the message transmit function in the MP2300S side to transmit messages.
The sample ladder program is created to transmit a message every one second when five seconds elapsed after
the low-speed scan (or high-speed scan) startup.
The way to change the message transmission interval is similar to that in ( 3 ) How to Start Communications of
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used).

6-64
 6.3 Communication with Touch Panel
6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

6.3 Communication with Touch Panel

This section explains how to communicate with a touch panel supporting for the Extended MEMOBUS protocol using
the MP2300S automatic receive function.
In this section, GP3000 series manufactured by Digital Electronics Corp. is used as a touch panel supporting for the
Extended MEMOBUS protocol.

6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

Slave Master
MP2300S Touch Panel
(Local station) (Remote station)

MP2300S
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64: +2

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M-I/II
'6'56
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Communication Protocol Extended MEMOBUS
Type protocol
4.;
176
Ethernet
LINK
Connection Type TCP / UDP
&%
8 Data Code Type BIN / ASCII
&%
0V

/

Ethernet Ethernet

MP2300S Touch Panel

(GP3000 series)
Automatic receive function
(ladderless)

218IFA

Built-in Ethernet Communications

Extended MEMOBUS protocol

Fig. 6.11 Message Flow with Touch Panel (GP3000 series) when Automatic Receive Function is Used

Note: Here, communication with the touch panel is carried out using the automatic receive function, but it can
also use the message receive function (MSG-RCV). For information on how to set up when the message
receive function (MSG-RCV) is used, refer to ( 1 ) How to Set up the MP2300S Side of 6.2.2 When the
MP2300S Acts as Slave (ladder program which uses a MSG-RCV function).

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 6.3 Communication with Touch Panel
6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

 Setting Example
The following figure shows an example which displays the content of the MP2300S (slave) holding register
(MW00100) on a touch panel and writes values from the touch panel to the same register.

Slave Master
MP2300S Touch Panel
(Local station) (Remote station)
IP address: 192.168.001.001

MP2300S
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IP address: 192.168.001.002
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Communication Protocol Extended MEMOBUS
Type protocol
4.;
176
Ethernet
LINK
Connection Type TCP
&%
8 Data Code Type BIN
&%
0V

/

Port number: 10001 Ethernet Port number: 10001

MP2300S Touch panel

(Local station) GP3000 series
Holding register (M register) (Remote station)
Read

MW00100 GMW00100
Write

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 6.3 Communication with Touch Panel
6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

( 1 ) How to Set up the MP2300S Side

1. Double-click the 218IFA Tab in the Module Details of the module configuration definition.

2. Set transmission parameters.



 How to set up transmission parameters

 Set IP Address (“192.168.001.001,” for example).
 Set Subnet Mask (“255.255.255.000,” for example).
 Set Gateway IP Address (“000.000.000.000,” for example).

Built-in Ethernet Communications

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

3. Click the Easy Setting Button in the Message Communication area of the connection parameter set-
ting.

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 6.3 Communication with Touch Panel
6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

4. Set a communication setting in the Message Communication Easy Setting Window.

    

  
 How to set up in the Message Communication Easy Setting Window
 When automatic receive is used, select “1” for the Connect No.
 Set Port No. of MP2300S side (“10001,” for example).
 Select Extended MEMOBUS for Communication Protocol Type, and click the Default Button.
 Select Connect Type (TCP, for example).
 Select Code (BIN, for example).
 Set Node Port IP Address for the other device (touch panel) to be connected (“192.168.001.002,” for exam-
ple).
 Set Port No. of the other device (touch panel) to be connected (“10001,” for example).
 Click OK.

 Caution
When message functions (MSG-SND, MSG-RCV) are used with the connection number 01, disable the automatic receive func-
tion. If message functions are used while the automatic receive function is enabled, the communications will not function prop-
erly.

Note: The automatic receive function with a connection number 01 is set to “Enable” by default.

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 6.3 Communication with Touch Panel
6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

5. Click Yes in the parameter setting confirmation dialog box.

 Caution
Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma-
tion dialog, the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window.

6. Check the setting value and click the Detail Button in the Automatically column.

7. Check Enable in the Automatically Reception Setting Window and then click the OK Button.

Built-in Ethernet Communications

Note: For more information on Slave Side I/F Register Setting and Automatic Receive Process Delay Time,
refer to 2.2.4 ( 4 ) (b)  Automatic Receive Setting Screen for Message Communication .
The automatic receive function for connecting the MP2300S to the touch panel is now set up.

 Caution
When any transmission or connection parameter is changed, the change will be reflected after FLASH has been saved and the
power supply is turned ON again.

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 6.3 Communication with Touch Panel
6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

( 2 ) How to set up a touch panel

This section explains the GP-Pro EX side set up procedure for connecting the MP2300S to an indicator (GP3000
series) and the screen creation example.
Note: The indicator (GP3000 series) and GP-Pro EX are manufactured by Digital Electronics Corp. Contact
Digital Electronics Corp. for more information.

[ a ] How to Set up GP-Pro EX

1. Start up GP-Pro EX.

2. Create a new project.

3. Set its indicator type. Set the indicator type in accordance with the model in use.
Here, we explain the setting when AGP-3600T is used.

Table 6.16 Indicator Type Setting (example)

GP3000 series
Series
AGP33** series
Model AGP-3600T
Installation
Horizontal model
Method

4. Set up connected equipment.

Table 6.17 Connected Equipment

Manufacturer YASKAWA Electric Corporation
Series MEMOBUS Ethernet

5. Set up the way to connect.

Table 6.18 Connection Method

Port Ethernet (TCP)

6. Select the Connected Equipment Setting from the System Tab to display the connected equipment
setting screen.

7. Set the communication setting.

Table 6.19 Communication Setting

Port Number* 10001
Timeout 3(s)
Retry 0
Transmit Weight 0(ms)

* For more information on the port number, refer to the following page.

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 6.3 Communication with Touch Panel
6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

 Port Number
• If you don’t check Automatic Assignment of the port number in the communication setting screen, the automatic assignment
will be disabled, and the GP3000 series port number will be fixed at the setting value.

• If you check Automatic Assignment of the port number in the communication setting screen, automatic assignment will be
enabled, and the GP3000 series port number will be assigned in each case.
When you use Automatic Assignment, set Unpassive open mode in the 218IFA screen of MPE720.
For more information about Unpassive open mode, refer to 2.2.4 (b) 218IFA Module Detailed Window .
For information on the relationship between GP-Pro EX and MPE720 settings, see the table below.

MPE720 Side Setting

Unpassive open Fixed Value
Mode Setting
GP-Pro EX Side Setting
Automatic Assignment Enable √ –
Automatic Assignment Disable √ √

Note: √: connectable, – : unconnectable

• How to set up Unpassive open mode of the MP2300S (reference)

Set Node IP Address to 000.000.000.000 and the Node Port to 0 to enter into the Unpassive open mode.

Built-in Ethernet Communications

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 6.3 Communication with Touch Panel
6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

8. Click the setup button of the connected PLC1 for each device setting to display the setting screen for
each device.

9. Set up the setting screen for each device.

In the setting screen for each device, set up a connected device (in this case, the MP2300S).
Set the IP address, port number and data code in the same manner as the 218IFA screen of the MP2300S.

Table 6.20 Each Device Setting

IP Address 192.168.001.001
Port Number 10001
Data Code binary

• 218IFA screen (reference)

The setting is finished for now.

Create a screen and transfer the project to an indicator as required.

 Caution
Set up a unique IP address in the network.
The MP2300S side IP address is set to “192.168.1.1” in self-configuration.
For the IP address, check with your network administrator.

Note: Set the GP3000 series IP address in the off-line mode of the indicator.
Contact Digital Electronics Corp. for more information.

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 6.3 Communication with Touch Panel
6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

[ b ] Screen Creation Example

1. Create a base screen.

2. Select Data Indicator from the toolbar to paste it on the screen.

GP-Pro EX Screen

Paste
12345

3. Double-click the Data Indicator pasted on the screen.

GP-Pro EX Screen

Double-click
12345

4. Set as follows in the detailed setting screen of Data Indicator and click OK.

Table 6.21 Data Indicator Detailed Setting

Display Data Numeric display
Monitor Word Address GMW00100

Built-in Ethernet Communications

 Relationship between GP-Pro EX address display and MP2300S register

Device GP-Pro EX Address Display MP2300S Register

Coil (bit) GMB MB
Coil (word) GMW MW
Input Relay (bit) GIB IB
Input Relay (word) GIW IW

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 6.3 Communication with Touch Panel
6.3.1 When the MP2300S Acts as Slave (automatic receive function is used)

( 3 ) How to Start Communication

1. The MP2300S side starts to receive the messages.

When the automatic receive function is used, the message receive operation starts automatically, and you are not
required to do anything.

2. Start up the touch panel (GP3000 series) to display the main screen.
After the system startup of the touch panel, communication with MP2300S will start.
Note: Contact Digital Electronics Corp. for more information.

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.1 When the MP2300S Acts as Slave (automatic receive function is used)

6.4 Communication with PLC Manufactured by Mitsubishi Electric

Corporation (MELSEC protocol)
In Ethernet communication between the MP2300S and MELSEC (Q, A series) general-purpose PLC manufactured by
Mitsubishi Electric Corporation, the MELSEC protocol (A-compatible 1E frame) is used as a communication protocol.
Using the MELSEC protocol allows a master to read/write the slave register content.
This chapter explains communication when the MP2300S acts as a slave and a master respectively.
For using the MP2300S as a slave, we explain communication using the automatic receive function.
For using the MP2300S as a master, we explain communication using the I/O message communication function.

6.4.1 When the MP2300S Acts as Slave (automatic receive function is used)
This section explains how to carry out a fixed buffer communication with the BUFSND command (with procedure) of
the MELSEC Q series using the MP2300S automatic receive function.

MP2300S MELSEC Q series

(Local station) (Remote station)

MP2300S
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Slave
59
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Communication Protocol MELSEC protocol Master

'6'56
01
$#66'4; 10

M-I/II

Type
4.;
176
Ethernet
LINK
Connection Type TCP / UDP
&%
8 Data Code Type BIN / ASCII
&%
0V

/

Ethernet Ethernet

MP2300S MELSEC Q series

Automatic receive function BUFSND command

(ladderless) (ladder application)

Built-in Ethernet Communications

218IFA

MELSEC protocol
(fixed buffer communication, with procedure)

Fig. 6.12 Message Flow with the MELSEC Q Series when the Automatic Receive Function Is Used

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.1 When the MP2300S Acts as Slave (automatic receive function is used)

 Caution
Communication using the automatic receive function is 1:1 communication.
Also, when “Communication Protocol Type: MELSEC” is used in communication with the MELSEC Q series, the MELSEC Q
series (master) side can read/write the holding register of the MP2300S (slave) using fixed buffer communication.
However, when the MP2300S acts as a slave, you cannot use the inter-CPU or random access communication, because of the
MELSEC specifications.
In addition, use the message receive function (MSG-RCV) when communicating with multiple remote devices.

 Setting Example
The following figure illustrates one example of writing the contents of the data register (D00201 to D00300) of
MELSEC Q series (master) into the MP2300S (slave) holding register (MW00000 to MW00099).

MP2300S MELSEC Q series

(Local station) (Remote station)

IP address: 192.168.001.001

MP2300S
4&; 470
;#5-#9#
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64: +2

5612
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59

Slave
'+06 
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Communication Protocol MELSEC protocol

Master
01
$#66'4; 10

M-I/II

Type
4.;
176
Ethernet
LINK
Connection Type TCP
&%
8 Data Code Type BIN
&%
0V

/

Ethernet Ethernet
Port number: 10001 Port number: 10001

MP2300S MELSEC Q series

(Local station) (Remote station)
Holding register (M register) Data Register (D register)
Write
MW00000 D00201
MW00001 D00202

Data size Data size

100W 100W

MW00098 D00299
MW00099 D00300

The particular setup procedure is explained in the subsequent pages.

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.1 When the MP2300S Acts as Slave (automatic receive function is used)

( 1 ) How to Set up the MP2300S Side

If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.

1. Double-click the 218IFA Tab in the Module Details of the module configuration definition.

2. Set transmission parameters.



 How to set up transmission parameters

 Set IP Address (“192.168.001.001,” for example).
 Set Subnet Mask (“255.255.255.000,” for example).
 Set Gateway IP Address (“000.000.000.000,” for example).

Built-in Ethernet Communications

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

6-77
 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.1 When the MP2300S Acts as Slave (automatic receive function is used)

3. Click the Easy Setting Button in the Message Communication area of the connection parameter set-
ting.

4. Set up the communication settings in the Message Communication Easy Setting Window.

    

  
 How to set up in the Message Communication Easy Setting Window
 When automatic receive is used, select “1” for the Connect No.
 Set Port No. of MP2300S side (“10001,” for example).
 Select MELSEC for Communication Protocol Type, and click the Default Button.
 Select Connect Type (TCP, for example).
 Select Code (BIN, for example).
 Set Node port IP Address for the other device (MELSEC Q series) to be connected (“192.168.001.002,” for
example).
 Set Port No. of the other device (MELSEC Q series) to be connected (“10001,” for example).
 Click OK.

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.1 When the MP2300S Acts as Slave (automatic receive function is used)

 Caution
When message functions (MSG-SND, MSG-RCV) are used with the connection number 01, disable the automatic receive func-
tion. If message functions are used while the automatic receive function is enabled, the communications will not function prop-
erly.
Note: The automatic receive function with a connection number 01 is set to “Enable” by default.

5. Click Yes in the parameter setting confirmation dialog box.

 Caution
Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma-
tion dialog, the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window.

6. Check the setting value and click the Detail Button in the Automatically column.

Built-in Ethernet Communications

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.1 When the MP2300S Acts as Slave (automatic receive function is used)

7. Click Enable in the Automatically Reception Setting Window and then click the OK Button.

Note: For more information on Slave Side I/F Register Setting and Automatic Receive Process Delay Time,
refer to 2.2.4 ( 4 ) (b)  Automatic Receive Setting Screen for Message Communication .

The automatic receive function is now set up, when MP2300S acts as a slave.

 Caution
When any transmission or connection parameter is changed, the change will be reflected after FLASH has been saved and the
power supply is turned ON again.

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.1 When the MP2300S Acts as Slave (automatic receive function is used)

( 2 ) How to Set up the Remote Device (MELSEC Q series) to Be Connected

This section explains the MELSEC Q series side procedure to set up for connecting the MP2300S with the MELSEC Q
series.
Note: MELSEC Q series are manufactured by Mitsubishi Electric Corporation.
Contact Mitsubishi Electric Corporation for more information.

1. Start up GX Developer.

2. Create a new project.

3. Set up network parameters (MELSECNET/Ethernet).

Table 6.22 Network Parameter Setting (example)

Setting Item Setting Details
Network Type Ethernet
Start I/O No. Any
Network No. Any
Group No. Any
Exchange Number Any
Mode Online

4. Set up Ethernet operation.

Table 6.23 Ethernet Operation Setting (example)

Setting Item Setting Details
Communication Data Code
Binary code communication
Setting
Initial Timing Setting Any
IP Address 192.168.1.2
Transmit Frame Setting Ethernet (V2.0)
TCP Alive Check Setting Any
Permit Writing during RUN Permitted

Built-in Ethernet Communications

5. Set the open setting.

Table 6.24 Open Setting (example)

Setting Details
Setting Item
(connection number=1)
Protocol TCP
Open System Active
Fixed Buffer Transmit
Procedure to Communicate with Fixed Buffer With procedure
Pairing Open Any
Check Alive Any
Local Port Number 2711H (10001)
Remote IP Address for Communications 192.168.1.1
Remote Port Number for Communications 2711H (10001)

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.1 When the MP2300S Acts as Slave (automatic receive function is used)

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

 Complement
Set up an initial setting and a router relay parameter below, if needed:
• Initial setting
Set a timer relevant configuration when TCP is selected as a protocol. In most cases, accept the default.
Set up if changes such as a shortened a TCP retransmit timer are required.
• Router relay parameter
Set up when you use a subnet mask pattern or gateway IP address.

6. Create a ladder program for communication.

 Procedure overview to communicate using a ladder program

 Use an OPEN command to establish a connection with the remote device.
 Use a BUFSND command to write the register content configured by parameters below to the MP2300S
holding register (M register).
Setting example:When the BUFSND command is used to set the device start number for storing the transmit
data to “D00200”
D00200 (transmit data length):100W
D00201 to D00300 (transmit data): Written into MW00000 to MW00099
 If necessary, use a CLOSE command to close the operation.

Note: Contact Mitsubishi Electric Corporation for more information on the ladder program.

The setting is finished for now. If necessary, transfer the settings to the PLC after setting all parameters.

( 3 ) How to Start Communication

1. The MP2300S side starts to receive the messages.

When an automatic receive function is used, the message receive operation starts automatically, so you are not
required to do anything.

2. Use an OPEN command in the MELSEC Q series side to establish a connection with the MP2300S,
and use a BUFSND command to transmit messages.
When messages are transmitted from the MESLSEC Q series, communication with the MP2300S will start.

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.2 When the MP2300S Acts as Master (I/O message communication function is used)

6.4.2 When the MP2300S Acts as Master (I/O message communication function is
used)
This section explains how to carry out the communications between CPU and the MELSEC Q series using the
MP2300S I/O message communication function.

MP2300S MELSEC Q series

(Local station) (Remote station)

MP2300S
4&; 470
;#5-#9#
#./ '44

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64: +2

5612
572
+06 59
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6'56 01
10

59

Slave
'+06 

Master $#66'4;

M-I/II
'6'56
01
10
Communication Protocol MELSEC protocol
Type
4.;
176
Ethernet
LINK
Connection Type TCP / UDP
&%
8 Data Code Type BIN / ASCII
&%
0V

/

Ethernet Ethernet

MP2300S MELSEC Q series

I/O Message
Communication Function
(ladderless)

218IFA

MELSEC protocol
(inter-CPU communication)

Fig. 6.13 Message Flow with MELSEC Q series when I/O Message Communication Function Is Used

Built-in Ethernet Communications

 Caution
I/O message communication is 1:1 communication.
In addition, you can read and write the registers below using inter-CPU communication when “Communication Protocol Type:
MELSEC” is used in the communication with the MELSEC series.
• Bit device register - - - - X, Y (read only), M, B
• Word device register - - - D, W, R
Note: A bit device register reads or writes on a per-word (16 bit) basis.

When communicating with multiple remote devices.

To carry out a fixed buffer/random access buffer communication when reading/writing registers other than those mentioned
above, use the message transmit function (MSG-SND).

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.2 When the MP2300S Acts as Master (I/O message communication function is used)

 Setting Example
The following figure illustrates one example of reading the content of the data register (D00000 to D00099) of the
MELSEC Q series (slave) into an input register (IW0000 to IW0063) of the MP2300S (master) and writing the content
of an output register (OW0064 to OW00C7) of the MP2300S (master) in a data register (D00100 to D00199) of the
MELSEC Q series (slave).

MP2300S MELSEC Q series

(Local station) (Remote station)
IP address: 192.168.001.001

MP2300S
4&; 470
;#5-#9#
#./

/6:
'44

$#6
IP address: 192.168.001.002
64: +2

5612
572
+06 59
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/10
6'56 01
10

Slave
59
'+06 

Master $#66'4;

M-I/II
'6'56
01
10 Communication Protocol MELSEC protocol
Type
4.;
176
Ethernet
LINK
Connection Type TCP
&%
8 Data Code Type BIN
&%
0V

/

Ethernet Ethernet
 Port number: 10005  Port number: 10005
 Port number: 10006  Port number: 10006

MP2300S MELSEC Q series

(Local station) (Remote station)
Input register (I register) Data Register (D register)
Read
IW0000 D00000
Data size Data size
100W   100W
IW0063 D00099
Output register (O register)
Write
OW0064 D00100
Data size Data size
100W   100W

OW00C7 D00199

A particular setup procedure is explained in the subsequent pages.

6-84
 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.2 When the MP2300S Acts as Master (I/O message communication function is used)

( 1 ) How to Set up the MP2300S Side

If the setting of transmission parameters (IP address, subnet mask) is already completed, start from step 3.

1. Double-click the 218IFA Tab in the Module Details of the module configuration definition.

2. Set transmission parameters.



 How to set up transmission parameters

 Set IP Address (“192.168.001.001,” for example).
 Set Subnet Mask (“255.255.255.000,” for example).
 Set Gateway IP Address (“000.000.000.000,” for example).

Built-in Ethernet Communications

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

3. Click Enable in the I/O Message Communication of the connection parameter setting.

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.2 When the MP2300S Acts as Master (I/O message communication function is used)

4. Set-up a communication settings in the I/O Message Communication Easy Setting Window.

    

   

 How to set up in the I/O Message Communication Easy Setting Window

 Set Port No. of MP2300S side (“10005, 10006,” for example).
 Select MELSEC for Communication Protocol Type, and click the Default Button.

 Caution
When the communication protocol is MELSEC, the default register type for read/write is “Word Device Register: D.”

 Select Connect Type (TCP, for example).

 Select Code (BIN, for example).
 Set Node Port IP Address for the other device (MELSEC Q series) to be connected (“192.168.001.002,” for
example).
 Set Port No. of the other device (MELSEC Q series) to be connected (“10005, 10006,” for example).

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 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.2 When the MP2300S Acts as Master (I/O message communication function is used)

 Caution
In I/O message communications, since a message is transmitted from each port number for register read/write, a connected
remote device needs the two receive connections for receiving messages.

 Set a storage area (Input Reg) for data read by the MP2300S (IW0000, for example).
 Set Read Size of data to be read by the MP2300S (“100” W, for example).
 Set a storage area (Output Reg) for data written by MP2300S (OW0064, for example).
 Set Write Size of data written by the MP2300S (“100” W, for example).
Set an I/O data update timing (Data update timing) for the CPU and built-in Ethernet (“Low” scan, for exam-
ple).

 Data Update Timing

Data update timing indicates when to give and receive data between the CPU and built-in Ethernet. Communication with the
remote device is carried out asynchronously, so note that a message is not necessarily transmitted to the remote device at each
data update timing.

Set the register type and start address (Read Reg) of the remote device (MELSEC Q series) read by the
MP2300S (“D00000,” for example).
Set the register type and start address (Write Reg) of the remote device (MELSEC Q series) written by the
MP2300S (“D00100,” for example).
Click OK.

5. Click Yes in the parameter setting confirmation dialog box.

 Caution
Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma-
tion dialog, the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window.

Built-in Ethernet Communications

6. Check the setting values.

The I/O message communication is now set up, when the MP2300S acts as a master.

 Caution
When any transmission or connection parameter is changed, the change will be reflected after FLASH has been saved and the
power supply is turned ON again.

6-87
 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.2 When the MP2300S Acts as Master (I/O message communication function is used)

( 2 ) How to Set up the Remote Equipment (MELSEC Q series) to Be Connected

This section explains the MELSEC Q series side procedure to set up for connecting the MP2300S with the MELSEC Q
series.
Note: MELSEC Q series are products manufactured by Mitsubishi Electric Corporation.
Contact Mitsubishi Electric Corporation for more information.

1. Start up GX Developer.

2. Create a new project.

3. Set up network parameters (MELSECNET/Ethernet).

Table 6.25 Network Parameter Setting (example)

Setting Item Setting Details
Network Type Ethernet
Start I/O No. Any
Network No. Any
Group No. Any
Exchange Number Any
Mode Online

4. Set up Ethernet operation.

Table 6.26 Ethernet Operation Setting (example)

Setting Item Setting Details
Communication Data Code Setting Binary mode communication
Initial Timing Setting Always waiting OPEN
IP Address 192.168.1.2
Transmit Frame Setting Ethernet (V2.0)
TCP Alive Check Setting Any
Permit Writing during RUN Permitted

5. Set the open setting.

Table 6.27 Open Setting (example)

Setting Details Setting Details
Setting Item
(connection number=1) (connection number=2)
Protocol TCP TCP
Open System Fullpassive Fullpassive
Fixed Buffer Any Any
Procedure to Communicate with Fixed Buffer Any Any
Pairing Open Any Any
Check Alive Any Any
Local Port Number 2715H (10005) 2716H (10006)
Remote IP Address for Communications 192.168.1.1 192.168.1.1
Remote Port Number for Communications 2715H (10005) 2716H (10006)

 Caution
Set up a unique IP address in the network.
For the IP address, check with your network administrator.

6-88
 6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol)
6.4.2 When the MP2300S Acts as Master (I/O message communication function is used)

The setting is finished for now. If necessary, transfer the settings to the PLC after setting all parameters.

 Complement
Set up an initial setting and a router relay parameter below, if needed:
• Initial setting
Set a timer relevant configuration when TCP is selected as a protocol. In most cases, accept the default.
Set up if changes such as a shortened TCP retransmit timer are required.
• Router relay parameter
Set up when you use a subnet mask pattern or gateway IP address.

( 3 ) How to Start Communication

1. The MELSEC Q series starts to receive messages.

The message receive operation starts automatically, so you are not required to do anything.

2. The MP2300S side transmits messages.

When an I/O message communication function is used, the message transmit operation starts automatically, so
you are not required to do anything.

Built-in Ethernet Communications

6-89
 7
Slave CPU Synchronous Function

This chapter explains the slave CPU synchronous function details and the precautions for using it.

7.1 Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2

7.2 Requirements and Setting of Execution - - - - - - - - - - - - - - - - - - - - - - - - -7-3
7.2.1 Supported Version - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.2 Requirements to Execute Slave CPU Synchronous Function - - - - - - - - - - - - - - - - - - - 7-3
7.2.3 How to Set up Slave CPU Synchronous Function - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.2.4 How to Execute Slave CPU Synchronous Function - - - - - - - - - - - - - - - - - - - - - - - - - 7-7

7.3 Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-9

7.3.1 Input/Output Register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.3.2 How to Determine Slave CPU Synchronous State - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.3.3 Calculation of Slave CPU Synchronous Delay Time - - - - - - - - - - - - - - - - - - - - - - - - 7-16
7.3.4 How to Use Scan Counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.3.5 How to Determine Input Error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
7.3.6 Management to Resume Slave CPU Synchronization - - - - - - - - - - - - - - - - - - - - - - - 7-24

7.4 Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28

Slave CPU Synchronous Function

7.4.1 Precautions on Usage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28
7.4.2 Effect of Error on Slave CPU Synchronous Operation - - - - - - - - - - - - - - - - - - - - - - - 7-29

7-1
 7.1 Function

7.1 Function
A slave CPU synchronous function synchronizes the master side high-speed scan cycle with the MP2300S high-speed
scan cycle, in a configuration where another MP2300S series controller acts as a MECHATROLINK master and the
MP2300S with a built-in SVB acts as a MECHATROLINK slave.
This function automatically allows you the synchronization among slave CPUs and the distribution of application pro-
grams by connecting multiple MP2300Ss as a slave.
The following figure shows a schematic diagram of the slave CPU synchronous function of MECHATROLINK-II.

SVB-01
MP2200

CPU

MECHATROLINK-II
MECHATROLINK-
MP2300S

MP2300S

MP2300S
SVB-01

SVB-01

SVB-01
MECHATROLINK-II
MECHATROLINK- MECHATROLINK-
MECHATROLINK-II
SERVOPACK

SERVOPACK

SERVOPACK

SERVOPACK

SERVOPACK

SERVOPACK

Here, there is a communication delay in MECHATROLINK-II as shown above, until a command from a master side
application program is transmitted to a slave.
Since, the delay time is constant, you can use an application program to manage the timing between the master and
slave. Note that you don’t need to control the timing between slave CPUs.

 Caution
A precaution is given to safely use the slave CPU synchronous function.
For more information on the precautions, refer to 7.4 Precautions.

7-2
 7.2 Requirements and Setting of Execution
7.2.1 Supported Version

7.2 Requirements and Setting of Execution

7.2.1 Supported Version
In order to use the slave CPU synchronous function, the master side must support the MP2300S.
The following table shows supported versions:

Controller Model Version

MP2100 JAPMC-MC2100 (-E)
MP2100M JAPMC-MC2140 (-E)
MP2300 JEPMC-MP2300 (-E)
Ver.2.60 or later
MP2300S JEPMC-MP2300S-E
MP2310 JEPMC-MP2310-E
MP2400 JEPMC-MP2400-E
MP2000 series SVB-01 JAPMC-MC2310 (-E) Ver.1.21 or later

7.2.2 Requirements to Execute Slave CPU Synchronous Function

In order to use the slave CPU synchronous function, both master and slave sides must meet all the following require-
ments:

( 1 ) Master Side Requirements

• Supports the slave synchronous function (the versions mentioned above and later)
• H scan setting is either an integer multiple or an integer fraction of the MECHATROLINK communication cycle
• Communication system is MECHATROLINK-II (17Byte, 32Byte)

( 2 ) Slave Side Requirements

• Selects “Slave Synchronous Function = Enable” as a MECHATROLINK communication parameter
• H scan setting is either an integer multiple or an integer fraction of the MECHATROLINK communication cycle
setting
• H scan setting is either an integer multiple or an integer fraction of the master side H scan setting
• Sets “Resume Control of Slave Synchronization = OFF” as an output register assigned to MP2300S/SVB

Slave CPU Synchronous Function

( 3 ) Setting Example
• Master side

Communication cycle setting : 1 ms

H scan setting : 4 ms 

• Slave side  
H scan setting : 2 ms

 The master side H scan setting is an integral multiple of the MECHATROLINK communication cycle
 The slave side H scan setting is an integer fraction of the master side H scan setting
 The slave side H scan setting is an integral multiple of the communication cycle setting

→ If requirements are met, a slave CPU synchronization can be executed.

7-3
 7.2 Requirements and Setting of Execution
7.2.3 How to Set up Slave CPU Synchronous Function

7.2.3 How to Set up Slave CPU Synchronous Function

The way to set up the slave CPU synchronous function is as follows:

( 1 ) Master Side Setting

The master side does not need to enable/disable the slave CPU synchronous function.
Set the synchronous scan of MP2300S/SVB to “High” as a MECHATROLINK link assignment.

Set the synchronous

scan to "High."
Select SVB-01 even when
assigning MP2300S/SVB.

7-4
 7.2 Requirements and Setting of Execution
7.2.3 How to Set up Slave CPU Synchronous Function

( 2 ) Slave Side Setting

1. Select “Slave synchronous function = Enable” as a MECHATROLINK communication parameter.

Double-click to open a
MECHATROLINK detailed definition.

Slave CPU Synchronous Function

Select "Slave synchronous function

=Enable."

7-5
 7.2 Requirements and Setting of Execution
7.2.3 How to Set up Slave CPU Synchronous Function

2. Set the synchronous scan to High as a MECHATROLINK link assignment.

Set the synchronous

scan to "High."

7-6
 7.2 Requirements and Setting of Execution
7.2.4 How to Execute Slave CPU Synchronous Function

7.2.4 How to Execute Slave CPU Synchronous Function

When the execution requirements described in 7.2.2 Requirements to Execute Slave CPU Synchronous Function are
met, slave CPU synchronization will be automatically executed after the communication between the master and the
MP2300S is established, so you do not need to explicitly command the start. Of course, you can explicitly control the
start, if you wish, by using a slave side control bit SLVSC.

A precaution for the slave CPU synchronous process is given when powering the equipment.
As described in 7.4.1 Precautions on Usage, when transforming from the asynchronous to synchronous state using the
slave CPU synchronous function, a slave side scan cycle (high/low speed) may delay up to one scan cycle, affecting the
slave side application.

To avoid this impact, the procedures of “Turning ON the Master Side Power First” and “Turning ON the Slave Side
Power First,” are suggested.
In general, we recommend that you execute the simple procedure for “Turning ON the Master Side Power First.”

( 1 ) Turning ON the Master Side Power First

After confirming that the master side startup is complete, turn ON the slave side power.
To determine the startup completion within the application, use system register SB000401 “RUN”.

Operate the master side. Operate the slave side.

Turn ON the master power.

Confirm the completion of

master startup.

Turn ON the slave power.

Refer to
Check the slave status. Check the slave status. Refer to 7.3.1-7.3.2
7.3.1 and 7.3.2.

Slave CPU Synchronous Function

7-7
 7.2 Requirements and Setting of Execution
7.2.4 How to Execute Slave CPU Synchronous Function

( 2 ) Turning ON the Slave Side Power First

After confirming that the slave side startup is complete, use an application program to set control bit SLVSC = ON*.
Then, turn ON the master side power.
After confirming that no axis connected to the motion module installed in a slave side optional slot is moving, the slave
CPU synchronization can be executed by setting control bit SLVSC = OFF (*).
* For more information, refer to 7.3.6 Management to Resume Slave CPU Synchronization.

Operate the master side. Operate the slave side.

Turn ON the slave power.

Check the completion of slave startup.

Control bit Refer to 7.3.6.

SLVSC=ON

Check the completion of preparation

for the slave CPU synchronization.
Turn ON the master power.

Control bit Refer to 7.3.6.

SLVSC=OFF

Refer to
Check the slave status. Check the slave status.
7.3.1 and 7.3.2.

7-8
 7.3 Operation
7.3.1 Input/Output Register

7.3 Operation
7.3.1 Input/Output Register
This section describes the details of the input/output register configured in the link assignment.

( 1 ) Master Side Input/Output Data

[Input register] [Output register]

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
IW+0 Scan counter used OW+0 Scan counter unused

by system Unused
IW+1 Slave status used OW+1
Unused
by system

IW+2 Data 1 Low OW+2 Data 1 Low

High High
IW+3 Data 2 Low OW+3 Data 2 Low

High High
IW+4 Data 3 Low OW+4 Data 3 Low

High High
IW+5 Data 4 Low OW+5 Data 4 Low

High High
IW+6 Data 5 Low OW+6 Data 5 Low

High High
IW+7 Data 6 Low OW+7 Data 6 Low

High High

Slave CPU Synchronous Function

IW+14 Data 13 Low OW+14 Data 13 Low

High High

 Input data details

Item Description
One byte of area which allows a master side application to check a value configured and updated by a
slave side application. It is used for the following purposes:
Scan Counter • Checks the update of input data from MP2300S.
• Determines the MP2300S behavior (in operation/in pause).
Note that the use of this area is optional.
Status of MECHATROLINK transmission unit of MP2300S.
Slave Status
The configuration is shown on the subsequent page:
Up to 6 words of data area for MECHATROLINK-II (17 Byte) and up to 13 words of data area for
Data
MECHATROLINK-II (32 Byte) are available.

7-9
 7.3 Operation
7.3.1 Input/Output Register

 Slave status details

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

SYNC SYNCRDY SBUSY 0 CMDRDY WARNG 0

Name Definition Description

When a slave detects one of the following errors, this bit is turned ON.
0 Normal When the cause is corrected, it is turned OFF.
• Receive error
WARNG • Unsupported command reception
• Transmission cycle is out of the specification range
1 Warning • Data error in the receive command
• Command execution requirement is not met
Command Unreceivable
0 Turned ON when a process for the MECHATROLINK command trans-
(busy)
CMDRDY mitted from a master is completed and the slave is ready to receive the
Command receivable next command.
1
(ready)
0 Steady state This bit is turned ON while the slave CPU synchronization is in pro-
SBUSY
1 Transient state cess.
Preparation for slave syn- This bit is turned ON when an execution requirement of the slave CPU
0 synchronization is met. It is turned OFF in the following conditions:
chronization not completed
SYNCRDY • An execution requirement of the slave CPU synchronization has not
Preparation for slave syn- been met.
1
chronization completed • A control bit “SLVSC” is turned ON by MP2300S side
0 Slave asynchronous state
SYNC This bit is turned ON when entering the slave CPU synchronous state.
1 Slave synchronous state

Note: When a receive error occurs, both system registers “I/O Error Count” (SW00200) and “Input Error Count”
(SW00201) increase.

 Output data details

Item Description
One byte of area which allows a master side application to check a value configured and updated by a
slave side application. It is used for the following purposes:
• Checks the update of output data from the master
Scan Counter
• Determines the master behavior (in operation/in pause)
Note that the use of this area is optional and the data input/output process is carried out without updat-
ing the scan counter value.
Up to 6 words of data area for MECHATROLINK-II (17 Byte) and up to 13 words of data area for
Data
MECHATROLINK-II (32 Byte) are available.

7-10
 7.3 Operation
7.3.1 Input/Output Register

( 2 ) Slave Side Input/Output Data

[Input register] [Output register]

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
IW+0 OW+0 Scan counter
Scan counter

unused unused

IW+1 Slave status OW+1

Control bit
unused

IW+2 Data 1 Low OW+2 Data 1 Low

High High
IW+3 Data 2 Low OW+3 Data 2 Low

High High
IW+4 Low OW+4 Low
Data 3 Data 3

High High
IW+5 Data 4 Low OW+5 Data 4 Low

High High
IW+6 Data 5 Low OW+6 Data 5 Low

High High
IW+7 Data 6 Low OW+7 Data 6 Low

High High

IW+14 OW+14

Slave CPU Synchronous Function

Data 13 Low Data 13 Low

High High

 Input data details

Item Description
One byte of area which allows a slave side application to check a value configured and updated by a
master side application. It is used for the following purposes:
Scan Counter • Checks the update of output data from the master.
• Determines the master behavior (in operation/in pause).
Note that the use of this area is optional.
Status of MECHATROLINK transmission unit of a slave-status MP2300S.
Slave Status
It is the same content as reported to the master.
Up to 6 words of data area for MECHATROLINK-II (17 Byte) and up to 13 words of data area for
Data
MECHATROLINK-II (32 Byte) are available.

7-11
 7.3 Operation
7.3.1 Input/Output Register

 Output data details

Item Description
One byte of area which allows a master side application to check a value configured and updated by a
slave side application. It is used for the following purposes:
• Checks the update of input data from MP2300S
Scan Counter
• Determines the MP2300S behavior (in operation/in pause)
Note that the use of this area is optional and the data input/output process is carried out without updat-
ing the scan counter value.
Sets the behavior of the MECHATROLINK transmission unit of the control bit MP2300S.
Control Bit
The configuration is shown as follows:
Up to 6 words of data area for MECHATROLINK-II (17 Byte) and up to 13 words of data area for
Data
MECHATROLINK-II (32 Byte) are available.

 Control bit details

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

Unused SLVSC
bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8
Unused

Name Definition Description

Even when the slave CPU synchronization is not carried out, the slave
0 Resume enable
CPU synchronization is automatically resumed.
SLVSC
Even when the slave CPU synchronization is not carried out, it contin-
1 Resume disable
ues to work in an asynchronous state.

Note: For information on SLVSC usage, refer to 7.3.6 Management to Resume Slave CPU Synchronization.

7-12
 7.3 Operation
7.3.1 Input/Output Register

( 3 ) Input/Output Data Flow between Master and Slave

 From MP2000 (master) to MP2300S (slave)

MP2000 (master) [MECHATROLINK MP2300S (slave)

[Output register] transmission path] [Input register]
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW+0 Scan counter 00h DATA_RWA IW+0 Scan counter

Unused 01h Scan counter Unused

OW+1 02h Used by system IW+1 Slave status
Unused
03h Used by system Unused
OW+2 Data 1 Low 04h Data 1 Low IW+2 Data 1 Low

05h
High High High
OW+3 Data 2 Low 06h Data 2 Low IW+3 Data 2 Low

07h
High High High
OW+4 Data 3‫ޓ‬ Low 08h Data 3‫ޓ‬ Low IW+4 Data 3‫ޓ‬ Low

09h
High High High
OW+5 Data 4 Low 0Ah Data 4 Low IW+5 Data 4 Low

High 0Bh High High

OW+6 Data 5 Low 0Ch Data 5 Low IW+6 Data 5 Low

0Dh
High High High
OW+7 Data 6 Low 0Eh Data 6 Low IW+7 Data 6 Low

High 0Fh High High

OW+8 Data 7 Low 10h Data 7 Low IW+8 Data 7 Low

High 11h High High

Slave CPU Synchronous Function

OW+14 Data 13 1Ch Data 13 IW+14 Data 13
Low Low Low

High 1Dh High High

7-13
 7.3 Operation
7.3.1 Input/Output Register

 From MP2300S (slave) to MP2000 (master)

MP2000 (master) [MECHATROLINK MP2300S (slave)

[Input register] transmission path] [Output register]
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
IW+0 00h DATA_RWA OW+0
Scan counter Scan counter

used by system 01h Alarm unused

IW+1 02h OW+1
Slave status Status
ࠪࠬ࠹ࡓ૶↪ Control bit
03h Status
used by system (scan counter)
IW+2 Data 1 Low 04h Data 1 Low OW+2
Data 1 Low
05h
High High High
IW+3 Data 2 Low 06h Data 2 Low OW+3
Data 2 Low
07h
High High High
IW+4 Data 3‫ޓ‬ Low 08h Data 3‫ޓ‬ Low OW+4
Data 3‫ޓ‬ Low
09h
High High High
IW+5 Data 4 Low 0Ah Data 4 Low OW+5
Data 4 Low
0Bh
High High High
IW+6 Data 5 Low 0Ch Data 5 Low OW+6
Data 5 Low
0Dh
High High High
IW+7 Data 6 Low 0Eh Data 6 Low OW+7
Data 6 Low
0Fh
High High High
IW+8 Data 7 Low 10h Data 7 Low OW+8
Data 7 Low
11h
High High High

IW+14 Data 13 1Ch Data 13 OW+14

Low Low Data 13 Low
1Dh
High High High

7-14
 7.3 Operation
7.3.2 How to Determine Slave CPU Synchronous State

7.3.2 How to Determine Slave CPU Synchronous State

The way to determine the slave CPU synchronous state from an application program is as follows:

( 1 ) How to Check with a Master Side Application

Use bit 7 “SYNC” of the second word “Slave Status” (IW + 1) of an input register assigned to MP2300S.
MP2000 (master)
[Input register]
7 6 5 4 3 2 1 0
IW+0 Scan counter

used by system
IW+1 Slave status

used by system
IW+2 Data 1 Low

High

bit7 Bit6 bit5 bit4 bit3 bit2 bit1 bit0

SYNC SYNCRDY SBUSY 0 CMDRDY WARNG 0

If SYNC = ON, it is in a slave CPU synchronous state.

( 2 ) How to Check with a Slave Side Application

Use bit7 “SYNC” of the second word “Slave Status” (IW + 1) of an input register assigned to a local station.
MP2300S (slave)
[Input register]
7 6 5 4 3 2 1 0
IW+0 Scan counter

Slave CPU Synchronous Function

unused
IW+1 Slave status

unused
ᧂ૶↪
IW+2 Data 1 Low

High

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

SYNC SYNCRDY SBUSY 0 CMDRDY WARNG 0

If SYNC = ON, it is in a slave CPU synchronous state.

7-15
 7.3 Operation
7.3.3 Calculation of Slave CPU Synchronous Delay Time

7.3.3 Calculation of Slave CPU Synchronous Delay Time

In a slave CPU synchronous arrangement, a command from the master is processed as in the following flow, and trans-
mitted to the slave side.
Here, the time between  and  is constant.

Execute master side application

 Update output data
↓
 SVB module processing Slave CPU synchronous delay time
↓
 MECHATROLINK transmission
↓

Execute slave side application

 Retrieve input data

This delay time is referred to as “Slave CPU Synchronous Delay Time” and is calculated as follows:

Slave CPU synchronous delay time = Master H scan cycle × 2 + MECHATROLINK cycle

[Setting Example]

Master side H scan setting: 4 ms

MECHATROLINK communication cycle setting: 1 ms
↓
Slave CPU synchronous delay time = 4 ms × 2 + 1 ms
= 9 ms

7-16
 7.3 Operation
7.3.4 How to Use Scan Counter

7.3.4 How to Use Scan Counter

A scan counter enables the reception device to check that data is updated by the transmission device.
It also allows the master and slave to confirm each other’s proper working order.
Use of the scan counter is optional, and there is no problem if you choose not to use it.
An example follows. In this example, H scan cycles of both master and slave sides are assumed to have the same set-
ting.

( 1 ) Checking the Master Status Using a Slave Side Application

Master Slave

Output register Input register

Scan Scan
OW counter counter
IW
OW+1 IW+1
Updates each scan
with the application Checks that the counter is updated.
࡮࡮࡮࡮

࡮࡮࡮࡮

࡮࡮࡮࡮

࡮࡮
࡮࡮
If not updated properly, determines that
the master side operation is abnormal.

 Master processing
A master side application is increased the setting value by one for the start word of an output register assigned to the
MP2300S/SVB.

 Slave processing
A slave side application checks that the scan counter value is increased by one from the previous value +1. As the scan
counter is one byte of data, it only checks the lower byte.
If not updated normally, it determines that a problem has occurred with the master.

( 2 ) Checking a Slave Status Using a Master Side Application

Master Slave

Slave CPU Synchronous Function

Input register Output register
Scan Scan
IW counter counter
OW
IW+1 OW+1
Updates each scan
with the application
࡮࡮࡮࡮

࡮࡮࡮࡮

࡮࡮࡮࡮

࡮࡮
࡮࡮

Checks that the counter is updated.

If not updated properly, determines that
the slave side operation is abnormal.

 Master processing
A master side application checks that a scan counter value is increased by one from the previous value. As the scan
counter is one byte of data, it only checks the lower byte.
If not updated normally, it determines that a problem has occurred with the slave.

 Slave processing
A slave side application is increased the setting value by one for the start word of an output register mapped to SVB.

Note: In this example, H scan cycles of both master and slave sides have the same setting.
When they have a different scan cycle setting, they must be updated and checked accordingly.

7-17
 7.3 Operation
7.3.5 How to Determine Input Error

7.3.5 How to Determine Input Error

( 1 ) How to Determine an Input Error Using an Application Program
If it is determined that an input error has occurred, error processing, such as discarding the input data, must be imple-
mented.

[ a ] Master Side

 Check S register “I/O Error Status”

Checks whether the bit of a station mapped to the MP2300S is turned ON in the I/O error status of
a slot attached with SVB. ON indicates that an input error has occurred.
When an input error occurs, the entered data is cleared to zero.

↓
 Check “Slave Status”
Checks that the second word “Slave Status” of an input register assigned to the MP2300S is in the
following state:
bit1 WARNG = OFF
bit2 CMDRDY = ON
bit7 SYNC = ON (only when slave synchronous mode is enabled)
Otherwise, a command error is issued by a master, or a slave operation error may occur.

↓
 Check the scan counter
Checks that the first word “Scan Counter” of an input register mapped to the MP2300S is updated
based on the rules decided by an application.
If not updated normally, an operation error on the slave side may occur.

An example of an application which checks an input error is shown in the next page.
[Conditions] Use MP2200/CPU-02. SVB-01 is attached to the slot 1 of rack 1.
MP2300S is assigned to st#1
INPUT: IW0000 SIZE: 15W
OUTPUT: OW0010 SIZE: 15W

Register Meaning Remarks

DW00001 Copy of slave status −
DW00002 Condition check result −
DW00003 Copy of current value of scan counter −
DW00004 Previous value of scan counter −
DW00005 Data for checking scan counter −
Increased by one when an input error is
DW00007 Input error counter value
detected.
Increased by one when an error of the slave sta-
DW00008 Error counter value of slave status
tus is detected.
Increased by one when an error of the scan
DW00009 Error counter value of a scan counter
counter is detected.
DW000010 Copy of input data (data 1) −
• •
• • −
• •

DW000022 Copy of input data (data 13) −

7-18
 7.3 Operation
7.3.5 How to Determine Input Error

 Application Example

Slave CPU Synchronous Function

Continued on the next page

7-19
 7.3 Operation
7.3.5 How to Determine Input Error

Continued from the previous page

7-20
 7.3 Operation
7.3.5 How to Determine Input Error

[ b ] Slave Side

 Check S register “I/O Error Status.”

Check whether the bit of a local station is turned ON in the I/O error status of an MP2300S with
built-in SVB. The bit ON indicates that an input error has occurred.
When an input error occurs, the entered data is cleared to zero. (Note)

↓
 Check “Slave Status.”
Check that the second word “Slave Status” of an input register assigned to the MP2300S is in the
following state:
bit1 WARNG = OFF
bit2 CMDRDY = ON
bit7 SYNC = ON (only when slave synchronous mode is enabled)
Otherwise, a command error issued by a master or a slave operation error may be considered.

↓
 Check the scan counter.
Check that the first word “Scan Counter” of an input register assigned to the MP2300S is updated
based on the rules decided by an application.
If not updated normally, an operation error of the master may be considered.
Note: For an error to be reported to an I/O Error Status, at least one normal input must be executed. For exam-
ple, when the power is turned ON while unconnected to a master, the local bit of the I/O error status
remains OFF.

An example of an application which checks input error is shown on the next page.
[Conditions] Local station (MP2300S) is assigned to st#1.
INPUT: IW0800, SIZE: 15W
OUTPUT: OW0810, SIZE: 15W

Register Meaning Remarks

DW00001 Copy of a slave status −
DW00002 Inspection result of conditions −
DW00003 Copy of current value of a scan counter −
DW00004 Previous value of a scan counter −

Slave CPU Synchronous Function

DW00005 Data for checking a scan counter −
Increased by one when an input error is
DW00007 Input error counter value
detected.
Increased by one when an error of the slave
DW00008 Error counter value of slave status
status is detected.
Increased by one when an error of the scan
DW00009 Error counter value of scan counter
counter is detected.
DW000010 Copy of input data (data 1) −
• •
• • −
• •

DW000022 Copy of input data (data 13) −

7-21
 7.3 Operation
7.3.5 How to Determine Input Error

 Application Example

Continued on the next page

7-22
 7.3 Operation
7.3.5 How to Determine Input Error

Continued from the previous page

Slave CPU Synchronous Function

( 2 ) How to Recover from Input Error

Recovery is automatic, and no particular operation is needed.
However, if input errors occur frequently, check the following:
• Are local station addresses duplicated?
• Do scan time-overs occur?
• Is a MECHATROLINK terminating resistor attached?
• Is there a problem with MECHATROLINK wiring?

7-23
 7.3 Operation
7.3.6 Management to Resume Slave CPU Synchronization

7.3.6 Management to Resume Slave CPU Synchronization

The slave CPU synchronous process is automatically carried out when its execution requirements are met.
Here, in a transient state from slave CPU asynchronous to slave CPU synchronous state, the following operations are
carried out by the system:
• Start of timing adjustment of the slave scan cycle
• When SVB-01 is attached to a optional slave slot, the MECHATROLINK communication is reset

As a result operation of the slave side application is affected as follows:

• One scan with a longer cycle than the setup time occurs
• When a servo connected to the SVB-01 is running, its axis stops and an alarm occurs

To avoid these impacts (to avoid automatic recovery to the slave CPU synchronous state), use the slave side application
to operate a control bit “SLVSC (slave CPU synchronous resume control)”.
Operating this bit allows you to control the synchronous process.

MP2300S (slave)
[Output register]
7 6 5 4 3 2 1 0
OWxxxx+0 Scan counter

unused
OWxxxx+1
Control bit

OWxxxx+2 Data 1 Low

High

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

Unused SLVSC
bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8
Unused

Name Definition Description

When out of slave CPU synchronization, the slave CPU synchroniza-
0 Resume enable
tion is automatically resumed.
SLVSC
Even when out of slave CPU synchronization, the operation continues
1 Resume disable
in an asynchronous state.

7-24
 7.3 Operation
7.3.6 Management to Resume Slave CPU Synchronization

The example below shows how the slave side application controls the slave CPU synchronous resumption.
In this example, the status is divided into three parts, and resumption is considered in a state transition diagram.
Turn ON the power

Waiting for completion of

slave CPU synchronization Preparation for slave CPU
Operation: Control bit SLVSC=OFF synchronous resumption completed

Preparation state for the slave

Slave Status
CPU synchronous resumption
SYNC=ON
Operation: Motion stops, etc.

Slave Status
SYNC=OFF
Slave CPU synchronous state
Operation: Control bit SLVSC=ON

In each state, the following processes are carried out:

State Process Description

Where the power was turned ON.
Waiting state for the
Sets a control bit SLVSC=OFF, allowing you to execute the slave CPU synchronous process.
completion of slave
If SYNC is turned ON while monitoring slave status “SYNC”, changes the state to “slave CPU syn-
CPU synchronization
chronous state”.
When entering slave CPU synchronous state, turns ON the control bit SLVSC, and prohibits the
slave CPU synchronous resumption.
Slave CPU synchronous
Thus, even when entering slave CPU asynchronous state, automatic recovery is not carried out.
state
If SYNC is turned OFF while monitoring slave status “SYNC,” changes the state to “Preparation for
slave CPU synchronous resumption.”
Preparation state for Prepares for the resumption of slave CPU synchronization. In particular, stops an axis connected to
slave CPU synchronous the motion module attached to an optional slot.
resumption If ready, changes the state to “Waiting state for the completion of the slave CPU synchronization.”

An example in which this process is executed using a ladder application is shown in the next page.
[Conditions] Local station (MP2300S) is assigned to st#1.

Slave CPU Synchronous Function

INPUT: IW0800, SIZE: 15W
OUTPUT: OW0810, SIZE: 15W

Register Meaning Remarks

0: Waiting for the completion of slave CPU synchronization
1: Slave CPU synchronous state
MW00200 State
2: Preparation state for slave CPU synchronous resumption
Note: Initialized at figure A or the first scan.
Check flag of preparation for a
MW00201 When resumption preparation is completed, set to 1.
synchronous resumption
Temporary for updating condi-
DW00000 –
tion

7-25
 7.3 Operation
7.3.6 Management to Resume Slave CPU Synchronization

 Application Example

Continued on the next page

7-26
 7.3 Operation
7.3.6 Management to Resume Slave CPU Synchronization

Continued from the previous page

Slave CPU Synchronous Function

7-27
 7.4 Precautions
7.4.1 Precautions on Usage

7.4 Precautions
7.4.1 Precautions on Usage
 When using the slave CPU synchronous function, the slave side cannot use option module PO-01.
To use PO-01, disable the slave CPU synchronous function.

 In the transient condition from asynchronous to synchronous state using the slave CPU synchro-
nous function, a slave-side scan cycle (high/low speed) may be delayed by up to one scan cycle.
For an application which requires fixed timing and fixed cycles, take preventative measures if using
any data that would affect the timing of such an application.

 When an SVA-01 is attached to a slave side optional slot, and the slave CPU synchronous state is
entered, the operation may suffer such an impact that an axis is shocked. Stop the SVA-01 opera-
tion in advance.

 When an SVB-01 is attached to a slave side optional slot, during transition to the slave CPU syn-
chronous state, disconnect and later reconnect the communication between a slave and its con-
nected SVB-01. When a slave device such as a servo or inverter is connected, stop their operation
in advance. Due to the disconnection of communications, the device may suffer shock when an axis
is suddenly stopped.

 The operations below change the slave CPU synchronous state to the asynchronous state:
[Master side operation]
• Change of an H scan setting
• Saving of a MECHATROLINK communications definition
• Self-configuration
[Slave side operation]
• Change of an H scan setting
• Self-configuration

While recovering to the slave CPU synchronous state, a scan cycle disturbance may occur.

 When a communication error occurs, the condition changes from slave CPU synchronous to asyn-
chronous state.

 When the MP2300S with a built-in SVB is changed from slave to master, flash save the change and
turn ON the power again.

 The slave CPU synchronous function is available only when the MP2000 series SVB is used as a
master. When connected to another master controller, it works in asynchronous mode.

7-28
 7.4 Precautions
7.4.2 Effect of Error on Slave CPU Synchronous Operation

 When the MP2300S with a built-in SVB works as a slave and the SVB-01 in an optional slot works
as a master, never connect them so that they form a loop, as shown in the following figure.

MP2300S SVB-01
4&; 470
;#5-#9# RUN ERR
#./ '44
TX
/6: $#6

64: M/S
+2

Slave 5612
572
+06 59
SIZE
SPD
OFF

˜10
ON

%0() 
/10
6'56 01 ˜1
10

M-I/II
59
'+06 
'6'56

Master
01
$#66'4; 10
CN1
M-I/II

4.;
176
'VJGTPGV
.+0-
CN2

&%
8

&%
0V

/

MP2300S SVB-01
4&; 470
;#5-#9# RUN ERR
#./ '44
TX
/6: $#6

64: M/S
+2
SIZE
SPD
5612 OFF ON
572
+06 59 ˜10
%0() 
/10
6'56

Slave
01 ˜1
10

M-I/II
59
'+06 
'6'56
01
$#66'4; 10
CN1
M-I/II

Master
4.;
176
'VJGTPGV
.+0-
CN2

&%
8

&%
0V

/

7.4.2 Effect of Error on Slave CPU Synchronous Operation

When an error occurs in a slave CPU synchronization, the slave side behavior reacts as follows:

Action State
Continues to work in slave CPU asynchronous state.
The master side power is turned OFF
An input error may occur, but other scan operations are not affected.
MECHATROLINK communication ca- Continues to work in slave CPU asynchronous state.
ble is disconnected An input error may occur, but other scan operations are not affected.
MP2300S assignment is deleted in Continues to work in slave CPU asynchronous state.
the master assignment An input error may occur, but other scan operations are not affected.
Enters slave CPU asynchronous state once.

Slave CPU Synchronous Function

MECHATROLINK definition is saved
When a control bit SLVSC=OFF, the master side will recover and communication
in the master side
will be resumed, and then enters slave CPU synchronous state again.
If only a received data error occurs, it may not affect slave CPU synchronization.
However, as the input data is not updated, when you are checking the state using a
user application, a scan counter error may be detected according to the scan cycle and
A transmission error occurs communication cycle settings.
When an error (transmission cycle disturbance) of the MECHATROLINK communi-
cation itself occurs, it may affect slave CPU synchronization. In some cases, the
MP2300S H-scan process may be disturbed.
RUN/STOP of the master side CPU CPU RUN/STOP does not affect slave CPU synchronization.
RUN/STOP of the slave side CPU CPU RUN/STOP does not affect slave CPU synchronization.
Enters slave CPU asynchronous state once. When the changed H scan setting meets
Master side H scan setting is changed the execution requirement of slave CPU synchronization and control bit
SLVSC=OFF, enters slave CPU synchronous state again.
Enters slave CPU asynchronous state once. When the changed H scan setting meets
Slave side H scan setting is changed the execution requirement of slave CPU synchronization and control bit
SLVSC=OFF, enters slave CPU synchronous state again.

7-29
 8
Maintenance and Inspection

This chapter explains daily and regular inspection items to ensure that the MP2300S can always be
used at its best conditions.

8.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-2

8.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-3
8.3 Replacing the Basic Module Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-4

Maintenance and Inspection

8-1
 8.1 Daily Inspections

8.1 Daily Inspections

The following table lists the daily inspection items.

No. Inspection Item Inspection Details Criteria Action

Check the mounting screws for
Installation conditions of The screws and covers must be
1 looseness. Check whether the Retighten the screws.
Module, etc. secured correctly.
covers are all in place.
Check the terminal screws for
The screws must be tight. Retighten the screws.
looseness.
Check the connectors for loose-
2 Connection conditions The connectors must be tight. Retighten the connector set screws.
ness.
Check the gap between crimp There must be an appropriate
Correct as necessary.
terminals. gap between the terminals.
The indicator must be lit. (It is
Check whether the indicator is
RDY abnormal if the indicator is not
lit.
lit.)
Check whether the indicator is lit The indicator must be lit. (It is
RUN while the system is in RUN abnormal if the indicator is not
state. lit.)
The indicator must be not lit. (It
Check whether the indicator is Refer to Chapter 9 Troubleshoot-
ERR is abnormal if the indicator is
not lit. ing.
LED lit.)
3
Indicators The indicator must be not lit. (It
Check whether the indicator is
ALM is abnormal if the indicator is
not lit.
lit.)
The indicator must be lit. (It is
Check whether the indicator
MTX abnormal if the indicator is not
lights during communication.
lit.)
The indicator must not be lit.
Check whether the indicator is
BAT (The battery voltage is too low if Replace the battery.
not lit.
the indicator is lit.)

8-2
 8.2 Regular Inspections

8.2 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 MP2300S may malfunction or break down.
Contact your Yaskawa representative.

No. Inspection Item Inspection Details Criteria Action

Ambient Temperature Check the temperature and 0°C to 55°C If the MP2300S is used
Operating Ambient Humidity humidity with a thermometer 30% to 95% RH inside a panel, treat the tem-
1
Environment and hygrometer, respectively. There must be no corrosive perature inside the panel as
Atmosphere Check for corrosive gases. the ambient temperature.
gases.
Power
Supply Measure the voltage between Change the power supply as
2 PS Module 19.2 to 28.8 VDC
Voltage 24-VDC terminals. necessary.
Check
Looseness and The Module must be secured
Attempt to move the Module. Retighten the screws.
Excess Play properly.
Installation
3 The Module must be free
Conditions Dust and Other For-
Visually check. from dust and other foreign Clean.
eign Matter
matter.
Check the Terminal Check by retightening the
The screws must be tight. Retighten.
Screws for Looseness. screws.
Connection Gap between Crimp There must be an appropriate
4 Visually check. Correct.
Conditions Terminals gap between the terminals
Looseness of Retighten the connector set
Visually check. The screws must be tight.
Connectors screws.
Check the BAT indicator on
The BAT indicator must be If the BAT indicator is lit,
5 Battery the front panel of the Basic
not lit. replace the battery.
Module.

Maintenance and Inspection

8-3
 8.3 Replacing the Basic Module Battery

8.3 Replacing the Basic Module Battery

The Basic Module has one replaceable built-in battery. This battery is used to back up data to prevent the data stored in
the memory from being lost when power is interrupted (e.g., when the power supply to the Basic Module is turned
OFF).
The built-in battery can retain the contents of the memory until the total time of power interruptions reaches one year.
The warranty period of the battery is five years from the date of purchase. These values, however, differ according to
the operating conditions, including the ambient temperature.
If the BAT indicator on the Basic Module lights, replace the battery with a replacement battery (JZSP-BA01) within
two weeks. Any delay in battery replacement will result in the data stored in the memory being lost.
The appearance of the battery is illustrated below.

• Battery Specifications
Type Primary lithium battery
Battery Model ER3VC
LiTHIUM Manufacturer Toshiba Home Appliances
Nominal Voltage 3.6 V
Nominal Capacity 1,000 mAh
Lithium Contents 0.3 g
Red lead Black lead
Number Used 1

Fig. 8.1 JZSP-BA01 (Battery with Cable)

 This battery is not commercially available. Contact your Yaskawa representative.

( 1 ) Procedure

CAUTION
 There is danger of electric shock if the battery is not replace correctly. Furthermore, machine malfunction may
occur, the operator may be injured, or the machine may be damaged. Allow only a qualified technician trained
in safety procedures to replace the battery.
 When replacing the battery, always do so with power supplied to the Basic Module. If power to the Basic Mod-
ule is turned OFF when the battery is replaced, data stored in the memory in the Module may be lost.
 Do not touch the battery electrodes. The battery may be destroyed by the static electricity.
 A lithium battery is built into the MP2300S. After replacing the battery, dispose of the old battery separately
from regular waste and in accordance with local regulations.

1. Save the data stored in the Motion Board to a compact flash memory, hard disk on an external com-
puter, or other media.
This data is used to restore any data accidently lost during battery replacement.
 For information on saving methods, refer to the MPE720 Programming Device Software for MP900/MP2000
Machine Controllers User’s Manual (manual number: SIEP C880700 05).

2. Check that the RDY indicator on the MP2300S Basic Module is lit.

3. Open the battery cover on the unit front surface.

4. Remove the connector on the end of lead of the built-in battery from the connector on the MP2300S
Basic Module. Then, remove the built-in battery from the battery holder.

5. Insert securely the connector on the end of the lead of the replacement battery into the connector on
the MP2300S. Then, insert the replacement battery into the battery holder.

6. Check if the BAT indicator on the MP2300S is unlit.

7. Close the battery cover. This completes replacing the battery.

8-4
 9
Troubleshooting

This section describes the basic troubleshooting methods and provides a list of errors.

9.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2

9.2 LED Indicator Meanings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-3
9.3 Problem Classification - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-4
9.3.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3.2 MP2300S Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5

9.4 Troubleshooting Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6

9.4.1 Operation Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
9.4.2 I/O Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.4.3 Watchdog Timer Timeout Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.4.4 Module Synchronization Errors (Ver. 2.75 or Later) - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.4.5 System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11

Troubleshooting

9-1
 9.1 Basic Flow of Troubleshooting

9.1 Basic Flow of Troubleshooting

When problems occur, it is important to quickly find the cause of the problems and get the system running again as
soon as possible. The basic flow of troubleshooting is illustrated below.

Step 1 Visually confirm the following items.

 Machine movement (or status if stopped)

 Power supply
 I/O device status
 Wiring status
 Indicator status (LED indicators on each Module)
 Switch settings (e.g., DIP switches)
 Parameter settings and program contents

Monitor the system to see if the problem changes for

Step 2
the following operations.

 Switching the Controller to STOP status

 Resetting alarms
 Turning the power supply OFF and ON

Determine the location of the cause from the results

Step 3
of steps 1 and 2.

 Controller or external?
 Sequence control or motion control?
 Software or hardware?

9-2
 9.2 LED Indicator Meanings

9.2 LED Indicator Meanings

The following table shows how to use the LED indicators to determine the operating status of the MP2300S, as well as
relevant error information when the LED indicator status indicates an error.

LED Indicator
Classification Indicator Details Countermeasures
RDY RUN ALM ERR BAT

Not lit Not lit Lit Lit Not lit Hardware reset status
Usually the CPU will start within
10 seconds. If this status continues for
Not lit Not lit Not lit Not lit Not lit Initialization more than 10 seconds, either a pro-
gram error or hardware failure has
occurred.
Not lit Lit Not lit Not lit Not lit Drawing A (DWG.A) being executed.
Normal
This status occurs
operation
• When the stop operation is exe-
User program stopped. cuted from the MPE720
Lit Not lit Not lit Not lit Not lit
(Offline Stop Mode) • When the STOP switch is turned
ON
This status does not indicate an error.
User program being executed nor-
Lit Lit Not lit Not lit Not lit This is the normal status.
mally.
A hardware failure, watchdog timer
A serious error, watchdog timer time-
timeout error, or module synchroniza-
Not lit Not lit Not lit Lit Not lit out error, or module synchronization
tion error has occurred. Refer to 9.3
error has occurred.
Problem Classification.
Software Error
Number of LED blinks indicates error
type.
3: Address error (read) exception
4: Address error (write) exception
5: FPU exception
6: Illegal general command
exception
7: Illegal slot command exception
Blink- A system error has occurred. Refer to
Not lit Not lit Not lit Not lit 8: General FPU inhibited exception
ing 9.4.5 System Errors.
9: Slot FPU inhibited exception
Errors
10: TLB multibit exception
11: TLB error (read) exception
12: TLB error (write) exception
13: TLB protection violation (read)
exception
14: TLB protection violation (write)
exception
15: Initial page write exception
Hardware Error
Number of LED blinks indicates error
type.
Blink- Blink- A hardware failure has occurred.
Not lit Not lit Not lit 2: RAM diagnostic error
ing ing Replace the module.
3: ROM diagnostic error
4: CPU function diagnostic error
Troubleshooting

5: FPU function diagnostic error

Refer to 8.3 Replacing the Basic Mod-
− − − − Lit Battery alarm
ule Battery and replace the battery.

Warnings • Operation errors

Operation error Refer to 9.4.1 Operation Errors.
Lit Lit Lit Not lit Not lit
I/O error • I/O errors
Refer to 9.4.2 I/O Errors.

9-3
 9.3 Problem Classification
9.3.1 Overview

9.3 Problem Classification

9.3.1 Overview
The following table shows MP2300S problems and LED indicator patterns.

LED Indicator
Classification Details of Problem
ALM ERR BAT
Battery alarm Lit Lit Not lit
Operation error Not lit Lit Lit
Alarm I/O error Not lit Lit Lit
*1 Lit Lit Lit
Motion program alarm
*2 Lit Lit Lit
Axis alarm/warning
Watchdog timer timeout error Lit Not lit Lit
Module synchronization error Lit Not lit Lit
Error System error Lit Blinking Lit
Lit Not lit Lit
Hardware failure
Blinking Blinking Lit

* 1. If a motion program alarm occurs, refer to 10.Troubleshooting in the Machine Controller MP2000 Series User's
Manual for Motion Programming (manual number: SIEP C880700 38) to remove the alarm.
* 2. If an axis alarm or warning occurs, refer to the user's manual of the Motion Module being used to clear the alarm.

9-4
 9.3 Problem Classification
9.3.2 MP2300S Error Check Flowchart

9.3.2 MP2300S Error Check Flowchart

Use the following to troubleshoot a problem using the LED indicators or the system registers.
<Alarm>

Check the LED BAT indicator is lit.

indicators or Battery alarm
system registers. SB000487 = ON
(battery alarm) Refer to 8.3 Replacing the Basic
Module Battery.
SB000418 = ON
ALM indicator lit SW00041
(user operation error)
check (CPU Operation error
SB000402 = ON error status)
(ALARM) Refer to 9.4.1 Operation Errors.

SB000419 = ON
(I/O error)
I/O error
Refer to 9.4.2 I/O Errors.

<Error>

0001H
ERR indicator lit SW00050 (watchdog timer timeout)
check (32-bit Watchdog timer timeout
SB000403 = ON∗ error code)
(ERROR) Refer to 9.4.3 Watchdog Timer
0051H Timeout Errors.
(module synchronization
error)
Module synchronization error
Refer to 9.4.4 Module
Synchronization Errors (Ver.
2.75 or Later).
None of the above
Hardware failure
If the problem remains after the
memory has been cleared and
the power has been cycled,
there may be a hardware failure.
Contact your Yaskawa
representative.
ERR indicator blinking
System error
SB000403 = ON∗
(ERROR) Refer to 9.4.5 System Errors.

ALM and ERR

indicators blinking
Hardware failure
SB000403 = ON∗
(ERROR) If the problem remains after the
memory has been cleared and
the power has been cycled,
Troubleshooting

there may be a hardware failure.

∗Data may not be reported in the Contact your Yaskawa
system registers when there is a representative.
hardware failure.

9-5
 9.4 Troubleshooting Details
9.4.1 Operation Errors

9.4 Troubleshooting Details

9.4.1 Operation Errors
If an operation error occurs, one of the following may be the cause.
• An incorrect operation was executed in a ladder program.
• An incorrect operation was executed in a motion program.
• An incorrect operation was executed in a sequence program.
If an operation error occurs, use the following procedure to identify the instruction that caused the operation error.

1. Identifying the drawing type and error details by checking SW00080 to SW00089.
The operation error details are stored in the following system registers according to the type of drawing in which
the operation error occurred. For motion programs, the details are stored in the system registers for DWG.H.

Drawing
Error Details Register No. Description
Type
Error count SW00080 • Error count
DWG.A
Error code SW00081 Number of errors that occurred.
Error count SW00082
DWG.I • Error code
Error code SW00083
Bit15 ࡮࡮࡮࡮࡮ 12 Bit11࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮0
Error count SW00084
DWG.H
Error code SW00085 Index error Error code
Error count SW00088
DWG.L For information on error codes, refer to A.6 User Operation Error Sta-
Error code SW00089
tus Details.

Example: SW00085 is a Value Other Than 0000H

This indicates that an operation error occurred in the high-speed scan. In that case, if SW00084 is continuously
incremented, it means that the instruction with the operation error has been executed continuously.

2. Identifying the drawing number by checking SW00122, SW00138, SW00154, and SW00186

Name Register No. Description

DWG.A error DWG number SW00122 Parent drawing: FFFFH
DWG.I error DWG number SW00138 Child drawing: xx00H (Hxx: child drawing number)
Grandchild drawing: xxyyH (Hyy: Grandchild drawing number)
DWG.H error DWG number SW00154
Function: 8000H
DWG.L error DWG number SW00186 Motion program/sequence program: F0xxH (Hxx: Program number)

3. Identifying the instruction causing the error in the drawing

There are different methods to identify operation errors for integer operations and real-number operations. To
identify operation errors using integer operations, refer to Troubleshooting Procedure Example 1.
To identify operation errors using real-number operations, refer to Troubleshooting Procedure Example 2.

9-6
 9.4 Troubleshooting Details
9.4.1 Operation Errors

Troubleshooting Procedure Example 1

This section describes the procedures for troubleshooting if an operation error (0002H: Integer operation over-
flow) has occurred in DWG.H.

1. Identify the error DWG number from the system register (SW00154), and then open that drawing.

2. Create the following code at the start of the DWG.

3. Add the debugging code before and after the instruction that is thought to be in error.

4. Check the value of the register number for the debugging code.
If the number has changed from 0 (no error) to 2 (integer operation overflow), an integer operation overflow
error has occurred.

5. Repeat steps 3 and 4 to identify the instruction that is causing the operation error.

■ Complement
The debugging procedure above can be used only for integer operations and double-length integer operations.
The debugging procedure above cannot be used for real-number operations.
Troubleshooting

9-7
 9.4 Troubleshooting Details
9.4.1 Operation Errors

Troubleshooting Procedure Example 2

This section describes the procedures for troubleshooting if an operation error (0030H: Real-number opera-
tion - invalid operation (non-numeric)) has occurred in DWG.H.

1. Identify the error DWG number from the system register (SW00154), and then open that drawing.

2. Check the value for the real-number operation in the online monitor.

In this example, MF000000 for the DIV instruction is ************.

************ Indicates an incorrect (i.e., non-numeric) value for a real-number value. Executing a real-number
operation using this value will generate an operation error (0030H: Real number operation - invalid operation
(non-numeric)) from the system.

■ Complement
If an operation error occurs, one of the following may be the cause.
• The value has not been set in the registers (undefined data value).
• Bit, integer, and double-length integer operations are executed for a register that has overlapping addresses.
If a real number operation is executed, the real-number value must always be set in advance.

3. Repeat step 2 to identify the register that is causing the operation error.

9-8
 9.4 Troubleshooting Details
9.4.2 I/O Errors

9.4.2 I/O Errors

An I/O error may occur in the following cases.
• An Optional Module has been allocated, and the detailed settings for the Module have been made in the module
configuration definitions.
• A cable has been removed or a Module failure has occurred during system operation.
If an I/O error occurs, you can check the I/O error by checking the following system registers.

Name Register No. Description

I/O error count SW00200 Number of I/O errors (total of SW00201 and SW00203)
Input error count SW00201 Number of input errors
Output error count SW00203 Number of output errors

Using the following system registers, you can check the address of the I/O register (IW/OW) at
which the error occurred.
Example: Detecting an I/O Error at an I/O Device Allocated to IW1234
1234H is reported in SW00202.

Name Register No. Description

Input error address SW00202 Latest input error address (register number IW)
Output error address SW00204 Latest output error address (register number OW)

After you check the I/O register address, identify the module slot on the Module Configuration Definition Window, and
then check the I/O status in the following system registers.

Name Register No. Description

SW00208 to
CPU Module
SW00215
SW00216 to
Reserved by the system.
W00223
SW00224 to
Rack 1, slot 1 error status
W00231
SW00232 to
Rack 1, slot 2 error status
Input error address W00239
SW00240 to
Rack 1, slot 3 error status
W00247
SW00248 to
Rack 1, slot 4 error status
W00255
 
SW00496 to
Rack 4, slot 9 error status
W00503
Troubleshooting

9-9
 9.4 Troubleshooting Details
9.4.3 Watchdog Timer Timeout Errors

9.4.3 Watchdog Timer Timeout Errors

If a watchdog timer timeout error occurs, one of the following may be the cause.
• An infinite loop has occurred in a user program.
• A scan time over has occurred in a user program.
• A motion module*1 has failed.
• A watchdog timer timeout error has occurred in an MPU-01 Module.*2
* 1. Motion modules: PO-01, SVA-01, SVB-01, SVC-01, MPU-01
* 2. If a watchdog timer timeout error occurs when using an MPU-01 module, refer to 6. Troubleshooting in the
Machine Controller MP2000 Series MPU-01 Multiple-CPU Module User's Manual (manual number: SIEP
C880781 05).
If a watchdog timer timeout error occurs, it is important to identify whether the cause is the CPU module itself or
another motion module.
To identify the cause, cycle the power with the CPU module program stopped and check if the problem has changed.
SW1
When the power is cycled with the STOP switch on the front of the
1 2 3 4 5 6

STOP CPU module set to ON, the CPU module will start with execution
SUP of the CPU module ladder program stopped.
INIT
CNFG
MON
TEST
OFF ON

If a watchdog timer timeout error does not occur after the CPU module program has been stopped, the problem is prob-
ably in the CPU module. Check if the program has any infinite loops in it.
If the problem remains, the motion module may have failed. Contact your Yaskawa representative.

9.4.4 Module Synchronization Errors (Ver. 2.75 or Later)

If a module synchronization error occurs, one of the following may be the cause.
• A motion module*1 has failed.
• A watchdog timer timeout error has occurred in an MPU-01 module.*2
* 1. Motion Modules: PO-01, SVA-01, SVB-01, SVC-01, MPU-01
* 2. If a module synchronization error occurs when using an MPU-01 module, refer to 6. Troubleshooting in the
Machine Controller MP2000 Series MPU-01 Multiple-CPU Module User's Manual (manual number: SIEP
C880781 05).

If a module synchronization error occurs (SW00050 = 00051H), the module synchronization error detection slot will
be reported in the system registers as shown in the following table.

Register No. Description

SW00076 slot*
Module synchronization error detection
yyH : Rack number (01 to 04) yy: Slot number (01 to 09)

* Module synchronization errors are reported for CPU system software version 2.75 or later.
For version 2.74 or earlier, it is reported as a watchdog timer timeout error.
If a module synchronization error has occurred, contact your Yaskawa representative.

9-10
 9.4 Troubleshooting Details
9.4.5 System Errors

9.4.5 System Errors

If a system error occurs, one of the following may be the cause.
• Incorrect operation has been executed in the user program
• Incorrect installation environment
• Hardware failure
When using embedded C-language programming, a system error will cause the system to crash with the incorrect
pointer access or incorrect operation using data with a floating point. Refer to the following table for the possible
causes of the errors.

ERR LED
Error Cause Countermeasure
No. of flashes
Address error (read) Data of 16-bit words or 32-bit long words were read
Three times
exception from an incorrect address.*
Check if the incorrect opera-
Address error (write) Data of 16-bit words or 32-bit long words were written
Four times *
tions on the left have been
exception on an incorrect address. executed and if so, make cor-
Incorrect operation (non-numeric operation, division rections.
Five times FPU exception by zero, or overflow) using a floating point was exe-
cuted.

* For details, refer to 10 Precautions in Machine Controller MP2000 Series Embedded C-language Programming
Package Development Guide (manual number: SIEP C880700 25)

If embedded C-language programming or an incorrect operation in C-language was not attempted, a hardware error
may be the cause of the system crash.
The causes of the hardware error can be divided into two types: installation environment and the hardware failures.
For troubleshooting errors caused by the installation environment, refer to 3.2 Basic Module Connections.
If the installation environment is faultless and the same error still occurs after countermeasures were taken, the hard-
ware may be damaged. Contact your Yaskawa representative or nearest office listed in the back cover for assistance.

Troubleshooting

9-11
 Appendices
A System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-3
A.1 System Service Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
A.2 System Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-7
A.3 System Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-8
A.4 User Operation Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-10
A.5 System Service Execution Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-11
A.6 User Operation Error Status Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-12
A.7 System I/O Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-13
A.8 Compact Flash Card-Related System Registers
(CPU-02 and CPU-03 Modules for the MP2200 Only) - - - - - - - - - - - - - - - - - - - - - - - - A-14
A.9 Interrupt Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-15
A.10 Module Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-16
A.11 MPU-01 System Status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-17
A.12 Motion Program Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-18

B SERVOPACK Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-21

B.1 Operations and Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-21

C Initializing SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-30

D Initializing the Absolute Encoder- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-31
D.1 Σ-V SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-31
D.2 Σ-III SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-32
D.3 Σ-II SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-33
D.4 Σ-I SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-35

E Motion Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-37

E.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-37
E.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-39
E.3 Monitoring Parameter List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-44

F Simple Connection Function of the Engineering Tool - - - - - - - - - - - - - - - -A-48

F.1 Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-48
F.2 Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-48
Appendices

A-1
 G MSG-SND/MSG-RCV Functions (Ethernet) - - - - - - - - - - - - - - - - - - - - - - A-52
G.1 Message Transmit Function (MSG-SND)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-52
G.1.1 Specification Overview of the Message Transmit Function - - - - - - - - - - - - - - - A-52
G.1.2 I/O Item Details of the Message Transmit Function - - - - - - - - - - - - - - - - - - - - - A-53
G.1.3 Message Transmit Function Parameter List (Param) Overview- - - - - - - - - - - - - A-57
G.1.4 Function Setting and Parameter Details for MEMOBUS and Extended
MEMOBUS Protocols - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-58
G.1.5 Function Setting and Parameter Details for MELSEC Protocol - - - - - - - - - - - - - A-68
G.1.6 Function Setting and Parameter Details for MODBUS/TCP Protocol - - - - - - - - - A-73
G.1.7 Function Setting and Parameter Details for Non-procedural Protocol - - - - - - - - A-78
G.1.8 Relationship between Data Address, Data Size, and Offset for MSG-SND
Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-83
G.2 Message Receive Function (MSG-RCV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-87
G.2.1 Specification Overview of the Message Receive Function - - - - - - - - - - - - - - - - A-87
G.2.2 I/O Item Details of the Message Receive Function - - - - - - - - - - - - - - - - - - - - - A-88
G.2.3 Message Receive Function Parameter List (Param) Overview - - - - - - - - - - - - - A-92
G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended
MEMOBUS Protocols - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-94
G.2.5 Function Setting and Parameter Details for MELSEC Protocol - - - - - - - - - - - - A-102
G.2.6 Function Setting and Parameter Details for MODBUS/TCP Protocol - - - - - - - - A-106
G.2.7 Function Setting and Parameter Details for Non-procedural Protocol - - - - - - - -A-110
G.2.8 Relationship between Data Address, Data Size, and Offset for MSG-RCV
Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-115
G.3 Communication Buffer Channel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-119

H Optional Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-121

H.1 Clearing D Registers at Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-121
H.2 Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-122
H.3 Battery Backup for Table Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-130

I Installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-134

A-2
 Appendix A System Registers Lists
A.1 System Service Registers

Appendix A System Registers Lists

The system registers are prepared by the system of the MP2300S. The system registers can be used to read error infor-
mation, operating status, and other information.
Contents
SW000000 System Service Registers
SW000030 System Status
SW000050 System Error Status
SW000080 User Operation Error Status
SW000090 System Service Execution Status
SW000110 User Operation Error Status Details
SW000190 Alarm Counter and Alarm Clear
SW000200 System I/O Error Status
SW000504 Reserved by the system.
Compact Flash Card-Related System Registers
SW000652 (CPU-02 and CPU-03 Modules for the MP2200
Only)
SW000698 Interrupt Status
SW000800 Module Information
SW001312 Reserved by the system.
SW001411 MPU-01 Module System Status
SW002048 Reserved by the system.
SW003200 Motion Program Information
SW005200~
Reserved by the system.
SW008191

A.1 System Service Registers

( 1 ) Shared by All Drawings
Name Register No. Remarks
Reserved by the system SB000000 (Not used)
High-speed Scan SB000001 ON for only one scan after high-speed scan is started after turning ON the power supply.
Reserved by the system SB000002 (Not used)
Low-speed Scan SB000003 ON for only one scan after low-speed scan is started after turning ON the power supply.
Always ON SB000004 Always ON (= 1)
ON for only one scan after the start of a high-speed scan that is begun after a CPU Mod-
High-speed scan 2 SB000005
ule operation starts.*
ON for only one scan after the start of a low-speed scan that is begun after a CPU Mod-
Low-speed scan 2 SB000006
ule operation starts.*
High-speed Scan Flag SB000007 ON during execution of the high-speed scan.
SB000008 to
Reserved by the system (Not used)
SB00000F

* Does not include when MPE720 version 2.75 or earlier is used to execute a batch load or to clear the memory
before starting the CPU Module.
Appendices

A-3
 Appendix A System Registers Lists
A.1 System Service Registers

( 2 ) DWG.H Only
The following relays are reset at the start of the high-speed scan.
Name Register No. Remarks
1 scan
1-scan Flicker Relay SB000010
1 scan

0.5s 0.5s
0.5-s Flicker Relay SB000011

1.0s 1.0s
1.0-s Flicker Relay SB000012

2.0s 2.0s
2.0-s Flicker Relay SB000013

0.5s 0.5s
0.5-s Sampling Relay SB000014
1 scan

1.0s 1.0s

1.0-s Sampling Relay SB000015

1 scan

2.0s 2.0s
2.0-s Sampling Relay SB000016
1 scan

60.0s 60.0s

60.0-s Sampling Relay SB000017

1 scan

1.0s

1.0 s After Start of Scan Relay SB000018

2.0s
2.0 s After Start of Scan Relay SB000019

5.0s
5.0 s After Start of Scan Relay SB00001A

A-4
 Appendix A System Registers Lists
A.1 System Service Registers

( 3 ) DWG.L Only
The following relays are reset at the start of the low-speed scan.

Name Register No. Remarks

1 scan
One-scan Flicker Relay SB000030
1 scan

0.5s 0.5s
0.5-s Flicker Relay SB000031

1.0s 1.0s
1.0-s Flicker Relay SB000032

2.0s 2.0s
2.0-s Flicker Relay SB000033

0.5s 0.5s
0.5-s Sampling Relay SB000034
1 scan

1.0s 1.0s
1.0-s Sampling Relay SB000035
1 scan

2.0s 2.0s
2.0-s Sampling Relay SB000036

1 scan

60.0s 60.0s
60.0-s Sampling Relay SB000037

1 scan

1.0s
1.0 s After Start of Scan Relay SB000038

2.0s
2.0 s After Start of Scan Relay SB000039

5.0s
5.0 s After Start of Scan Relay SB00003A
Appendices

A-5
 Appendix A System Registers Lists
A.1 System Service Registers

( 4 ) Scan Execution Status and Calendar

Name Register No. Remarks

High-speed Scan Set Value SW00004 High-speed Scan Set Value (0.1 ms)
High-speed Scan Current Value SW00005 High-speed Scan Current Value (0.1 ms)
High-speed Scan Maximum Value SW00006 High-speed Scan Maximum Value (0.1 ms)
High-speed Scan Set Value 2 SW00007 High-speed Scan Set Value (1 μs)
High-speed Scan Current Value 2 SW00008 High-speed Scan Current Value (1 μs)
High-speed Scan Maximum Value 2 SW00009 High-speed Scan Maximum Value (1 μs)
Low-speed Scan Set Value SW00010 Low-speed Scan Set Value (0.1 ms)
Low-speed Scan Current Value SW00011 Low-speed Scan Current Value (0.1 ms)
Low-speed Scan Maximum Value SW00012 Low-speed Scan Maximum Value (0.1 ms)
Reserved by the system. SW00013 (Not used)
Executing Scan Current Value SW00014 Executing Scan Current Value (0.1 ms)
Calendar: Year SW00015 1999: 0099 (BCD) (Last two digits only)
Calendar: Month Day SW00016 December 31: 1231 (BCD)
Calendar: Hours Minutes SW00017 23 hours 59 minutes: 2359 (BCD)
Calendar: Seconds SW00018 59 s: 59 (BCD)
0: Sun., 1: Mon., 2: Tues., 3: Wed., 4: Thurs., 5: Fri.,
Calendar: Day of Week SW00019
6: Sat.

( 5 ) Program Software Numbers and Remaining Program Memory Capacity

Name Register No. Remarks

System Program Software Number SW00020 S ( is stored as BCD)
SW00021
System Number to (Not used)
SW00025
Remaining Program Memory Capacity SL00026 Bytes
Total Memory Capacity SL00028 Bytes

A-6
 Appendix A System Registers Lists
A.2 System Status

A.2 System Status

System operating status and error status is stored in registers SW00040 to SW00048. Checking of system status details
are used to determine whether hardware or software is the cause of an error.

Name Register No. Description

SW00030
Reserved by
to –
the system.
SW00039
SB000400 READY 0: Failure, 1: Normal
SB000401 RUN 0: Stopped, 1: Running
SB000402 ALARM 0: Normal, 1: Alarm
SB000403 ERROR 0: Normal, 1: Error
SB000404 Reserved by the system. –
SB000405 Reserved by the system. –
CPU Status SW00040 SB000406 FLASH 1: Flash operation
SB000407 WEN 0: Write-disabled, 1: Write-enabled
SB000408
to Reserved by the system. –
SB00040D
SB00040E Operation Stop Request 0: RUN selection, 1: STOP selection
SB00040F Run Switch Status at Power ON 0: STOP, 1: RUN
1: WDGE, undefined command
SB000410 Serious Failure
See SW00050 for details.
SB000411 Reserved by the system. –
SB000412 Reserved by the system. –
SB000413 Exception Error –
CPU Error SB000414
SW00041 to Reserved by the system. –
Status
SB000417
SB000418 User operation error 1: User operation error
SB000419 I/O Error 1: I/O error
SB00041A
to Reserved by the system. –
SB00041F
H Scan Over
SW00044 – – –
Counter
L Scan Over
SW00046 – – –
Counter
Reserved by
SW00047 – Reserved by the system. –
the system.
SB000480 TEST
SB000481 MON
SB000482 CNFG
DIP switch alarms
SB000483 INIT
0: OFF, 1: ON
Hardware SB000484 SUP
Configuration SW00048 SB000485 STOP
Status
SB000486 –
SB000487 Battery Alarm –
SB000488
Appendices

to Reserved by the system. –

SB00048F
SW000490
Reserved by
SW00049 to Reserved by the system. –
the system.
SW00049F

A-7
 Appendix A System Registers Lists
A.3 System Error Status

A.3 System Error Status

System error status is stored in registers SW00050 to SW00060. The following table shows the details when a
system errors occurs.
Name Register No. Description
0001H Watchdog timer over error
0041H ROM diagnosis error
0042H RAM diagnosis error
0043H CPU diagnosis error
0044H FPU diagnosis error
0050H EXIO error
0051H Module synchronous error*1
SW00050 00E0H Address read exception error
32-bit Error Code
0100H Address write exception error
0120H FPU exception error
0180H Illegal general command error
01A0H Illegal slot command error
01E0H User break after command execution
0800H General FPU inhibited exception error
0820H Slot FPU inhibited exception error
SW00051 For system error analysis
32-bit Addresses SW00052
For system error analysis
Generating Error SW00053
0000H: System 0002H: DWG.I
Error Task SW00054 0005H: DWG.L
0001H: DWG.A 0003H: DWG.H
0005H: DWG.L
0000H: System 0002H: DWG.I 0008H: Function
Program Type SW00055
0001H: DWG.A 0003H: DWG.H 000FH: Motion program/
Sequence program
Ladder program parent drawing: FFFFH
Ladder program function: 8000H
Error Drawing Num-
SW00056 Ladder program child drawing: 00H (H: Child drawing number)
ber
Ladder program grandchild drawing: yyH (Hyy: Grandchild drawing number)
Motion program/Sequence program: F0H (H: Program number)
Type of drawing that calls the ladder program function in which an error occurred.
0005H: DWG.L
Calling Drawing 0010H: Reserved by the sys-
SW00057 0001H: DWG.A 0008H: Ladder program
Type tem.
0002H: DWG.I function
0011H: Reserved by the sys-
0003H: DWG.H 000FH: Motion program/
tem.
Sequence program
Number of drawing that calls the ladder program function in which an error occurred.
Calling Drawing Child drawing: 00H (H: Child drawing number)
SW00058 Parent drawing: FFFFH
Number Grandchild drawing: yyH (Hyy: Grandchild drawing
Function: 0100H
number)
STEP number of the drawing that calls the ladder program function in which an error
Calling Drawing
SW00059 occurred.
STEP Number
Zero when there is an error in the drawing.

A-8
 Appendix A System Registers Lists
A.3 System Error Status

(cont’d)
Name Register No. Description
SW00060 and
Reserved by the system.
SW00061
SW00062 to
Name of Task Generating Error
SW00065
SW00066 and
Reserved by the system.
SW00067
SW00068 Year Generated
SW00069 Month Generated
SW00070 Day of Week Generated
Error Data
SW00071 Day of Month Generated
SW00072 Hour Generated
SW00073 Minutes Generated
SW00074 Seconds Generated
SW00075 Milliseconds Generated (Not used.)

SW00076 Number of slot with a module synchronous error *2

yyH : Rack number (01 to 04) yy: Slot number (01 to 09)
SW00078 and
Reserved by the system.
SW00079

* 1. The CPU system program version 2.75 or later: 0051H will be reported.
The CPU system program version is earlier than 2.75: 0001H (watchdog timer over error) will be reported.
* 2. The CPU system program version 2.75 or later: Number of slot with a module synchronous error will be
reported.

Appendices

A-9
 Appendix A System Registers Lists
A.4 User Operation Error Status

A.4 User Operation Error Status

Error information for user operation errors in ladder programs is stored in registers SW00080 to SW00089.

( 1 ) User Operation Error Status

Name Register No. Description
Error Count SW00080 • Error count
DWG.A
Error Code SW00081 Number of error occurrences
Error Count SW00082
DWG.I • Error code
Error Code SW00083
Bit15 ࡮࡮࡮࡮࡮ 12 Bit11 ࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮࡮ 0
Error Count SW00084
DWG.H
Error Code SW00085 Index error Error Code
Error Count SW00088
DWG.L Refer to ( 2 ) User Operation Error Codes 1 or ( 3 ) User Operation
Error Code SW00089
Error Codes 2 for details.

( 2 ) User Operation Error Codes 1

Error
Error Contents System Default Setting
Code
0001H Integer operation - underflow −32768
0002H Integer operation - overflow 32767
Integer 0003H Integer operation - division error The A register remains the same.
Operations 0009H Double-length integer operation - underflow −2147483648
000AH Double-length integer operation - overflow 2147483647
000BH Double-length integer operation - division error The A register remains the same.
0010H Integer storage - non-numeric error Store not executed. [00000]
0011H Integer storage - underflow Store not executed. [−32768]
0012H Integer storage - overflow Store not executed. [+32767]
0021H Real number storage - underflow Store not executed. [−1.0E+38]
0022H Real number storage - overflow Store not executed. [1.0E+38]
Operation not executed.
0023H Real number operation - division-by-zero error
[The F register remains the same.]
Real number operation - invalid operation (non-
0030H Operation not executed.
numeric)
0031H Real number operation - exponent underflow 0.0
0032H Real number operation - exponent overflow Maximum value
Real Num- Real number operation - division error (non-
0033H Operation not executed.
ber Opera- numeric 0/0)
tion 0034H Real number storage - exponent underflow Stores 0.0.
0035H Real number operation - stack error –
Standard System Functions
Interrupt operation and output = 0.0
Real number operation errors
0040H: SQRT 0041H: SIN 0042H: COS 0043H: TAN
0040H 0044H: ASIN 0045H: ACOS 0046H: ATAN 0047H: EXP
0048H: LN 0049H: LOG 004AH: DZA 004BH: DZB
to
004CH: LIM 004DH: PI 004EH: PD 004FH: PID
0059H 0050H: LAG 0051H: LLAG 0052H: FGN 0053H: IFGN
0054H: LAU 0055H: SLAU 0056H: REM 0057H: RCHK
0058H: BSRCH 0059H: SQRT – –
1000H, 2000H, or 3000H is added for an index error.

A-10
 Appendix A System Registers Lists
A.5 System Service Execution Status

( 3 ) User Operation Error Codes 2

Error Code Error Contents System Default
Execute again when corresponding to i,j = 0.
1000H Index error within drawing
Integer - The i and j registers remain the same.
Real Num- Execute again when corresponding to i,j = 0.
2000H Index error within function
ber Opera- The i and j registers remain the same.
tions Index error within motion program or Execute again when corresponding to i,j = 0.
3000H
sequence program The i and j registers remain the same.
Integer system functions Index error Operation stopped and output = input.
06DH: PI 06EH: PD 06FH: PID 070H: LAG
071H: LLAG 072H: FGN 073H: IFGN 074H: LAU
075H: SLAU 076H: FGN 077H: IFGN 08EH: INS
08FH: OUTS 090H: ROTL 091H: ROTR 092H: MOVB
093H: MOVW 094H: SETW 095H: XCHG 096H: LIMIT
060H 097H: LIMIT 098H: DZA 099H: DZA 09AH: DZB
Integer to
09BH: DZB 09CH: PWM 09EH: SHFTL 09FH: SHFTR
Operation 0C9H
( = 1, 2, 3) 0A0H: BEXTEND 0A1H: BPRESS 0A2H: SORT 0A4H: SORT
0A6H: RCHK 0A7H: RCHK 0A8H: COPYW 0A9H: ASCII
0AAH: BINASC 0ABH: ASCBIN 0ACH: BSRCH 0ADH: BSRCH
0AEH: TIMEADD 0AFH: TIMSUB 0B1H: SPEND 0C0H: TBLBR
0C1H: TBLBW 0C2H: TBLSRL 0C3H: TBLSRC 0C4H: TBLCL
0C5H: TBLMW 0C6H: QTBLR 0C7H: QTBLRI 0C8H: QTBLW
0C9H: QTBLWI – – –

A.5 System Service Execution Status

System service execution status is stored in registers SW00090 to SW00103. The following tables show the details on
the execution status of system service.

( 1 ) Data Trace Execution Status

Name Register No. Remarks
SW00090 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

( 2 ) Latest Data Trace Record Numbers

Name Register No. Remarks
Data Trace Group 1 SW00100 Latest record number
Data Trace Group 2 SW00101 Latest record number
Data Trace Group 3 SW00102 Latest record number
Data Trace Group 4 SW00103 Latest record number
Appendices

A-11
 Appendix A System Registers Lists
A.6 User Operation Error Status Details

A.6 User Operation Error Status Details

Detailed information about user operation errors in ladder programs is stored in registers SW00110 to SW00189.

Register No.
Name Description
DWG.A DWG.I DWG.H DWG.L
Error Count SW00110 SW00126 SW00142 SW00174 • Descriptions of the error count and the error
Error Code SW00111 SW00127 SW00143 SW00175 code are the same as those in A.4 User
Operation Error Status.
SW00112 SW00128 SW00144 SW00176
Reserved by the • Error Drawing Number
to to to to
system. Parent drawing: FFFFH
SW00121 SW00137 SW00153 SW00185
Child drawing: 00H (H: Child
Error Drawing Num-
SW00122 SW00138 SW00154 SW00186 drawing number)
ber
Grandchild drawing: yyH (Hyy: Grand-
Reference Source child drawing number)
SW00123 SW00139 SW00155 SW00187
Drawing Number Function: 8000H
Reference Source Motion program/Sequence program:
SW00124 SW00140 SW00156 SW00188
DWG Step Number F0H (H: Program number)
• Reference Source Drawing Number
Number of the drawing reference source in
which an error occurred.
Reserved by the • Reference Source DWG Step Number
SW00125 SW00141 SW00157 SW00189
system. Step number of the drawing reference
source in which an error occurred.
Zero when there is an error in the parent
drawing.

A-12
 Appendix A System Registers Lists
A.7 System I/O Error Status

A.7 System I/O Error Status

Data that show details when a system I/O error occurs are stored in register numbers SW00192 to SW00503.

Name Register No. Remarks

Current alarm SW00190 Cleared when the power is turned ON.
Number of alarm history records SW00191 Number of alarm history records
1: Alarm cleared.
SW00192
Clear alarms 2: Current alarm and alarm history cleared.
... ...
I/O error count SW00200 Number of I/O errors
Input error count SW00201 Number of input errors
Input error address SW00202 Latest input error address (register number IW)
Output error count SW00203 Number of output errors
Output error address SW00204 Latest output error address (register number OW)
SW00205
Reserved by the system. SW00206 Not used.
SW00207
SW00208 to
CPU module error status
SW00215
SW00216 to
Reserved by the system.
SW00223
SW00224 to
Rack 1, slot 1 error status
SW00231
SW00232 to
Rack 1, slot 2 error status
I/O error status SW00239
SW00240 to
Rack 1, slot 3 error status
SW00247
SW00248 to
Rack 1, slot 4 error status
SW00255
... ...
SW00496 to
Rack 4, slot 9 error status
SW00503

Appendices

A-13
 Appendix A System Registers Lists
A.8 Compact Flash Card-Related System Registers (CPU-02 and CPU-03 Modules for the MP2200 Only)

A.8 Compact Flash Card-Related System Registers (CPU-02 and CPU-03 Mod-
ules for the MP2200 Only)
Information on the operation status of the compact flash card (CF card) is stored in registers SW00652 to SW00659.
These registers are used to hold status reports only for a CPU-02 or CPU-03 module used with an MP2200 that is com-
patible with the CF card.
In other models, these registers are reserved for the system.

Specifications Register No. Description

Whole capacity of
SL00652 Unit: Byte
Compact Flash Card
0: Compact Flash card not
SB006540 1: Compact Flash card mounted
mounted
SB006541 0: Power not supplied 1: Power being supplied
0: Compact Flash card not 1: Compact Flash card being iden-
SB006542
identified tified
Card Status SW00654 0: No Compact Flash card 1: Compact Flash card being
SB006543
access accessed
SB006544 0: − 1: FAT file system being checked
SB006545
to Reserved by the system.
SB00654F
0001H FAT12
FAT Type SW00655 0002H FAT16
0003H FAT32
Reserved by the sys-
SW00656 −
tem.
Reserved by the sys-
SW00657 −
tem.
SB006580 During batch load
SB006581 Compact Flash card read-out error
SB006582 Load file model mismatched
SB006583 Load file write-in error
SB006584 Flash-storage error
SB006585 No batch load folder exists.
Load error due to prohibition of load
SB006586
(program write protection)
Batch Load/Save SW00658
SB006587 Reserved by the system.
SB006588 During a batch save
SB006589 Compact Flash card write-in error
SB00658A Save file read-out error
SB00658B Security error
SB00658C
to Reserved by the system.
SB00658F
Reserved by the sys-
SW00659 −
tem.

A-14
 Appendix A System Registers Lists
A.9 Interrupt Status

A.9 Interrupt Status

A.9.1 Interrupt Status List

Name Register No. Remarks

SW00698 Interrupt detection count
SW00699 Number of interrupting modules
SW00700
SW00701 Interrupting module 1
SW00702
SW00703
Interrupt information SW00704 Interrupting module 2
SW00705
:
:
SW00787
SW00788 Interrupting module 30
SW00789

A.9.2 Details on Interrupting Module

F 8 7 0 (Bit number)
SW00xx+0 Rack Slot mmssH
SW00xx+1 Interrupt type
SW00xx+2 Hardware interrupt cause register value

( 1 ) Rack
mm = 01 to 04 (01 only for the MP2300 module)
The number of the rack where the module that caused the interrupt is mounted is reported.

( 2 ) Slot
ss = 01 to 09

( 3 ) Interrupt type
1: CPU IO (MP2100, MP2100M, MP2101, MP2101M, MP2101T, MP2101TM, MP2300): DI interrupt
2: LIO-01/LIO-02/LIO-04/LIO-05: DI interrupt
3: LIO-01/LIO-02/LIO-06/CNTR-01: Counter interrupt
Appendices

A-15
 Appendix A System Registers Lists
A.10 Module Information

A.10 Module Information

Name Register No. Remarks

SW00800 MP2300S ID (C480H)
SW00801 CPU hardware version (BCD)
SW00802 CPU software version (BCD)
SW00803 Number of subslots (0005H)
SW00804 CPU function module ID (C410H)
SW00805 CPU function module status
SW00806 218IFA function module ID (8623H)
CPU information SW00807 218IFA function module status
SW00808 SVB function module ID (9114H)
SW00809 SVB function module status
SW00810 SVR function module ID (9210H)
SW00811 SVR function module status
SW00812 M-EXECUTOR function module ID (8430H)
SW00813 M-EXECUTOR function module status
SW00814 to SW00815 Reserved by the system.
SW00816 Module ID
SW00817 Hardware version (BCD)
SW00818 Software version (BCD)
SW00819 Number of subslots
Slot 1 information
SW00820 Function module 1, function module ID
SW00821 Function module 1, function module status
SW00822 Function module 2, function module ID
SW00823 Function module 2, function module status
Reserved by the system. SW00824 to SW01095 Reserved by the system.

A-16
 Appendix A System Registers Lists
A.11 MPU-01 System Status

A.11 MPU-01 System Status

Name Register No. Remarks

MPU-01 #1 Status SW01411 Status of MPU-01 module circuit 1
MPU-01 #1 Error Status SW01412 Error status of MPU-01 module circuit 1
MPU-01 #2 Status SW01413 Status of MPU-01 module circuit 2
MPU-01 #2 Error Status SW01414 Error status of MPU-01 module circuit 2
MPU-01 #3 Status SW01415 Status of MPU-01 module circuit 3
MPU-01 #3 Error Status SW01416 Error status of MPU-01 module circuit 3
MPU-01 #4 Status SW01417 Status of MPU-01 module circuit 4
MPU-01 #4 Error Status SW01418 Error status of MPU-01 module circuit 4
MPU-01 #5 Status SW01419 Status of MPU-01 module circuit 5
MPU-01 #5 Error Status SW01420 Error status of MPU-01 module circuit 5
MPU-01 #6 Status SW01421 Status of MPU-01 module circuit 6
MPU-01 #6 Error Status SW01422 Error status of MPU-01 module circuit 6
MPU-01 #7 Status SW01423 Status of MPU-01 module circuit 7
MPU-01 #7 Error Status SW01424 Error status of MPU-01 module circuit 7
MPU-01 #8 Status SW01425 Status of MPU-01 module circuit 8
MPU-01 #8 Error Status SW01426 Error status of MPU-01 module circuit 8
MPU-01 #9 Status SW01427 Status of MPU-01 module circuit 9
MPU-01 #9 Error Status SW01428 Error status of MPU-01 module circuit 9
MPU-01 #10 Status SW01429 Status of MPU-01 module circuit 10
MPU-01 #10 Error Status SW01430 Error status of MPU-01 module circuit 10
MPU-01 #11 Status SW01431 Status of MPU-01 module circuit 11
MPU-01 #11 Error Status SW01432 Error status of MPU-01 module circuit 11
MPU-01 #12 Status SW01433 Status of MPU-01 module circuit 12
MPU-01 #12 Error Status SW01434 Error status of MPU-01 module circuit 12
MPU-01 #13 Status SW01435 Status of MPU-01 module circuit 13
MPU-01 #13 Error Status SW01436 Error status of MPU-01 module circuit 13
MPU-01 #14 Status SW01437 Status of MPU-01 module circuit 14
MPU-01 #14 Error Status SW01438 Error status of MPU-01 module circuit 14
MPU-01 #15 Status SW01439 Status of MPU-01 module circuit 15
MPU-01 #15 Error Status SW01440 Error status of MPU-01 module circuit 15
MPU-01 #16 Status SW01441 Status of MPU-01 module circuit 16
MPU-01 #16 Error Status SW01442 Error status of MPU-01 module circuit 16
Appendices

A-17
 Appendix A System Registers Lists
A.12 Motion Program Information

A.12 Motion Program Information

 System Work Number 1 to 8
System System System System System System System System
System Work Number
Work 1 Work 2 Work 3 Work 4 Work 5 Work 6 Work 7 Work 8
Executing Main Program No. SW03200 SW03201 SW03202 SW03203 SW03204 SW03205 SW03206 SW03207
Status SW03264 SW03322 SW03380 SW03438 SW03496 SW03554 SW03612 SW3670
Control Signal SW03265 SW03323 SW03381 SW03439 SW03497 SW03555 SW03613 SW3671
Program Number SW03266 SW03324 SW03382 SW03440 SW03498 SW03556 SW03614 SW3672
Parallel
Block Number SW03267 SW03325 SW03383 SW03441 SW03499 SW03557 SW03615 SW3673
0
Alarm Code SW03268 SW03326 SW03384 SW03442 SW03500 SW03558 SW03616 SW3674
Program Number SW03269 SW03327 SW03385 SW03443 SW03501 SW03559 SW03617 SW3675
Parallel
Block Number SW03270 SW03328 SW03386 SW03444 SW03502 SW03560 SW03618 SW3676
1
Alarm Code SW03271 SW03329 SW03387 SW03445 SW03503 SW03561 SW03619 SW3677
Program Number SW03272 SW03330 SW03388 SW03446 SW03504 SW03562 SW03620 SW3678
Parallel
Block Number SW03273 SW03331 SW03389 SW03447 SW03505 SW03563 SW03621 SW3679
2
Alarm Code SW03274 SW03332 SW03390 SW03448 SW03506 SW03564 SW03622 SW3680
Program Number SW03275 SW03333 SW03391 SW03449 SW03507 SW03565 SW03623 SW3681
Parallel
Block Number SW03276 SW03334 SW03392 SW03450 SW03508 SW03566 SW03624 SW3682
3
Alarm Code SW03277 SW03335 SW03393 SW03451 SW03509 SW03567 SW03625 SW3683
Program Number SW03278 SW03336 SW03394 SW03452 SW03510 SW03568 SW03626 SW3684
Parallel
Block Number SW03279 SW03337 SW03395 SW03453 SW03511 SW03569 SW03627 SW3685
4
Alarm Code SW03280 SW03338 SW03396 SW03454 SW03512 SW03570 SW03628 SW3686
Program Number SW03281 SW03339 SW03397 SW03455 SW03513 SW03571 SW03629 SW3687
Parallel
Block Number SW03282 SW03340 SW03398 SW03456 SW03514 SW03572 SW03630 SW3688
5
Alarm Code SW03283 SW03341 SW03399 SW03457 SW03515 SW03573 SW03631 SW3689
Program Number SW03284 SW03342 SW03400 SW03458 SW03516 SW03574 SW03632 SW3690
Parallel
Block Number SW03285 SW03343 SW03401 SW03459 SW03517 SW03575 SW03633 SW3691
6
Alarm Code SW03286 SW03344 SW03402 SW03460 SW03518 SW03576 SW03634 SW3692
Program Number SW03287 SW03345 SW03403 SW03461 SW03519 SW03577 SW03635 SW3693
Parallel
Block Number SW03288 SW03346 SW03404 SW03462 SW03520 SW03578 SW03636 SW3694
7
Alarm Code SW03289 SW03347 SW03405 SW03463 SW03521 SW03579 SW03637 SW3695
Logical axis #1
SL03290 SL03348 SL03406 SL03464 SL03522 SL03580 SL03638 SL3696
Program Current Position
Logical axis #2
SL03292 SL03350 SL03408 SL03466 SL03524 SL03582 SL03640 SL3698
Program Current Position
Logical axis #3
SL03294 SL03352 SL03410 SL03468 SL03526 SL03584 SL03642 SL3700
Program Current Position
Logical axis #4
SL03296 SL03354 SL03412 SL03470 SL03528 SL03586 SL03644 SL3702
Program Current Position
Logical axis #5
SL03298 SL03356 SL03414 SL03472 SL03530 SL03588 SL03646 SL3704
Program Current Position
Logical axis #6
SL03300 SL03358 SL03416 SL03474 SL03532 SL03590 SL03648 SL3706
Program Current Position
Logical axis #7
SL03302 SL03360 SL03418 SL03476 SL03534 SL03592 SL03650 SL3708
Program Current Position
Logical axis #8
SL03304 SL03362 SL03420 SL03478 SL03536 SL03594 SL03652 SL3710
Program Current Position
Logical axis #9
SL03306 SL03364 SL03422 SL03480 SL03538 SL03596 SL03654 SL3712
Program Current Position
Logical axis #10
SL03308 SL03366 SL03424 SL03482 SL03540 SL03598 SL03656 SL3714
Program Current Position
Logical axis #11
SL03310 SL03368 SL03426 SL03484 SL03542 SL03600 SL03658 SL3716
Program Current Position

A-18
 Appendix A System Registers Lists
A.12 Motion Program Information

(cont’d)
System System System System System System System System
System Work Number
Work 1 Work 2 Work 3 Work 4 Work 5 Work 6 Work 7 Work 8
Logical axis #12
SL03312 SL03370 SL03428 SL03486 SL03544 SL03602 SL03660 SL3718
Program Current Position
Logical axis #13
SL03314 SL03372 SL03430 SL03488 SL03546 SL03604 SL03662 SL3720
Program Current Position
Logical axis #14
SL03316 SL03374 SL03432 SL03490 SL03548 SL03606 SL03664 SL3722
Program Current Position
Logical axis #15
SL03318 SL03376 SL03434 SL03492 SL03550 SL03608 SL03666 SL3724
Program Current Position
Logical axis #16
SL03320 SL03378 SL03436 SL03494 SL03552 SL03610 SL03668 SL3726
Program Current Position

 System Word Number 9 to 16

System System System System System System System System
System Work Number
Work 9 Work 10 Work 11 Work 12 Work 13 Work 14 Work 15 Work 16
Executing Main Program No. SW03208 SW03209 SW03210 SW03211 SW03212 SW03213 SW03214 SW03215
Status SW03728 SW03786 SW03844 SW03902 SW03960 SW04018 SW04076 SW04134
Control Signal SW03729 SW03787 SW03845 SW03903 SW03961 SW04019 SW04077 SW04135
Program Number SW03730 SW03788 SW03846 SW03904 SW03962 SW04020 SW04078 SW04136
Parallel
Block Number SW03731 SW03789 SW03847 SW03905 SW03963 SW04021 SW04079 SW04137
0
Alarm Code SW03732 SW03790 SW03848 SW03906 SW03964 SW04022 SW04080 SW04138
Program Number SW03733 SW03791 SW03849 SW03907 SW03965 SW04023 SW04081 SW04139
Parallel
Block Number SW03734 SW03792 SW03850 SW03908 SW03966 SW04024 SW04082 SW04140
1
Alarm Code SW03735 SW03793 SW03851 SW03909 SW03967 SW04025 SW04083 SW04141
Program Number SW03736 SW03794 SW03852 SW03910 SW03968 SW04026 SW04084 SW04142
Parallel
Block Number SW03737 SW03795 SW03853 SW03911 SW03969 SW04027 SW04085 SW04143
2
Alarm Code SW03738 SW03796 SW03854 SW03912 SW03970 SW04028 SW04086 SW04144
Program Number SW03739 SW03797 SW03855 SW03913 SW03971 SW04029 SW04087 SW04145
Parallel
Block Number SW03740 SW03798 SW03856 SW03914 SW03972 SW04030 SW04088 SW04146
3
Alarm Code SW03741 SW03799 SW03857 SW03915 SW03973 SW04031 SW04089 SW04147
Program Number SW03742 SW03800 SW03858 SW03916 SW03974 SW04032 SW04090 SW04148
Parallel
Block Number SW03743 SW03801 SW03859 SW03917 SW03975 SW04033 SW04091 SW04149
4
Alarm Code SW03744 SW03802 SW03860 SW03918 SW03976 SW04034 SW04092 SW04150
Program Number SW03745 SW03803 SW03861 SW03919 SW03977 SW04035 SW04093 SW04151
Parallel
Block Number SW03746 SW03804 SW03862 SW03920 SW03978 SW04036 SW04094 SW04152
5
Alarm Code SW03747 SW03805 SW03863 SW03921 SW03979 SW04037 SW04095 SW04153
Program Number SW03748 SW03806 SW03864 SW03922 SW03980 SW04038 SW04096 SW04154
Parallel
Block Number SW03749 SW03807 SW03865 SW03923 SW03981 SW04039 SW04097 SW04155
6
Alarm Code SW03750 SW03808 SW03866 SW03924 SW03982 SW04040 SW04098 SW04156
Program Number SW03751 SW03809 SW03867 SW03925 SW03983 SW04041 SW04099 SW04157
Parallel
Block Number SW03752 SW03810 SW03868 SW03926 SW03984 SW04042 SW04100 SW04158
7
Alarm Code SW03753 SW03811 SW03869 SW03927 SW03985 SW04043 SW04101 SW04159
Logical axis #1
SL03754 SL03812 SL03870 SL03928 SL03986 SL04044 SL04102 SL04160
Program Current Position
Logical axis #2
SL03756 SL03814 SL03872 SL03930 SL03988 SL04046 SL04104 SL04162
Program Current Position
Appendices

Logical axis #3
SL03758 SL03816 SL03874 SL03932 SL03990 SL04048 SL04106 SL04164
Program Current Position
Logical axis #4
SL03760 SL03818 SL03876 SL03934 SL03992 SL04050 SL04108 SL04166
Program Current Position
Logical axis #5
SL03762 SL03820 SL03878 SL03936 SL03994 SL04052 SL04110 SL04168
Program Current Position
Logical axis #6
SL03764 SL03822 SL03880 SL03938 SL03996 SL04054 SL04112 SL04170
Program Current Position

A-19
 Appendix A System Registers Lists
A.12 Motion Program Information

(cont’d)
System System System System System System System System
System Work Number
Work 9 Work 10 Work 11 Work 12 Work 13 Work 14 Work 15 Work 16
Logical axis #7
SL03766 SL03824 SL03882 SL03940 SL03998 SL04056 SL04114 SL04172
Program Current Position
Logical axis #8
SL03768 SL03826 SL03884 SL03942 SL04000 SL04058 SL04116 SL04174
Program Current Position
Logical axis #9
SL03770 SL03828 SL03886 SL03944 SL04002 SL04060 SL04118 SL04176
Program Current Position
Logical axis #10
SL03772 SL03830 SL03888 SL03946 SL04004 SL04062 SL04120 SL04178
Program Current Position
Logical axis #11
SL03774 SL03832 SL03890 SL03948 SL04006 SL04064 SL04122 SL04180
Program Current Position
Logical axis #12
SL03776 SL03834 SL03892 SL03950 SL04008 SL04066 SL04124 SL04182
Program Current Position
Logical axis #13
SL03778 SL03836 SL03894 SL03952 SL04010 SL04068 SL04126 SL04184
Program Current Position
Logical axis #14
SL03780 SL03838 SL03896 SL03954 SL04012 SL04070 SL04128 SL04186
Program Current Position
Logical axis #15
SL03782 SL03840 SL03898 SL03956 SL04014 SL04072 SL04130 SL04188
Program Current Position
Logical axis #16
SL03784 SL03842 SL03900 SL03958 SL04016 SL04074 SL04132 SL04190
Program Current Position

A-20
 Appendix B SERVOPACK Parameter Data Flow
B.1 Operations and Parameter Data Flow

Appendix B SERVOPACK Parameter Data Flow

In systems connected to MECHATROLINK, SERVOPACK parameters can be read directly from the MP2300S. (Refer
to 11.6 Parameters That Are Automatically Updated in Machine Controller MP2000-series SVB/SVB-01 Motion Mod-
ule User’s Manual (manual number: SIEP C880700 33). This means that parameters are saved in the memory area of
both the MP2300S and the SERVOPACK. It is thus necessary to consider the relationship between the settings in both
memory areas.

B.1 Operations and Parameter Data Flow

( 1 ) Power ON

1. Parameter data saved in the SERVOPACK’s EEPROM*1 is copied to SERVOPACK’s RAM*2.

2. Parameter data saved in the MP2300S’s flash memory*1 for all axes is copied to SDRAM*2.
Some gain-related settings are sent from the MP2300S to SERVOPACK RAM.
* 1. EEPROM, flash memory, and SRAM: Store data even when the power is turned OFF.
* 2. RAM (SRAM, SDRAM): Lose data when the power is turned OFF.

MECHATROLINK
Send Send

MPE720
System Control
SRAM Software Software
Input
Data
Flash EEP
SDRAM RAM
HDD in personal computer Memory -ROM

Servo Parameters Parameters

(All Axes)

MP2300S SERVOPACK SERVOPACK

 Indicates data has been written (same below).

Appendices

A-21
 Appendix B SERVOPACK Parameter Data Flow
B.1 Operations and Parameter Data Flow

( 2 ) Normal Operation

1. Control software of the SERVOPACK operates based on the parameter data held in SERVOPACK’s
RAM.

2. Some of MP2300S setting parameters and commands temporarily change SERVOPACK parameters.
Refer to Chapter 4 in Machine Controller MP2000-series SVB/SVB-01 Motion Module User’s Manual
(manual number: SIEP C880700 33) for details. RAM in the SERVOPACK are written.

MECHATROLINK
When the MP2300S has
Send Send
temporarily changed
MPE720
System Control
SRAM Software Software
Input
Data
Flash EEP
Memory SDRAM RAM
HDD in personal computer -ROM
SERVOPACK
Parameters Parameters
(All Axes)

MP2300S SERVOPACK SERVOPACK

 Parameters held in the SERVOPACK’s RAM are displayed on a Digital Operator connected to the SERVO-
PACK. They are also written to EEPROM when the DATA/ENTER Key is pressed.

( 3 ) When the SERVOPACK Tab Page Is Open

The data flow for SERVOPACK parameters is as follows when the SERVOPACK Tab Page is open in the SVB Defini-
tions Window on the MPE720 (refer to 2.2.5 ( 5 ) SVB Definition for details on how to open the SERVOPACK Tab
Page.)

1. The MPE720 writes and displays the parameters that are held in the SERVOPACK’s RAM for the rele-
vant axis to the Current Value in the SERVOPACK Tab Page.
It also reads and displays the values that are held in the MP2300S’s SDRAM values to the Input Data
in the SERVOPACK Tab Page.

MECHATROLINK

Send Send
MPE720 (online)

System Control
SRAM Software Software
Display Input Current
Data Value
Flash EEP
Memory SDRAM RAM
-ROM
Input SERVOPACK
Parameters Parameters
Data
(All Axes)
MP2300S SERVOPACK SERVOPACK
HDD in personal computer

A-22
 Appendix B SERVOPACK Parameter Data Flow
B.1 Operations and Parameter Data Flow

2. The following figure shows an example of the SERVOPACK Tab in the SVB Definition Window. The
values in Current Value are different from the values in Input Data.

( 4 ) SERVOPACK Parameters Saved in the MPE720

The data flow for SERVOPACK parameters is as follows when File - Save is selected from the SERVOPACK Tab
Page:

1. The MPE720 writes all the parameters in Input Data currently displayed on SERVOPACK Tab Page of
the relevant axis to the followings.
• HDD (hard disk) of the personal computer
• SDRAM of MP2300S
• RAM and EEPROM of the SERVOPACK

2. After having completed writing the parameters, the MPE720 updates the values in Current Value on
the SERVOPACK Tab Page with the SERVOPACK parameter values stored in the RAM.

MECHATROLINK

Send Send

MPE720 㧔online㧕
System Control
SRAM Software Software
Display Input Current
Data Value
Flash EEP
Memory SDRAM RAM
-ROM
SERVOPACK
Parameters Parameters
Input
(All Axes)
Data
MP2300S SERVOPACK SERVOPACK
Appendices

HDD in personal computer

A-23
 Appendix B SERVOPACK Parameter Data Flow
B.1 Operations and Parameter Data Flow

3. The following figure shows a display example after having executed save operation on the SERVO-
PACK Tab in the SVB Definition Window. After having saved the data, the values in Input Data of all
the parameters become the same as the values in Current Value on the SERVOPACK Tab.

Before saving

After saving

 The saving operation of SERVOPACK parameters can be used for writing data after SERVOPACK replacement
because it writes all the parameters of the relevant axis.

A-24
 Appendix B SERVOPACK Parameter Data Flow
B.1 Operations and Parameter Data Flow

( 5 ) Copying Current Values to Set Values (Input Data) in the SERVOPACK Tab
The data flow for SERVOPACK parameters is as follows when selecting Edit - Copy Current Value from the SERVO-
PACK Tab in the SVB Definition Window on the MPE720:

1. The MPE720 copies the values currently displayed in Current Value to Input Data on the SERVO-
PACK Tab and displays.

MECHATROLINK

MPE720 㧔online㧕

System Control
SRAM Software Software
Display Input Current
Data Value

Flash EEP
Memory SDRAM RAM
-ROM
Input
Data Servo Parameters Parameters
(All Axes)

HDD in personal computer MP2300S SERVOPACK SERVOPACK

Appendices

A-25
 Appendix B SERVOPACK Parameter Data Flow
B.1 Operations and Parameter Data Flow

2. The following figure shows a display example after having selected Edit - Copy Current Value on the
SERVOPACK Tab in the SVB Definition Window. The values in Current Value are copied to Input
Data.
Before copying

After copying

A-26
 Appendix B SERVOPACK Parameter Data Flow
B.1 Operations and Parameter Data Flow

( 6 ) Changing Parameters in the SERVOPACK Tab Page

The data flow for SERVOPACK parameters is as follows when parameters for the cursor position are changed from the
SERVOPACK Tab Page in the SVB Definition Window for MPE720:

1. The MPE720 writes parameters of the relevant axis to the followings when the Enter Key is pressed on
the computer. (The parameters other than those of the relevant axis will not be written.)
• Input Data (set data) on the SERVOPACK Tab Page
• SDRAM of the MP2300S
• RAM of the SERVOPACK

2. After having completed writing, the MPE720 updates the values in Input Data on the SERVOPACK
Tab Page with the parameter values stored in the RAM of the SERVOPACK.

MECHATROLINK

Send Send
MPE720 㧔online㧕

System Control
SRAM Software Software
Display Input Current
Data Value

Flash EEP
SDRAM RAM
Memory -ROM
Input
Servo Parameters Parameters
Data
(All Axes)

HDD in personal computer MP2300S SERVOPACK SERVOPACK

Appendices

A-27
 Appendix B SERVOPACK Parameter Data Flow
B.1 Operations and Parameter Data Flow

3. The following figure shows a display example after having changed the value (2nd Speed Loop Gain)
in Input Data on the SERVOPACK Tab. After having pressed the Enter Key, the values of Speed
Loop Gain, Speed Loop Integral Time Constant, and Position Loop Gain (boxed in dotted line) in
Input Data remain different from the values in Current Value since the parameters other than the one
that has been changed are not written.

Before pressing
ENTER Key

After having
pressed ENTER
Key

A-28
 Appendix B SERVOPACK Parameter Data Flow
B.1 Operations and Parameter Data Flow

( 7 ) Saving Data to Flash Memory

The data flow for SERVOPACK parameters is as follows when saving the parameters to flash memory on the MPE720.

1. The MP2300S writes the parameters data (Input Data) held in SDRAM to flash memory.

MECHATROLINK

Send Send

MPE720 㧔online㧕
System Control
Current SRAM Software Software
Display Input
Data Value

Flash EEP
Memory SDRAM RAM
-ROM
Input
Data Servo Parameters Parameters
(All Axes)

HDD in personal computer MP2300S SERVOPACK SERVOPACK

 Save to flash memory also after having changed set data of SERVOPACK parameter.

 Precautions When Saving SERVOPACK Parameters

Before executing a saving operation in the SERVOPACK Tab Page, except during SERVOPACK replacement, always select
Edit - Current Value - Setting Value to copy the values in Current Value to Input Data.

Appendices

A-29
 Appendix C Initializing SERVOPACKs

Appendix C Initializing SERVOPACKs

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

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

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

3. Turn ON the Digital Operator power.

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

use the or Keys to select Fn005.

㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧜㧜㧠
㧲㨚㧜㧜㧡
㧲㨚㧜㧜㧢
㧲㨚㧜㧜㧣

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

6. Press the Key again and execute Fn005.

“Parameter Init” will flash during initialization.

㧮㧮
‫ޓ‬㧼㨍㨞㨍㨙㨑㨠㨑㨞‫ޓ‬㧵㨚㨕㨠
‫ޓޓ‬㧿㨠㨍㨞㨠‫ޓ‬㧦㨇㧰㧭㨀㧭㨉
‫ޓޓ‬㧾㨑㨠㨡㨞㨚㧦㨇㧿㧱㨀㨉

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

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

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

A-30
 Appendix D Initializing the Absolute Encoder
D.1 Σ-V SERVOPACK

Appendix D Initializing the Absolute Encoder

The procedure for initializing an absolute encoder for a Σ-I, Σ-II, Σ-III, or Σ-V SERVOPACK is given below.
 Refer to 9.2.1 System Startup Flowchart in the Machine Controller MP2000-series SVB/SVB-01 Motion Module
User’s Manual (manual number: SIEP C880700 33) for the procedure for absolute-position detection.

D.1 Σ-V SERVOPACK

 Refer to Σ-V Series User’s Manual Design and Maintenance (manual number: SIEP S800000 45) for information on
Σ-V series SERVOPACKs.

Follow the setup procedure below using a Digital Operator.

1. Press the Key to display the Utility Function Mode main menu. Use the Key or
Key to select Fn008.
㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧜㧜㧣
㧲㨚㧜㧜㧤
㧲㨚㧜㧜㧥
㧲㨚㧜㧜㧭

2. Press the Key.

The display is switched to the execution display of Fn008 (Absolute encoder multi-turn reset and encoder
alarm reset).

 If the display is not switched and “NO_OP” is displayed in the status display, writing is prohibited because Write
Prohibited has been enabled (Fn010 = 0001). Check the setting of Fn010 and change the setting to enable
writing.

3. Keep pressing the Key until “PGCL1” is changed to “PGCL5.”

4. Press the Key.

“BB” in the status display changes to “Done.”

Appendices

5. Press the Key.

The display returns to the Utility Function Mode main menu.

6. Turn OFF the control power supply and the main power supply of the SERVOPACK and then turn them
ON again to validate the settings.

A-31
 Appendix D Initializing the Absolute Encoder
D.2 Σ-III SERVOPACK

D.2 Σ-III SERVOPACK

 Refer to the following manuals for information on Σ-III series SERVOPACKs.
Σ-III Series SGM/SGDS User’s Manual (manual number: SIEP S800000 00)
Σ-III Series SGM/SGDS User’s Manual for MECHATROLINK-II Communications (manual number: SIEP
S800000 11)
Σ-III Series SGMS/SGDS Digital Operator Instructions Manual (manual number: TOBP S800000 01)

Follow the setup procedure below using a Digital Operator.

1. Press the Key to display the Utility Function Mode main menu. Use the Key or
Key to select Fn008.
㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧜㧜㧣
㧲㨚㧜㧜㧤
㧲㨚㧜㧜㧥
㧲㨚㧜㧜㧭

2. Press the Key.

The display is switched to the execution display of Fn008 (Absolute encoder multi-turn reset and encoder
alarm reset).

 If the display is not switched and “NO_OP” is displayed in the status display, writing is prohibited because Write
Prohibited has been enabled (Fn010 = 0001). Check the setting of Fn010 and change the setting to enable
writing.

3. Keep pressing the Key until “PGCL1” is changed to “PGCL5.”

4. Press the Key.

“BB” in the status display changes to “Done.”

5. Press the Key.

The display returns to the Utility Function Mode main menu.

6. Turn OFF the control power supply and the main power supply of the SERVOPACK and then turn them
ON again to validate the settings.

A-32
 Appendix D Initializing the Absolute Encoder
D.3 Σ-II SERVOPACK

D.3 Σ-II SERVOPACK

 Refer to the following manuals for information on Σ-II SERVOPACKs.
Σ-II Series SGM/SGDH User’s Manual (manual number: SIEP S800000 05)
Σ-II Series SGM/SGDM User’s Manual (manual number: SIEP S800000 15)

( 1 ) Initialization Using a Hand-held Digital Operator

1. Press the DSPL/SET Key to select the Auxiliary Function Mode.

2. Select parameter Fn008 by pressing the LEFT (<) and RIGHT (>) Keys to select the digit to be
changed and then using the UP (∧) and DOWN (∨) Keys to change the value of the digit.

3. Press the DATA/ENTER Key.

The following display will appear.

4. The rightmost digit will be incremented each time the UP (∧) Key is pressed. Press the UP (∧) Key sev-
eral times until “PGCL5” is displayed.
If a mistake is made in the key operation, “nO_OP” will blink on the display for 1 second and then the display
will return to the Auxiliary Function Mode. If this happens, return to step 3, above, and repeat the operation.
Mistake in Key Operation
UP Key

Blinks for 1 s.

UP Key

Returns to the Auxiliary

Function Mode.

5. Press the DSPL/SET Key.

The display will change as shown below and the clear operation will be performed for multiturn data for the
absolute encoder.

Blinks for 1 s.
Appendices

6. Turn OFF the control power supply and the main power supply of the SERVOPACK and then turn them
ON again to validate the settings.

A-33
 Appendix D Initializing the Absolute Encoder
D.3 Σ-II SERVOPACK

( 2 ) Initialization Using the Built-in Panel Operator

1. Press the MODE/SET Key to select the Auxiliary Function Mode.

2. Press the UP ( ) and DOWN ( ) Keys to select parameter Fn008.

3. Press the DATA/ENTER Key for more than one second.

The following display will appear.

4. The rightmost digit will be incremented each time the UP ( ) Key is pressed. Press the UP ( ) Key
several time until “PGCL5” is displayed.
If a mistake is made in the key operation, “nO_OP” will blink on the display for 1 second and then the display
will return to the Auxiliary Function Mode. If this happens, return to step 3, above, and repeat the operation.
Mistake in Key Operation
UP Key

Blinks for 1 s.

UP Key

Returns to the Auxiliary

Function Mode.

5. Press the MODE/SET Key.

The display will change as shown below and the clear operation will be performed for multiturn data for the
absolute encoder.

Blinks for 1 s.

6. Turn OFF the control power supply and the main power supply of the SERVOPACK and then turn them
ON again to validate the settings.

A-34
 Appendix D Initializing the Absolute Encoder
D.4 Σ-I SERVOPACK

D.4 Σ-I SERVOPACK

 Refer to the following manuals for information on Σ-I SERVOPACKS.
Σ Series SGM/SGD User’s Manual (manual number: SIE-S800-26.3)
Σ Series SGM/SGDB High-speed Field Network MECHATROLINK-compatible AC Servo Driver User’s Manual
(manual number: SIE-S800-26.4)

( 1 ) Initializing a 12-bit Absolute Encoder

Use the following procedure to initialize a 12-bit absolute encoder.

1. Properly connect the SERVOPACK, Servomotor, and MP2300S.

2. Disconnect the connector on the encoder end and short-circuit pins 13 and 14 on the encoder end con-
nector for 2 seconds or more.

13 14

3. Remove the short piece and insert the connector securely in its original position.

4. Connect the cables using normal wiring and make sure the encoder battery is connected.

5. Turn ON the system.

Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, so the system has been success-
fully initialized.

Appendices

A-35
 Appendix D Initializing the Absolute Encoder
D.4 Σ-I SERVOPACK

( 2 ) Initializing a 15-bit Absolute Encoder

Use the following procedure to initialize a 15-bit absolute encoder.

1. Turn OFF the SERVOPACK and MP2300S.

2. Discharge the large-capacity capacitor in the encoder using one of the following methods.

 At the SERVOPACK End Connector

1) Disconnect the connector on the SERVOPACK end.

2) Use a short piece to short-circuit together connector pins 10 and 13 on the encoder end and
leave the pins short-circuited for at least 2 minutes.
3) Remove the short piece and insert the connector securely in its original position.

 At the Encoder End Connector

1) Disconnect the connector on the encoder end.

2) Use a short piece to short-circuit together connector pins R and S on the encoder end and
leave the pins short-circuited for at least 2 minutes.
3) Remove the short piece and insert the connector securely in its original position.

SERVOPACK
Key location
Encoder
CN2-1
A

S R (White/orange) CN2-13
S
T CN2-12
R CN2-10
(White/orange)
PG cable

Short-circuit here.

3. Connect the cables using normal wiring and make sure the encoder battery is connected.

4. Turn ON the system.

Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, so the system has been success-
fully initialized.

A-36
 Appendix E Motion Parameter Details
E.1 Fixed Parameter List

Appendix E Motion Parameter Details

The motion parameters (fixed parameters, setting parameters, and monitoring parameters) for SVB and SVR Modules
are listed below.
For information on how to use each motion parameter, refer to Machine Controller MP2000 Series Built-in SVB/SVB-
01 Motion Modules User’s Manual (manual number: SIEP C880700 33).
 The Yes in the SVB or SVR column indicates that the motion parameter is supported by the corresponding module.

E.1 Fixed Parameter List

Slot
Name Contents SVB SVR
Number
0: Normal Operation Mode Yes Yes
1: Axis Unused Yes Yes
0 Selection of Operation Modes 2: Simulation Mode Yes
3: Servo Driver Transmission Reference Mode Yes
4 and 5: Reserved − −
Bit 0: Axis Selection (0: Finite length axis/1: Infinite length axis)
Yes Yes
• Set to 0 for linear type.
Bit 1: Soft Limit (Positive Direction) Enable/Disable Yes
Bit 2: Soft Limit (Negative Direction) Enable/Disable Yes
Bit 3: Overtravel Positive Direction Enable/Disable Yes
Bit 4: Overtravel Negative Direction Enable/Disable Yes
1 Function Selection Flag 1 Bits 5 to 7: Reserved − −
Bit 8: Interpolation Segment Distribution Processing Yes
Bit 9: Simple ABS Rotary Pos. Mode (Simple Absolute Infinite Axis Position
Control) (0: Disabled/1: Enabled) Yes
• Set to 0 for linear type.
Bit A: User Constants Self-writing Function Yes
Bits B to F: Reserved − −
Bit 0: Communication Abnormality Detection Mask Yes
2 Function Selection Flag 2 Bit 1: WDT Abnormality Detection Mask Yes
Bits 2 to F: Reserved for system use. − −
3 − Reserved − −
0: pulse, 1: mm, 2: deg, 3: inch, 4:μm
4 Reference Unit Selection • For linear type, only valid for 0: pulse, 1: mm, 4: μm. Yes Yes
When 2: deg, 3: inch is set, converted into 1: mm.
Number of Digits below Decimal
5 1 = 1 digit Yes Yes
Places
Travel Distance per Machine
Rotation 1 = 1 reference unit Yes Yes
6 (Rotary Motor)
Linear Scale Pitch
1 = 1 reference unit Yes Yes
(Linear Type)
1 = 1 rotation
8 Servo Motor Gear Ratio Yes Yes
• Invalid for linear type.
1 = 1 rotation
9 Machine Gear Ratio Yes Yes
• Invalid for linear type.
Infinite Length Axis Reset 1 = 1 reference units
10 Yes Yes
Appendices

Position (POSMAX) • Invalid for linear type.

12 Positive Software Limit Value 1 = 1 reference unit Yes
14 Negative Software Limit Value 1 = 1 reference unit Yes
Backlash Compensation
16 1 = 1 reference unit Yes
Amount
18 to 29 − Reserved − −

A-37
 Appendix E Motion Parameter Details
E.1 Fixed Parameter List

(cont’d)
Slot
Name Contents SVB SVR
Number
0: Incremental Encoder
1: Absolute Encoder
30 Encoder Selection Yes
2: Absolute Encoder (Incremental encoder is used.)
3: Reserved
31 to 33 − Reserved − −
Rated Motor Speed
(Rotary Motor) 1 = 1 min-1 Yes Yes
34
Rated Speed
1 = 0.1 m/s, 0.1 mm/s Yes Yes
(Linear Type)
Number of Pulses per Motor 1 = 1 pulse/rev
Yes Yes
Rotation (Rotary Motor) Set the value after multiplication.
36
Number of Pulses per Linear
1 = 1 pulse/scale pitch Yes Yes
Scale Pitch (Linear Type)
1 = 1 rotation
Maximum Number of Absolute
38 • Set to 0 when a direct drive motor is being used. Yes
Encoder Turns Rotation
• Invalid for linear type.
40 to 41 − Reserved − −
Feedback Speed Movement Av-
42 1 = 1 ms Yes Yes
eraging Time Constant

A-38
 Appendix E Motion Parameter Details
E.2 Setting Parameter List

E.2 Setting Parameter List

Register No. Name Contents SVB SVR

Bit 0: Servo ON (0: OFF/1: ON) Yes Yes
Bit 1: Machine Lock (0: Normal operation/1: Machine locked) Yes
Bits 2 to 3: Reserved − −
Bit 4: Latch Detection Demand (0: OFF/1: ON) Yes
Bit 5: Reserved for system use. − −
Bit 6: POSMAX Turn Number Presetting Demand
(0: OFF/1: ON) Yes Yes
• Set to 0 for linear type.
Bit 7: Request ABS Rotary Pos. Load (Absolute System Infinite Length Posi-
tion Information LOAD) (0: OFF/1: ON) Yes
RUN Command • Set to 0 for linear type.
OW00
Setting
Bit 8: Forward Outside Limiting Torque/Thrust Input
Yes
(Forward External Limiting Torque/Thrust Input) (0: OFF/1: ON)
Bit 9: Reverse Outside Limiting Torque/Thrust Input
Yes
(Reverse External Limiting Torque/Thrust Input) (0: OFF/1: ON)
Bit A: Reserved − −
Bit B: Integration Reset (0: OFF/1: ON) Yes
Bits C: Reserved − −
* Yes
Bits D : Latch Completion Status Clear Request (0: OFF/1: ON)
Bit E: Communication Reset (0: OFF/1: ON) Yes
Bit F: Alarm Clear (0: OFF/1: ON) Yes Yes
Bit 0: Excessive Deviation Error Level Setting
Yes
(0: Alarm/1: Warning)
Bits 1, 2: Reserved − −
OW01 Mode Setting 1 Bit 3: Speed Loop P/PI Switch Yes
Bit 4: Gain Switch Yes
Bit 5: Gain Switch 2 Yes
Bits 6 to F: Reserved − −
Bit 0: Monitor 2 Enabled Yes
OW02 Mode Setting 2 Bits 1 to 7: Reserved − −
Bits 8 to F: Stop Mode Selection Yes
Bits 0 to 3: Speed Unit Selection
0: Reference unit/s
1: 10n reference unit/min Yes Yes
2: Percentage of rated speed (1 = 0.01%)
3: Percentage of rated speed (1 = 0.0001%)
Bits 4 to 7: Acceleration/Deceleration Degree Unit Selection
0: Reference units/s2 Yes Yes
OW03 Function Setting 1 1: ms
Bits 8 to B: Filter Type Selection
0: No filter
Yes Yes
1: Exponential acceleration/deceleration filter
2: Moving average filter
Bits C to F: Torque Unit Selection
0: Percentage of rated toque (1 = 0.01%) Yes Yes
1: Percentage of rated toque (1 = 0.0001%)
Appendices

A-39
 Appendix E Motion Parameter Details
E.2 Setting Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Bits 0 to 3: Latch Detection Signal Selection
0: −
1: −
2: Phase-C Pulse Input Signal Yes
3: /EXT1
4: /EXT2
5: /EXT3
Bits 4 to 7: External Positioning Signal Setting
OW04 Function Setting 2 0: −
1: −
2: Phase-C Pulse Input Signal Yes
3: /EXT1
4: /EXT2
5: /EXT3
Bits 8 to B: Reserved − −
Bits C to F: Bank Selector Yes
Bit 1: Phase Reference Creation Calculation Disable (0: Enabled/1: Disabled) Yes
Bits 2 to A: Reserved − −
OW05 Function Setting 3
Bit B: Zero Point Return Input Signal (0: OFF/1: ON) Yes
Bits C to F: Reserved − −
OW06
to − Reserved − −
OW07
0: NOP (No Command)
1: POSING (Position Mode)(Positioning)
2: EX_POSING (Latch Target Positioning)(External Positioning)
3: ZRET (Zero Point Return)
4: INTERPOLATE (Interpolation)
5: ENDOF_ INTERPOLATE (Last Interpolation Segment)
6: LATCH (Interpolation Mode with Latch Input)
7: FEED (Jog Mode)
8: STEP (Relative Position Mode)(Step Mode)
9: ZSET (Set Zero Point)
10: ACC (Change Acceleration Time)
11: DCC (Change Deceleration Time)
12: SCC (Change Filter Time Constant)
13: CHG FILTER (Change Filter Type)
OW08 Motion Command Yes Yes
14 : KVS (Change Speed Loop Gain)
15 : KPS (Change Position Loop Gain)
16: KFS (Change Feed-Forward)
17: PRM_RD (Read User Constant)(Read SERVOPACK Parameter)
18: PRM_WR (Write User Constant)(Write SERVOPACK Parameter)
19: ALM_MON (Alarm Monitor)
20: ALM_HIST (Alarm History Monitor)
21: ALMHIST_CLR (Clear Alarm History)
22: ABS_RST (Absolute Encoder Reset)
23: VELO (Speed Reference)
24: TRQ (Torque/Thrust Reference)
25: PHASE (Phase Reference)
26: KIS (Change Position Loop Integral Time Constant)
27: PPRM_WR (Stored Parameter Write)

A-40
 Appendix E Motion Parameter Details
E.2 Setting Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Bit 0: Holds a Command. (0: OFF/1: ON) Yes Yes
Bit 1: Interrupt a Command. (0: OFF/1: ON) Yes Yes
Bit 2: Moving Direction (JOG/ STEP)
Yes Yes
(0: Forward rotation/1: Reverse rotation)
Bit 3: Zero Point Return Direction Selection
Yes
Motion Command (0: Reverse rotation/1: Forward rotation)
OW09
Control Flag Bit 4: Latch Zone Effective Selection (0: Disabled/1: Enabled) Yes
Bit 5: Position Reference Type
Yes Yes
(0: Incremental Addition Mode/1: Absolute Mode)
Bit 6: Phase Compensation Type
Yes
(0: Incremental Addition Mode/1: Absolute Mode)
Bits 7 to F: Reserved − −
0: NOP (No Command) Yes Yes
1: PRM_RD (Read User Constant)(Read SERVOPACK Parameter)
2: PRM_WR (Write User Constant)(Write SERVOPACK Parameter)
OW0A Motion Subcommand Yes
3: Reserved
4: SMON (Status Monitor)
5: FIXPRM_RD (Read Fixed Parameters) Yes Yes
OW0B − Reserved − −
Torque/Thrust
OL0C Unit is according to OW03, bits 12 to 15 (Torque Unit). Yes Yes
Reference Setting
Speed Limit Setting
OW0E at the Torque/Thrust 1 = 0.01% (percentage of rated speed) Yes
Reference
OW0F − Reserved − −
Speed Reference
OL10 Unit is according to OW03, bits 0 to 3 (Speed Unit). Yes Yes
Setting
OW12
to − Reserved − −
OW13
Positive Side Limiting
Torque/Thrust
OL14 Unit is according to OW03, bits C to F (Torque Unit). Yes
Setting at the Speed
Reference
Secondly Speed
OL16 Unit is according to OW03, bits 0 to 3 (Speed Unit). Yes Yes
Compensation
OW18 Override 1 = 0.01% Yes
OW19
to − Reserved − −
OW1B
Position Reference
OL1C 1 = 1 reference unit Yes Yes
Setting
Width of Positioning
OL1E 1 = 1 reference unit Yes
Completion
NEAR Signal Output
OL20 1 = 1 reference unit Yes
Width
Error Count Alarm
OL22 1 = 1 reference unit Yes
Detection
OL24 − Reserved for system use. − −
Position Complete
OW26 1 = 1 ms Yes
Appendices

Cheek Time
OW27 − Reserved for system use.
Phase Correction
OL28 1 = 1 reference unit Yes
Setting
Latch Zone Lower
OL2A 1 = 1 reference unit Yes
Limit Setting

A-41
 Appendix E Motion Parameter Details
E.2 Setting Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Latch Zone Upper
OL2C 1 = 1 reference unit Yes
Limit Setting
OW2E Position Loop Gain 1 = 0.1/s Yes
OW2F Speed Loop Gain 1 = 1 Hz Yes
Speed Feedforward
OW30 1 = 0.01% (percentage of distribution segment) Yes
Amends
Speed
OW31 1 = 0.01% (percentage of rated speed) Yes Yes
Compensation
Position Integration
OW32 1 = 1 ms Yes
Time Constant
OW33 − Reserved − −
Speed Integration
OW34 1 = 0.01 ms Yes
Time Constant
OW35 − Reserved − −
Straight Line Acceler-
OL36 ation/ Acceleration Unit is according to OW03, bits 4 to 7 (Speed Unit). Yes Yes
Time Constant
Straight Line Decel-
OL38 eration/ Deceleration Unit is according to OW03, bits 4 to 7 (Speed Unit). Yes Yes
Time Constant
OW3A Filter Time Constant 1 = 0.1 ms Yes Yes
Bias Speed for
Index
OW3B Unit is according to OW03, bits 0 to 3 (Speed Unit). Yes
Deceleration/Accel-
eration Filter
0: DEC1 + C (DEC 1 and C-Phase)
1: ZERO (Zero signal)
Yes
2: DEC1 + ZERO (DEC 1 and zero signal)
3: C (C-pulse)
4 to 10: Reserved − −
11: C Pulse
Zero Point Return 12: POT & C Pulse
OW3C
Method 13: POT Only Yes
14: HOME LS & C Pulse
15: HOME Only
16: NOT & C Pulse
17: NOT Only
Yes
18: INPUT & C Pulse
19: INPUT Only
Width of Starting
OW3D 1 = 1 reference unit Yes Yes
Point Position Output
OL3E Approach Speed Unit is according to OW03, bits 0 to 3 (Speed Unit). Yes
OL40 Creep Rate Unit is according to OW03, bits 0 to 3 (Speed Unit). Yes
Zero Point Return
OL42 1 = 1 reference unit Yes
Travel Distance
STEP Travel
OL44 1 = 1 reference unit Yes Yes
Distance
External Positioning
OL46 1 = 1 reference unit Yes
Final Travel Distance
Zero Point Position in
OL48 Machine Coordinate 1 = 1 reference unit Yes Yes
System Offset
Work Coordinate
OL4A 1 = 1 reference unit Yes Yes
System Offset
Number of
1 = 1 reference unit
OL4C POSMAX Turns Yes Yes
• Invalid for linear type.
Presetting Data

A-42
 Appendix E Motion Parameter Details
E.2 Setting Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Bits 0 to 3: Monitor 1 (Setting impossible)
Servo User Monitor Bits 4 to 7: Monitor 2
OW4E Yes
Setting Bits 8 to B: Monitor 3 (Setting impossible)
Bits C to F: Monitor 4
Servo Driver Alarm
OW4F Set the number of the alarm to monitor. Yes
Monitor No.
Servo Driver User
OW50 Set the number of the SERVOPACK parameter. Yes
Constant No.
Servo Driver User
OW51 Constant Number Set the number of words in the SERVOPACK parameter. Yes
Size
Servo Driver User
OL52 Set the setting for the SERVOPACK parameter. Yes
Constant Set Point
Servo Driver for
OW54 Assistance User Set the number of the SERVOPACK parameter number. Yes
Constant No.
Servo Driver for
OW55 Assistance User Set the number of words in the SERVOPACK parameter. Yes
Constant Size
Servo Driver for
OL56 Assistance User Set the setting for the SERVOPACK parameter. Yes
Constant Set Point
OW58
to − Reserved − −
OW5B
Fixed Parameter Set the number of the fixed parameter to read with the FIXPRM_RD motion
OW5C Yes Yes
Number subcommand.
OW5D − Reserved − −
Encoder Position
1 = 1 pulse
OL5E When Power is OFF Yes
• Do not set in the linear type.
(Lower 2 Words)
Encoder Position
1 = 1 pulse
OL60 When Power is OFF Yes
• Do not set in the linear type.
(Upper 2 Words)
Pulse Position When
1 = 1 pulse
OL62 Power is OFF Yes
• Do not set in the linear type.
(Lower 2 Words)
Pulse Position When
1 = 1 pulse
OL64 Power is OFF Yes
• Do not set in the linear type.
(Upper 2 Words)
OL66 to
− Reserved − −
OL6E
OW70 Command Buffer for
This area is used for command data when MECHATROLINK servo com-
to Transparent Yes
mands are specified directly.
OW7F Command Mode

* Valid only when using an MP2300SCPU ver 2.61 or later and Σ-V series servo drive.
Appendices

A-43
 Appendix E Motion Parameter Details
E.3 Monitoring Parameter List

E.3 Monitoring Parameter List

Register No. Name Contents SVB SVR

Bit 0 Motion Controller Operation Ready Yes Yes
Bit 1: Running (At Servo ON) Yes Yes
Bit 2: System Busy Yes
IW00 RUN Status
Bit 3: Servo Ready Yes
Bit 4: Latch Mode Yes
Bits 5 to F: Reserved − −
Parameter Number
Setting parameters: 0 or higher
IW01 When Range Over is Yes Yes
Fixed Parameters: 1000 or higher
Generated
Bit 0: Excessive Deviation Yes
Bit 1: Set Parameter Error (Setting Parameter Error) Yes Yes
Bit 2: Fixed Parameter Error Yes Yes
Bit 3: Servo Driver Error Yes
Bit 4: Motion Command Set Error Yes Yes
Bit 5: Reserved (AD Conversion Error) − −
IL02 Warning
Bit 6: Positive Direction Overtravel Yes
Bit 7: Negative Direction Overtravel Yes
Bit 8: Servo ON Incomplete Yes
Bit 9: Servo Driver Communication Warning Yes
* Yes
Bit A : Servo Driver Stop Signal Input
Bits B to 1F: Reserved − −
Bit 0: Servo Driver Error Yes
Bit 1: Positive Direction Overtravel Yes
Bit 2: Negative Direction Overtravel Yes
Bit 3: Positive Direction Software Limit Yes
Bit 4: Negative Direction Software Limit Yes
Bit 5: Servo OFF Yes Yes
Bit 6: Positioning Time Over Yes
Bit 7: Excessive Positioning Moving Amount Yes
Bit 8: Excessive Speed Yes
Bit 9: Excessive Deviation Yes
Bit A: Filter Type Change Error Yes
Bit B: Filter Time Constant Change Error Yes
IL04 Alarm Bit C: Reserved − −
Bit D: Zero Point Unsetting
Yes
• Invalid for linear type.
Bit E: Reserved Yes
Bit F: Reserved Yes
Bit 10: Servo Driver Synchronization Communications Error Yes
Bit 11: Servo Driver Communication Error Yes
Bit 12: Servo Driver Command Time-out Error Yes
Bit 13: Excessive ABS Encoder Rotations
Yes
• Invalid for linear type.
Bits 14 to 1D: Reserved − −
Bit1E: Motor Type Set Error Yes −
Bit1F: Connected Encoder Type Error Yes −
IL06 − Reserved − −
Motion Command
IW08 Same as OW08 (Motion Command). Yes Yes
Response Code

A-44
 Appendix E Motion Parameter Details
E.3 Monitoring Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Bit 0: Command Execution Flag Yes Yes
Bit 1: Command Hold Completed Yes Yes
Bit 2: Reserved − −
Bit 3: Command Error Completed Status
Motion Command Yes Yes
IW09 (Command Error Occurrence)
Status
Bits 4 to 6: Reserved − −
Bit 7: Reset Absolute Encoder Completed Yes
Bit 8: Command Execution Completed Yes Yes
Bits 9 to F: Reserved − −
Subcommand Re-
IW0A Same as OW0A (Motion Subcommand). Yes Yes
sponse Code
Bit 0: Command Execution Flag Yes Yes
Bits 1, 2: Reserved − −
Bit 3: Command Error Completed Status
Yes Yes
IW0B Subcommand Status (Command Error Occurrence)
Bits 4 to 7: Reserved − −
Bit 8: Command Execution Completed Yes Yes
Bits 9 to F: Reserved − −
Bit 0: Distribution Completed Yes Yes
Bit 1: Positioning Completed Yes Yes
Bit 2: Latch Completed Yes
Bit 3: NEAR Position Yes Yes
Bit 4: Zero Point Position Yes Yes
Bit 5: Zero Point Return (Setting) Completed Yes Yes
Position Management Bit 6: During Machine Lock Yes
IW0C
Status
Bit 7: Reserved − −
Bit 8: ABS Rotary Pos. Load Complete (ABS System Infinite Length
Position Control Information Load Completed) Yes
• Invalid for linear type.
Bit 9: POSMAX Turn Preset Complete (TPRSE)
Yes Yes
• Invalid for linear type.
Bits A to F: Reserved − −
IW0D − Reserved − −
Target Position in
IL0E Machine Coordinate 1 = 1 reference unit Yes Yes
System (TPOS)
Calculated Position in
IL10 Machine Coordinate 1 = 1 reference unit Yes Yes
system (CPOS)
Machine Coordinate
IL12 System Reference 1 = 1 reference unit Yes Yes
Position (MPOS)
IL14 CPOS for 32 bit 1 = 1 reference unit Yes Yes
Machine Coordinate
IL16 System Feedback 1 = 1 reference unit Yes Yes
Position (APOS)
Machine Coordinate
IL18 System Latch Position 1 = 1 reference unit Yes
Appendices

(LPOS)
IL1A Position Error (PERR) 1 = 1 reference unit Yes
Target Position
IL1C 1 = 1 reference unit Yes
Difference Monitor
Number of POSMAX 1 = 1 turn
IL1E Yes Yes
Turns • Invalid for linear type.

A-45
 Appendix E Motion Parameter Details
E.3 Monitoring Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Speed Reference
IL20 pulse/s Yes
Output Monitor
IL22 to
− Reserved − −
IL2A
Bit 0: Alarm (ALM)
Bit 1: Warning (WARNG)
Bit 2: Command Ready (CMDRDY)
Bit 3: Servo ON (SVON)
Bit 4: Main Power Supply ON (PON)
Bit 5: Machine Lock (MLOCK)
Bit 6: Zero Position (ZPOINT)
Yes
IW2C Servo Driver Status Bit 7: Locating Completed (Positioning Completed)(PSET)
Bit 8: Command Profile Complete (Distribution Completed) (DEN)
Bit 9: Torque Restriction (T_LIM)
Bit A: Latch Complete (L_CMP)
Bit B: Locating Neighborhood (NEAR Position) (NEAR)
Bit C: Positive Software Limit (P_SOT)
Bit D: Negative Software Limit (N_SOT)
Bits E to F: Reserved − −
Servo Driver Alarm
IW2D Stores the alarm code from the SERVOPACK. Yes
Code
Bit 0: Forward Side Limit Switch Input
Bit 1: Reverse Side Limit Switch Input
Bit 2: Deceleration Dog Switch Input
Bit 3: Encoder Phase-A Signal Input
Bit 4: Encoder Phase-B Signal Input
Bit 5: Encoder Phase-C Signal Input
Bit 6: EXT1 Signal Input
Servo Driver I/O Moni- Bit 7: EXT2 Signal Input
IW2E Yes
tor Bit 8: EXT3 Signal Input
Bit 9: Brake State Output
Bit A*: Stop Signal (HWBB)
Bit B: Reserved
Bit C: CN1 Input Signal (IO12)
Bit D: CN1 Input Signal (IO13)
Bit E: CN1 Input Signal (IO14)
Bit F: CN1 Input Signal (IO15)
Bits 0 to 3: Monitor 1
Servo Driver User Bits 4 to 7: Monitor 2
IW2F Yes
Monitor Information Bits 8 to B: Monitor 3
Bits C to F: Monitor 4
Servo Driver User
IL30 Stores the result of the selected monitor. Yes
Monitor 2
Servo Driver User
IL32 Reserved − −
Monitor 3
Servo Driver User
IL34 Stores the result of the selected monitor. Yes
Monitor 4
Servo Driver User
Constant No.
(SERVOPACK Pa-
IW36 Stores the number of the parameter being processed. Yes
rameter No. for
MECHATROLINK
Command Area)
Supplementary Servo
Driver User Constant
No. (SERVOPACK
IW37 Stores the number of the parameter being processed. Yes
Parameter No. for
MECHATROLINK
Subcommand Area)

A-46
 Appendix E Motion Parameter Details
E.3 Monitoring Parameter List

(cont’d)
Register No. Name Contents SVB SVR
Servo Driver User
Constant Reading
Data (SERVOPACK
IL38 Parameter Reading Stores the data of the parameter being read. Yes
Data for
MECHATROLINK
Command Area)
Supplementary Servo
Driver User Constant
Reading Data
(SERVOPACK
IL3A Stores the data of the parameter being read. Yes
Parameter Reading
Data for
MECHATROLINK
Subcommand Area)
Stores the type of motor actually connected.
IW3F Motor Type 0: Rotation type motor Yes
1: Linear motor
IL40 Feedback Speed Unit is according to OW03, bits 0 to 3 (Speed Unit). Yes Yes
Feedback
IL42 Unit is according to OW03, bits 12 to 15 (Torque Unit). Yes Yes
torque/thrust
IW44 to
− Reserved − −
IW55
Fixed Parameter Stores the data of the fixed parameter when FIXPRM-RD has been
IL56 Yes Yes
Monitor specified in the Motion Subcommand.
IW58 to
− Reserved − −
IW5C
Encoder Position
IL5E When the Power is 1 = 1 pulse Yes
OFF (Lower 2 Words)
Encoder Position
IL60 When the Power is 1 = 1 pulse Yes
OFF (Upper 2 Words)
Pulse Position When
IL62 the Power is OFF 1 = 1 pulse Yes
(Lower 2 Words)
Pulse Position when
IL64 the Power is OFF 1 = 1 pulse Yes
(Upper 2 Words)
IW66 to
− Reserved − −
IW6F
Response Buffer for
IW70 to Stores the response data when MECHATROLINK Servo commands
Transparent Yes
IW7F are specified directly.
Command Mode

* Valid only when using an MP2300SCPU ver 2.61 or later and Σ-V series servo drive.
Appendices

A-47
 Appendix F Simple Connection Function of the Engineering Tool
F.1 Preparation

Appendix F Simple Connection Function of the Engineering Tool

This section explains how to set up a communication process connecting the MPE720 and MP2300S.
In MPE720 Ver.6, set the communication process on the MPE720 screen.
Prepare the following equipment to carry out this procedure:

F.1 Preparation

( 1 ) Controller

Product Name Model Q'ty

MP2300S JEPMC-MP2300S-E 1

( 2 ) Personal Computer

Product Name Model Q'ty

MPE720 CPMC-MPE770 (Ver.6.04 or later) 1
Ethernet Communication Any Commercial product
1
Cable Ethernet cross cable (category 5 or more)
Personal Computer Main Unit Any Commercial product 1

( 3 ) Necessary Others

Name Specification Q'ty

24-VDC Power Supply Current capacity 2 A or more 1

F.2 Procedure
1. Turn OFF the MP2300S 24-VDC power supply.

2. Wire MPE720 and MP2300S.

Machine controller
MP2300S
;#5-#9# 4&; 470
#./ '44
/6: $#6
64: +2

5612
572
Optional module

+06 59
%0() 
/10
6'56
01

59
' +0+6 
'6'56
01
$#66'4;

M-I/II

4.;
176 'VJGTPGV
.+0-

&%
Ethernet communication cable
24-VDC 8
&%
0V

Power supply /

㪧㪦㪮㪜㪩

Personal computer
with MPE720

A-48
 Appendix F Simple Connection Function of the Engineering Tool
F.2 Procedure

3. Turn ON E-INIT of DIP switch (SW2) in the MP2300S main unit.

4
3
E-INIT 2
E-TEST 1

OFF ON

4. Turn ON the 24-VDC power supply of the MP2300S, and confirm that the RDY, RUN, and IP LEDs are
lit on the MP2300S main unit.
When the IP LED is lit, you can confirm that the MP2300S side has successfully retrieved an IP
address.
RDY RUN RDY RUN
ALM ERR ALM ERR
MTX BAT MTX BAT
TRX IP TRX IP

:Lit :Unlit

5. Double-click the icon on the personal computer desktop to start up MPE720 Ver6.

6. Create a new PLC folder.

7. Click Communications Setting.

Appendices

A-49
 Appendix F Simple Connection Function of the Engineering Tool
F.2 Procedure

8. Select Ethernet (LP) (IP:192.168.1.2) as the communication port.

Personal computer IP address

Note: You can check in advance the personal computer IP address in the control panel.

 Difference between Ethernet (LP) and Ethernet

The LP of Ethernet (LP) is short for “Long packet.” Compared with Ethernet, Ethernet (LP) transmits and receives larger pack-
ets at one time, resulting in high-speed data transfer. Available communication ports may differ depending on the module of the
connected controller. Select the communication port according to the table below.

Module of the Connected Communication Port to Be

Name
Controller Side Selected in MPE720
218IF-01 218IF Ethernet
218IF-02 218IFB
Ethernet (LP)
MP2300S Built-in Ethernet 218IFA

 When there are multiple LAN ports on the personal computer

If there are multiple LAN ports on the personal computer, multiple IP addresses will be shown in the communication port.
Select the IP address of the LAN port to which the cable is connected.
 Controller search function
When Ethernet is selected in the communication port, the controller search function will be unavailable.

9. Click the Search Button.

A controller search list will appear.

A-50
 Appendix F Simple Connection Function of the Engineering Tool
F.2 Procedure

10. Select the found controller and click the Connection Button.

Personal computer IP address

MPE720 connects to the controller.

Appendices

A-51
 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

Appendix G MSG-SND/MSG-RCV Functions (Ethernet)

G.1 Message Transmit Function (MSG-SND)
This section explains the message transmit function (MSG-SND) used in a ladder program when transmitting mes-
sages.

G.1.1 Specification Overview of the Message Transmit Function

Function Name MSG-SND
Transmits messages to a remote station on the circuit specified by the communication device type.
Function Supports multiple protocols.
Keep the execution command (Execute) until Complete or Error turns ON.

MSGSND
Execute Busy
Abort Complete
Function Defi- Dev-Typ Error
nition
Pro-Typ
Cir-No
Ch-No
Param

I/O Definition No. Name I/O Option*1 Contents

1 Execute B-VAL Executes a transmission
2 Abort B-VAL Forcibly ends a transmission
Communication device type
3 Dev-Typ I-REG
Ethernet (218IF) = 6, Ethernet (218IFA, 218IFB, 218IFC) = 16
Communication protocol
4 Pro-Typ I-REG MEMOBUS*2 = 1, non-procedure 1*3 = 2,
Input Item non-procedure 2*3 = 3
Circuit number
5 Cir-No I-REG
Ethernet (218IF) = 1 to 8, Ethernet (218IFA) = 1 to 8
Communication buffer channel number
6 Ch-No I-REG
Ethernet (218IF) = 1 to 10, Ethernet (218IFA) = 1 to 4
Parameter list start address
7 Param Address input
(MA, DA)
1 Busy B-VAL In process
Output Item 2 Complete B-VAL Process completed
3 Error B-VAL Error has occurred
* 1. The meanings of I/O options are as follows:
 B-VAL: Specify I/O by bit type data.
 I-REG: Specify I/O by integer type data. When specifying, set an integer type register number.
As for the input only, it can be a constant (literal).
 Address input: The address of the specified register (any integer register) is passed to the function.
* 2. When transmitting in MEMOBUS, Extended MEMOBUS, MELSEC, OMRON, or MODBUS/TCP protocol, set the
communication protocol (Pro-Typ) to MEMOBUS(=1). The communication device automatically converts the proto-
col.
* 3. Non-procedure 1: In non-procedural communication, data is transmitted on a per-word basis.
Non-procedure 2: In non-procedural communication, data is transmitted on a per-byte basis.

A-52
 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

G.1.2 I/O Item Details of the Message Transmit Function

( 1 ) Input Item
The following table shows registers available for each input item.

Input Item I/O Option Available Register

Every bit type register
Execute
B-VAL (except #, C registers),
Abort
Same as above with subscript
Dev-typ
Every integer type register,
Pro-Typ
I-REG Same as above with subscript,
Cir-No
Constant
Ch-No
Register address
Param Address input (except #, C registers),
Same as above with subscript

1. Execute (executes a transmission)

Specifies a bit to command execution of a message transmission.
When the Execute bit turns ON, message transmission is implemented. To execute the process, a ladder program
or the like needs to be used to switch it ON/OFF.
Note: Keep Execute (executes a transmission) ON until Complete (process completed) or Error (error
occurred) is turned ON. When the command turns ON, the message transmission is implemented.
To continuously command the transmit execution, make sure to turn Execute (executes a trans-
mission) OFF for one scan or more.

2. Abort (forcibly ends a transmission)

Specify a bit to command a forced terminated of a message transmission.
When the Abort bit turns ON, the message transmission is forcibly terminated. Abort takes precedence over Exe-
cute.
In order to execute the forced abort, a ladder program or the like needs to be used to switch it ON/OFF.

3. Dev-Typ (communication device type)

Specify the type code of the communication device (refer to the table below).

Communication Device Type Code

Ethernet (218IF) 6
Ethernet (218IFA) 16

4. Pro-Typ (communication protocol)

Specify the type code of the communication device (refer to the table below).

Type Code Communication Protocol Remarks

Set the type code to “1” when also transmitting using Extended MEMO-
1 MEMOBUS BUS, MELSEC, or MODBUS/TCP protocol.
The communication device automatically converts the protocol.
Non-procedure 1 Data is transmitted on a per-word basis in non-procedural communica-
2
(per word) tion. No response is received from the remote.
Non-procedure 2 Data is transmitted on a per-byte basis in the non-procedural communi-
3
(per byte) cation. No response is received from the remote.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

5. Cir-No (line number)

Specify a circuit number for the communication device.
Specify it in accordance with the circuit number displayed in the MPE720 Module Configuration Definition
Window.

Circuit number

Fig. G.1 MPE720 Module Configuration Definition Window

The following table shows the scope of circuit numbers.

Communication Device Valid Circuit Number

Ethernet (218IF or 218IFA) 1 to 8

6. Ch-No (communication buffer channel number)

Specify the channel of the communication buffer.
It can be any channel in the scope. However, when starting up multiple functions at the same time, set a unique
channel for each function. If you do not start up multiple functions at the same time, the channel numbers can
duplicate each other.
The following table shows the scope of channel numbers.

Communication Device Valid Channel Number

Ethernet (218IF) 1 to 10
Ethernet (218IFA) 1 to 4

When the communication device is Ethernet (218IFA), because the communication buffer common to the trans-
mission and reception has four channels, four transmissions (or receptions) are available at the same time by
using channels 1 to 4.
Note: 1. As many MSG-SND (or MSG-RCV) functions as lines used at the same time are required.
2. For information on communication buffer channels, refer to G.3 Communication Buffer Channel.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

7. Param (parameter list start address)

Specify the start address of the parameter list. For the “parameter list,” 17 words are automatically assigned from
the configured address. In the parameter list, enter the function code and its relevant parameter data. Also, pro-
cess result and status are output.
Note: For more information about the parameter list, refer to the parameter details for each protocol from
G.1.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols
to G.1.7 Function Setting and Parameter Details for Non-procedural Protocol.

Example: When “DA00000” is specified as a parameter list start address.

Parameter list
Register F 0
DW00000 PARAM00
DW00001 PARAM01
DW00002 PARAM02
DW00003 PARAM03
DW00004 PARAM04
DW00005 PARAM05
DW00006 PARAM06
DW00007 PARAM07
DW00008 PARAM08
DW00009 PARAM09
DW00010 PARAM10
DW00011 PARAM11
DW00012 PARAM12
DW00013 PARAM13
DW00014 PARAM14
DW00015 PARAM15
DW00016 PARAM16

( 2 ) Output Item
The following table shows the registers available for each output item.

Input Item I/O Option Available Register

Busy Every bit type register
Complete B-VAL (except #, C registers),
Error Same as above with subscript

1. Busy (in process)

Specify a bit that reports a message is transmitting.
The Busy bit is ON while executing a message transmission or forced abort process.
Keep Execute or Abort ON while Busy is ON.

2. Complete (process completed)

Specify a bit that reports that message transmission has ended.
Appendices

When a message transmission or forced abort process is completed properly, the Complete bit will turn ON only
for one scan.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

3. Error (error occurred)

Specify a bit that reports that an error has occurred in the message transmission.
When an error occurs, the Error bit will turn ON only for one scan.
Note: For more information about the error cause, refer to G.1.4 ( 2 ) Process Result (PARAM00) and
G.1.4 ( 3 ) Status (PARAM00).

A timing chart of bit type I/O items in the MSG-SND function is as follows:
[In Normal Condition]
To continuously command the transmit
execution, turn Execute OFF for one scan
or more after the process completion.
<IN> Execute (executes a transmission)

<IN> Abort (forcibly ends a transmission)

<OUT> Busy (in process)

<OUT> Complete (process completed)

One scan
<OUT> Error (error occurred)

[When Forcibly Aborted]

To continuously command the transmit
execution, turn Execute OFF for a scan
or more after the process completion.
<IN> Execute (executes a transmission)

<IN> Abort (forcibly ends a transmission)

<OUT> Busy (in process)

<OUT> Complete (process completed)

One scan
<OUT> Error (error occurred)

[When Error Occurs]

To continuously command the transmit
execution, turn Execute OFF for a scan
or more after the process completion.
<IN> Execute (executes a transmission)

<IN> Abort (forcibly ends a transmission)

<OUT> Busy (in process)

<OUT> Complete (process completed)

<OUT> Error (error occurred)

One scan t

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

G.1.3 Message Transmit Function Parameter List (Param) Overview

The param of the MSG-SND function has a parameter list structure composed of 17 words. (The value of the Param
itself is the start address (MA, DA) of the parameter list.)
In the parameter list, enter a connection number, function code and its relevant parameter data. Process results and sta-
tus are also output.
When MEMOBUS or non-procedure is used as a communication protocol, the parameter list is as follows:
Note: Parameter details are explained in the parameter details for each protocol type. Refer to the following
items:
• G.1.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols
• G.1.5 Function Setting and Parameter Details for MELSEC Protocol
• G.1.6 Function Setting and Parameter Details for MODBUS/TCP Protocol
• G.1.7 Function Setting and Parameter Details for Non-procedural Protocol

( 1 ) MEMOBUS Parameter List

Param No. IN/OUT Contents Description
00 OUT Process result Process result is output.
01 OUT Status The status of the communication device is output.
02 IN Connection number Specifies the remote destination.
03 IN Option Sets a unique setting for each communication device.
04 IN Function code Sets a function code to transmit.
05 IN Data address Specifies the start address of the data.
06 IN Data size Sets the data size for a read/write request.
07 IN Remote CPU number Sets a remote CPU number.
08 IN Coil offset Sets the coil's offset word address.
09 IN Input relay offset Sets the offset word address of an input relay.
10 IN Input register offset Sets the offset word address of an input register.
11 IN Holding register offset Sets the offset word address of a holding register.
12 SYS Reserved 1 −
13 to 16 SYS Reserved 2 −
Note: IN: Input, OUT: Output, SYS: For system use

( 2 ) Non-procedual Parameter List

Param No. IN/OUT Contents Description
00 OUT Process result Process result is output.
01 OUT Status The status of the communication device is output.
02 IN Connection number Specifies the remote destination.
03 IN (unused) −
04 IN (unused) −
05 IN Data address Specifies the start address of the data.
06 IN Data size Sets the data size for a write request.
07 IN (unused) −
08 IN (unused) −
09 IN (unused) −
10 IN (unused) −
11 IN Register offset Sets the offset word address of the register.
12 SYS Reserved 1 −
Appendices

13 to 16 SYS Reserved 2 −
Note: IN: Input, OUT: Output, SYS: For system use

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

G.1.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMO-
BUS Protocols
This section explains the MSG-SND function setting and its parameter list details when MEMOBUS or Extended
MEMOBUS is used as a protocol type.

( 1 ) Message Transmit Function Setting

( a ) 218IFA Setting Example
An example of a function setting when 218IFA is used as a communication device follows:
Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol.
Set the circuit number in accordance with the line number allocated to the target 218IFA.
Set a unique communication buffer channel for the same circuit.
For information on the register number, refer to G.1.2 ( 1 ) Input Item and G.1.2 ( 2 ) Output Item.

MSG-SND
Communication device = 218IFA
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00016 Error DB000212
Circuit number = 1 Pro-Typ 00001

Cir-No 00001
Communication buffer channel = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000 to DW00016)

( b ) 218IF Setting Example

An example of a function setting when 218IF is used as a communication device follows:
Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol.
Set the circuit number in accordance with the line number allocated to the target 218IF.
Set a unique communication buffer channel for the same circuit.
For information on the register number, refer to G.1.2 ( 1 ) Input Item and G.1.2 ( 2 ) Output Item.

MSG-SND
Communication device = 218IF
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00006 Error DB000212
Circuit number = 1 Pro-Typ 00001

Cir-No 00001
Communication Buffer Channel = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000 to DW00016)

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 2 ) Process Result (PARAM00)

Process result is output to the upper byte. Lower byte is used for system analysis.

Value of Process
Meaning
Result
00H In process (Busy)
10H Process completed (Complete)
8yH Error occurred (Error)

When an error occurs, take corrective action by referring to the following error contents:

Value of
Error Contents Description
Process Result
80H – Reserved
Unused function code was transmitted or received.
81H Function code error
Check PARAM04 (function code).
The following setting is out of the setting range. Check the setting.
PARAM05 (data address)
PARAM08 (coil offset)
82H Error in setting address
PARAM09 (input relay offset)
PARAM10 (input register offset)
PARAM11 (holding register offset)
The transmit or receive data size is out of the setting range.
83H Data size error
Check PARAM04 (data size).
The circuit number is out of the setting range.
84H Error in setting circuit number
Check Cir-No (circuit number) of the MSG-SND function.
The communication buffer channel number is out of the setting range.
85H Error in setting channel number Check Ch-No (communication buffer channel number) of the MSG-SND
function.
The connection number is out of the setting range.
86H Connection number error
Check PARAM02 (connection number).
87H – Reserved
An error response was returned from the communication section (commu-
88H Communication section error nication device). Check the equipment connection.
In addition, confirm communication with the remote device.
Unavailable device is set.
89H Device select error
Check Dev-Typ (communication device type) of the MSG-SND function.

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 3 ) Status (PARAM00)
Outputs status of the communication section (communication device).
The following figure shows the bit assignment and the bit assignment details is listed in the table (a) and after.
F E D C B A 9 8 7 6 5 4 3 2 1 0

Bits 0 to 7
(d) PARAMETER
Bits 8 to B
(c) COMMAND

Bits C to E
(b) RESULT

Bit F
(a) REQUEST

( a ) REQUEST (request)
Outputs whether the MSG-SND function is requesting processing.

Bit State Description

1 Requesting processing.
0 The acceptance of the process request is complete.

( b ) RESULT (result)
Outputs the execution result of the MSG-SND function

Code Abbreviation Meaning

0 CONN_NG In Ethernet communication, transmit error or connection error is complete
1 SEND_OK Normal transmission complete
2 REC_OK Normal reception complete
3 ABORT_OK Forced abort complete
4 FMT_NG Parameter format error
5 SEQ_NG Command sequence error
6 RESET_NG Reset state
7 REC_NG Data reception error (error detected in the lower layer program)

( c ) COMMAND (command)
Outputs a process command for the MSG-SND function. The executed process contents may differ depending on the
command.

Code Abbreviation Meaning

1 U_SEND General-purpose message transmission (for non-procedural protocol)
2 U_REC General-purpose message reception (for non-procedural protocol)
3 ABORT Forced termination
8 M_SEND MEMOBUS command transmission: Completed when response is received
9 M_REC MEMOBUS command reception: Accompanies a response transmission
C MR_SEND MEMOBUS response transmission

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( d ) PARAMETER (parameter)
When RESULT(process result) = 4 (FMT_NG: parameter format error), an error code in the table below is output.
Otherwise, the connection number is output.

RESULT (process result) Code (Hex) Meaning

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

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 4 ) Connection Number (PARAM02)

Specify the remote destination.
When the communication device is Ethernet (218IF or 218IFA), set the connection number.
The following table shows the range of settings.

Connection
Communication Device Remarks
Number
Ethernet (218IF) 1 to 20 Transmits to the remote station set for the specified connection number.
Ethernet (218IFA) 1 to 4 Same as above

Note: When the communication device is Ethernet (218IF or 218IFA), set the connection number in accor-
dance with the connection number in the 218IF or 218IFA Parameter Setting Window for the MPE720
module configuration definition.

Fig. G.2 218IFA Parameter Setting Screen for the MPE720 Module Configuration Definition

Fig. G.3 218IF Parameter Setting Screen for the MPE720 Module Configuration Definition

( 5 ) Option (PARAM03)
Choose a unique setting for each communication device.
When the protocol is MEMOBUS or Extended MEMOBUS, this is not used, and no setting is necessary.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 6 ) Function Code (PARAM04)

Set a function code to transmit.
The functions (read coil or input relay state, write to holding register, etc.) registered in the function codes are made
available by specifying the code.
The following table shows the function codes available when using a MEMOBUS or Extended MEMOBUS protocol.

Table G.1 Function Code List (MEMOBUS, Extended MEMOBUS)

Protocol Type
Target
Function Code Function Extended
Data Type MEMOBUS
MEMOBUS
00H – Unused – –
01H B Reads coil state √ √
02H B Reads input relay state √ √
03H W Reads holding register content √ √
04H W Reads input register content √ √
05H B Changes single coil state √ √
06H W Writes to single holding register √ √
07H – Unused – –
08H – Loopback test √ √
09H W Reads holding register content (extended) √ –
0AH W Reads input register content (extended) √ –
0BH W Writes to holding register (extended) √ –
0CH – Unused – –
Discontinuously reads holding register
0DH W √ –
(extended)
Discontinuously writes to holding register
0EH W √ –
(extended)
0FH B Changes multiple coil states √ √
10H W Writes to multiple holding registers √ √

Note: 1. B: Bit type, W: Integer type

2. √: Available, –: Not available
3. Transmit and receive registers in the master operation mode are MW (MB) only.
4. In slave operation mode, the coil, holding register, input relay, and input register are MB, MW, IB, IW
respectively.

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 7 ) Data Address (PARAM05)

Specify the start address of the data.
The address must be input in decimal or hexadecimal numbers.
Example: When the start address is MW01000, specify “1000 (decimal)” or “3E8H (hexadecimal).”
The range of data addresses may differ, depending on the function code.
The following table shows the valid ranges of data addresses when using a MEMOBUS or Extended MEMOBUS pro-
tocol.
Table G.2 Valid Range of Data Addresses (MEMOBUS, Extended MEMOBUS)

Function Target Valid Range of Data Addresses

Function
Code Data Type Ethernet (218IF) Ethernet (218IFA)
00H – Unused Disable
01H B Reads coil state*1 0 to 65535 (0 to FFFFH)
02H B Reads input relay state*1 0 to 65535 (0 to FFFFH)
03H W Reads holding register content *2 0 to 65534 (0 to FFFEH)
0 to 32767 0 to 65535
04H W Reads input register content*2 (0 to 7FFFH) (0 to FFFFH)
05H B Changes single coil state*1 0 to 65535 (0 to FFFFH)
06H W Writes to single holding register*2 0 to 65534 (0 to FFFEH)
07H – Unused Disable
08H – Loopback test Disable
09H W Reads holding register content (extended)*2 0 to 65534 (0 to FFFEH)
0 to 32767 0 to 65535
0AH W Reads input register content (extended)*2 (0 to 7FFFH) (0 to FFFFH)
0BH W Writes to holding register (extended)*2 0 to 65534 (0 to FFFEH)
0CH – Unused Disable
0DH W Discontinuously reads holding register (extended)*3 0 to 65534 (0 to FFFEH)
Discontinuously writes to holding register
0EH W 0 to 65534 (0 to FFFEH)
(extended)*3
0FH B Changes multiple coil states*1 0 to 65535 (0 to FFFFH)
10H W Writes to multiple holding registers *2 0 to 65534 (0 to FFFEH)

* 1. Request for reading/writing coil or input relay: Specifies the start bit address of data
* 2. Request for continuously reading/writing register: Specifies the start word address of data
* 3. Request for discontinuously reading/writing register: Specifies the start M register number of the address table
Note: Address Table
An address table is used for specifying addresses indirectly in order to indicate discontinuous data. The
PARAM06 (data size) sizes of addresses at the beginning of the M register set by PARAM05 (data
address) are used as an address table.
When reading, specify the remote station's address to read for the data addresses 1-n. Read values are
stored locally according to the data addresses 1-n.
When writing, data stored in the local data addresses 1-n is picked up and written into the remote sta-
tion’s data addresses 1-n.
The address table used when discontinuously reading/writing registers is as follows:

Address table
PARAM05 MW Data address 1
MW+1 Data address 2
:
MW+(n-1) Data address n n: Data size (PARAM06)

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 8 ) Data Size (PARAM06)

Set the data size (number of bits or words) for the read/write request.
Be sure that the last data address determined based on the offset, data address, and data size does not go beyond the
scope of the data addresses.
The range of data addresses may differ, depending on the function code and communication device.
The following table shows the valid ranges of data sizes when using a MEMOBUS or Extended MEMOBUS protocol.

Table G.3 Valid Range of Data Sizes (MEMOBUS, Extended MEMOBUS)

Target Valid Range of Data Sizes

Function Code Function
Data Type Ethernet(218IF) Ethernet(218IFA)
00H – Unused Disable
01H B Reads coil state*1 1 to 2000
02H B Reads input relay state*1 1 to 2000
03H W Reads holding register content *2 1 to125
04H W Reads input register content*2 1 to 125
05H B Changes single coil state Disable
06H W Writes to single holding register Disable
07H – Unused Disable
08H – Loopback test Disable
1 to 2044 (BIN)
09H W Reads holding register content (extended)*2 1 to 508
1 to 1020 (ASCII)
1 to 2044 (BIN)
0AH W Reads input register content (extended)*2 1 to 508
1 to 1020 (ASCII)
1 to 2043 (BIN)
0BH W Writes to holding register (extended)*2 1 to 507
1 to 1019 (ASCII)
0CH – Unused Disable
Discontinuously reads holding register 1 to 2044 (BIN)
0DH W 1 to 508
(extended)*2 1 to 1020 (ASCII)
Discontinuously writes to holding register 1 to 1022 (BIN)
0EH W 1 to 254
(extended)*2 1 to 510 (ASCII)
0FH B Changes multiple coil states*1 1 to 800
10H W Writes to multiple holding registers*2 1 to 100

* 1. Specifies the number of bits

* 2. Specifies the number of words
Note: Data size in the table is represented as a decimal number.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 9 ) Remote CPU Number (PARAM07)

Set a remote CPU number.
When the remote device is MP2000 series, specify “1”.
When the remote device is a controller manufactured by YASKAWA Electric Corporation, but other than the MP2000
series, and comprises multiple CPU modules, specify the destination CPU number.
Otherwise, specify “0”.

( 10 ) Offset (PARAM08 to PARAM11)

Specify the offset addresses of read data storage areas and write data source of the transmission side.
The address for the transmission side will be displaced by the number of words designated by the offset.
Note: 1. For more information, refer to G.1.8 Relationship between Data Address, Data Size, and Offset for
MSG-SND Function.
2. The offset cannot be a negative value.

The offset parameter is prepared for each target data type.

The following table lists the offset parameters.

Table G.4 Offset Parameter List

Parameter Content Description
PARAM08 Coil offset Sets the coil's offset word address.
PARAM09 Input relay offset Sets the offset word address of an input relay.
PARAM10 Input register offset Sets the offset word address of an input register.
PARAM11 Holding register offset Sets the offset word address of a holding register.

The valid offset parameter may differ, depending on the function code.
The following table provides the valid parameters for each function code.

Table G.5 Valid Parameter List for Offset of Each Function Code
Protocol Type
Function Valid Offset
Function Extended
Code Parameter MEMOBUS
MEMOBUS
01H Reads coil state PARAM08 √ √
02H Reads input relay state PARAM09 √ √
03H Reads holding register content PARAM11 √ √
04H Reads input register content PARAM10 √ √
05H Changes single coil state PARAM08 √ √
06H Writes to single holding register PARAM11 √ √
09H Reads holding register content (extended) PARAM11 √ –
0AH Reads input register content (extended) PARAM10 √ –
0BH Writes to holding register (extended) PARAM11 √ –
Discontinuously reads holding register
0DH PARAM11 √ –
(extended)
Discontinuously writes to holding register
0EH PARAM11 √ –
(extended)
0FH Changes multiple coil states PARAM08 √ √
10H Writes to multiple holding registers PARAM11 √ √

Note: √: Available, –: Not available

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( 11 ) Reserved by System 1 (PARAM12)

Used by system (the channel number of the communication buffer in use is stored).
Note: Before the first scan during power up, make sure to set it to “0” by using a user program.
After that, the register is used by the system, so never change the value with the user program.

( 12 ) Reserved by System 2 (PARAM13 to PARAM16)

Used by the system. Never change the value with the user program, etc.

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

G.1.5 Function Setting and Parameter Details for MELSEC Protocol

This section explains MSG-SND function setting and its parameter list details when MELSEC is used as a protocol.

( 1 ) Message Transmit Function Setting

( a ) 218IFA Setting Example
An example of a function setting when 218IFA is used as a communication device follows:
Set the protocol type to MEMOBUS when used in MELSEC protocol.
Set the circuit number in accordance with the circuit number allocated to the target 218IFA.
Set a unique communication buffer channel for the same circuit.
For information on the register number, refer to G.1.2 ( 1 ) Input Item and G.1.2 ( 2 ) Output Item.

MSG-SND
Communication device = 218IFA
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00016 Error DB000212
Circuit number = 1 Pro-Typ 00001
Cir-No 00001
Communication buffer channel = 1
Ch-No 00001
Parameter list start address Param DA00000
(use DW00000 to DW00016)

( b ) 218IF Setting Example

An example of a function setting when 218IF is used as a communication device follows:
Set the protocol type to MEMOBUS when used in MELSEC protocol.
Set the circuit number in accordance with the circuit number allocated to the target 218IF.
Set a unique communication buffer channel for the same circuit.
For information on the register number, refer to G.1.2 ( 1 ) Input Item and G.1.2 ( 2 ) Output Item.

MSG-SND
Communication device = 218IF
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00006 Error DB000212
Circuit number = 1 Pro-Typ 00001

Cir-No 00001
Communication buffer channel = 1
Ch-No 00001
Parameter list start address Param DA00000
(use DW00000 to DW00016)

( 2 ) Process Result (PARAM00)

Refer to G.1.4 ( 2 ) Process Result (PARAM00).

( 3 ) Status (PARAM01)
Refer to G.1.4 ( 3 ) Status (PARAM00).

( 4 ) Connection Number (PARAM02)

Refer to G.1.4 ( 4 ) Connection Number (PARAM02).

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( 5 ) Option (PARAM03)
Choose a unique setting for each communication device.
This is not used by the MELSEC protocol, and does not require setting when MELSEC is used.

( 6 ) Function Code (PARAM04)

Set a function code to transmit.
The functions (read bit/word device, write to word device, etc.) registered in the function codes are made available by
specifying the code.
The following table lists function codes used with the MELSEC protocol.

Table G.6 Function Code List

MELSEC ACPU Target Data

Function Code Function
Common Command Type
01H/02H 00H B Reads bit device in units
03H/04H/09H/0AH 01H W Reads word device in units
05H/0FH 02H B Writes to bit device in units
06H/0BH/10H 03H W Writes to word device in units
08H 16H – Loopback test
Specifies a device number for each word device at random
0EH 05H B
and sets/resets each device
31H 60H W Writes to the fixed buffer in words
32H 61H W Reads from the random access buffer in words
33H 62H W Writes to the random access buffer in words

Note: 1. B: Bit type, W: Integer type

2. AnCPU dedicated commands are not supported. When accessing AnCPU, also use the ACPU com-
mon commands. You cannot access the AnCPU extended file register.

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 7 ) Data Address (PARAM05)

Specify the start address of the data.
The address must be input in decimal or hexadecimal numbers.
Example: When the start address is MW01000, specify “1000 (decimal)” or “3E8H (hexadecimal).”
The valid range of usable function codes and data addresses may differ, depending on the device type and device range
of the MELSEC side.
The following table gives the valid ranges of data addresses when using MELSEC as a protocol.

Table G.7 Valid Range of Data Addresses (MELSEC bit device)

Device Range of Decimal/
Valid Range of Corresponding Register
Device ACPU Common Hexa- Function Code
Data Addresses Number
Commands decimal
X X0000 to X07FF Hexadecimal 02H: Input relay 0 to 2047 MB000000 to MB00127F
Y Y0000 to Y07FF Hexadecimal 01H/0FH: Coil 0 to 2047 MB000000 to MB00127F
M M0000 to M2047 Decimal 01H/05H/0FH: Coil 2048 to 4095 MB001280 to MB00255F
M M9000 to M9255 Decimal 01H/05H/0FH: Coil 4096 to 4351 MB002560 to MB00271F
B B0000 to B03FF Hexadecimal 01H/05H/0FH: Coil 4352 to 5375 MB002720 to MB00335F
F F0000 to F0255 Decimal 01H/05H/0FH: Coil 5376 to 631 MB003360 to MB00351F
TS TS000 to TS255 Decimal 02H: Input relay 2048 to 2303 MB001280 to MB00143F
TC TC000 to TC255 Decimal 02H: Input relay 2304 to 2559 MB001440 to MB00159F
CS CS000 to CS255 Decimal 02H: Input relay 2560 to 2815 MB001660 to MB00175F
CC CC000 to CC255 Decimal 02H: Input relay 2816 to 3071 MB001760 to MB00191F
M M2048 to M8191 Decimal 01H/05H/0FH: Coil 8192 to 14335 MB005120 to MB00895F

Table G.8 Valid Range of Data Addresses (MELSEC word device)

Device Range of Decimal/
Valid Range of Corresponding Register
Device ACPU Common Hexa- Function Code
Data Addresses Number
Commands decimal
04H/0AH:
TN TN000 to TN255 Decimal 0 to 255 MW00000 to MW0255
Input register
04H/0AH:
CN CN000 to CN255 Decimal 256 to 511 MW00256 to MW00511
Input register
03H/06H/09H/0BH/
D D0000 to D1023 Decimal 0EH/10H: 0 to 1023 MW00000 to MW01023
Holding register
03H/06H/09H/0BH/
D
D9000 to D9255 Decimal 0EH/10H: 1024 to 1279 MW01024 to MW01279
(special)
Holding register
03H/06H/09H/0BH/
W W0000 to W03FF Hexadecimal 0EH/10H: 1280 to 2303 MW01280 to MW02303
Holding register
03H/06H/09H/0BH/
R R0000 to R8191 Decimal 0EH/10H: 2304 to 10495 MW02304 to MW10495
Holding register
03H/06H/09H/0BH/
D D1024 to D6143 Decimal 0EH/10H: 10496 to 15615 MW10496 to MW15615
Holding register

Note: 1. The device range may differ according to the MELSEC sequencer even within the device range. For
more information, refer to the MELSEC manual.
2. The register number corresponding to MP2000 can be adjusted by the offset setting of the MSG-SND
function.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 8 ) Data Size (PARAM06)

Set the data size (number of bits or words) for the read/write request.
Be sure that the last data address determined based on the offset, data address, and data size does not go beyond the
scope of the data addresses.
The range of data addresses may differ, depending on the function code and communication device.
The following table gives the valid ranges of data sizes when using MELSEC as a protocol.

Table G.9 Valid Range of Data Sizes

MELSEC Valid Range of Data Sizes
ACPU
Function Code Function
Common Ethernet(218IF) Ethernet(218IFA)
Command
01H/02H 00H Reads bit device in units 1 to 256 units
03H/04H/
01H Reads word device in units 1 to 256 units
09H/0AH
05H/0FH 02H Writes to bit device in units 1 to 256 units
06H/0BH/
03H Writes to word device in units 1 to 256 units
10H
08H 16H Loopback test –
Specifies a device number for each word device at
0EH 05H 1 to 40 units
random and sets/resets each word device
31H 60H Writes to the fixed buffer in words
32H 61H Reads from the random access buffer in words See the table below.
33H 62H Writes to the random access buffer in words

Valid Range of Data Sizes

Function
Connection Type Code Ethernet(218IF) Ethernet(218IFA)
BIN 1 to 507 words 1 to 727 words
TCP
ASCII 1 to 362 words 1 to 362 words
Writes to the fixed buffer in words
BIN 1 to 507 words 1 to 1017 words
UDP
ASCII 1 to 507 words 1 to 508 words
BIN 1 to 508 words 1 to 728 words
TCP
Reads from the random access buffer in ASCII 1 to 363 words 1 to 363 words
words BIN 1 to 508 words 1 to 1017 words
UDP
ASCII 1 to 508 words 1 to 508 words
BIN 1 to 507 words 1 to 726 words
TCP
Writes to the random access buffer in ASCII 1 to 361 words 1 to 361 words
words BIN 1 to 508 words 1 to 1017 words
UDP
ASCII 1 to 508 words 1 to 508 words
Note: The restricted data size when using TCP is the maximum size transmitted using one segment.
The segment size is determined by MTU (maximum transfer unit) as a TCP data transfer unit.
The valid range of data sizes mentioned above is for MTU = 1500 bytes.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 9 ) Remote CPU Number (PARAM07)

Refer to G.1.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

( 10 ) Offset (PARAM08 to PARAM11)

Specify the offset addresses of the read data storage area and the write data source of the transmission side.
The address for the transmission side will be displaced by the number of words designated by the offset.
Note: 1. For more information, refer to G.1.8 Relationship between Data Address, Data Size, and Offset for
MSG-SND Function.
2. The offset cannot be a negative value.

The offset parameter is prepared for each target data type.

The following table provides the offset parameters.
Table G.10 Offset Parameter List
Parameter Contents Description
PARAM08 Coil offset Sets the coil's offset word address.
PARAM09 Input relay offset Sets the offset word address of an input relay.
PARAM10 Input register offset Sets the offset word address of an input register.
PARAM11 Holding register offset Sets the offset word address of a holding register.

The valid offset parameter may differ according to function code.

The following table provides the valid parameters for each function code.
Table G.11 Valid Parameter List for Offset of Each Function Code

Valid Offset
Function Code Function
Parameter

01H Reads coil state PARAM08

02H Reads input relay state PARAM09
03H Reads holding register content PARAM11
04H Reads input register content PARAM10
05H Changes single coil state PARAM08
06H Writes to single holding register PARAM11
09H Reads holding register content (extended) PARAM11
0AH Reads input register content (extended) PARAM10
0BH Writes to holding register (extended) PARAM11
0EH Discontinuously writes to holding register (extended) PARAM11
0FH Changes multiple coil states PARAM08
10H Writes to multiple holding registers PARAM11
31H Write to fixed buffer PARAM11
32H Reads the random access buffer PARAM11
33H Writes to the random access buffer PARAM11

( 11 ) Reserved by System 1 (PARAM12)

Used by system (the channel number of the communication buffer in use is stored).
Note: At the first scan during power up, make sure to set it to “0” by using the user program. After that, the reg-
ister is used by system. Do not change the value thereafter with the user program.

( 12 ) Reserved by System 2 (PARAM13-PARAM16)

Used by system. Never change this value with the user program, etc.

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G.1 Message Transmit Function (MSG-SND)

G.1.6 Function Setting and Parameter Details for MODBUS/TCP Protocol

This section explains the MSG-SND function setting and its parameter list details when MODBUS/TCP is used as a
protocol type.

( 1 ) Message Transmit Function Setting

( a ) 218IFA Setting Example
An example of a function setting when 218IFA is used as a communication device follows:
Set the protocol type to MEMOBUS when used in MODBUS/TCP protocol.
Set the circuit number in accordance with the circuit number allocated to the target 218IFA.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.1.2 ( 1 ) Input Item and G.1.2 ( 2 ) Output Item.

MSG-SND
Communication device = 218IFA
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00016 Error DB000212
Ciruit number = 1 Pro-Typ 00001
Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000 to DW00016)

( b ) 218IF Setting Example

An example of a function setting when 218IF is used as a communication device follows:
Set the protocol type to MEMOBUS when used in MODBUS/TCP protocol.
Set the circuit number in accordance with the circuit number allocated to the target 218IF.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.1.2 ( 1 ) Input Item and G.1.2 ( 2 ) Output Item.

MSG-SND
Communication device = 218IF
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00006 Error DB000212
Circuit number = 1 Pro-Typ 00001

Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000 to DW00016)

( 2 ) Process Result (PARAM00)

Refer to G.1.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

( 3 ) Status (PARAM01)
Appendices

Refer to G.1.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 4 ) Connection Number (PARAM02)

Refer to G.1.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

( 5 ) Option (PARAM03)
Choose a unique setting for each communication device.
The following table provides the scope of the setting.

Communication Device Valid Range Remarks

Set a remote unit ID when MODBUS/TCP protocol is used.
Ethernet(218IF or 218IFA) 0 to 247, 255
When the transmission target is MP2000 series, specify “0.”

( 6 ) Function Code (PARAM04)

Set a function code to transmit.
The functions (read coil and input relay state, write to holding register, etc.) registered in the function codes are made
available by specifying the code.
The following table shows the available function codes when using MODBUS/TCP as a protocol.

Table G.12 Function Code List (MODBUS/TCP)

Function Target Data Communication device

Function
Code Type Ethernet(218IF) Ethernet(218IFA)
00H – Unused – –
01H B Reads coil state √ √
02H B Reads input relay state √ √
03H W Reads holding register content √ √
04H W Reads input register content √ √
05H B Changes single coil state √ √
06H W Writes to single holding register √ √
07H
: – Unused – –
0EH
0FH B Changes multiple coil states √ √
10H W Writes to multiple holding registers √ √
11H
: – Unused – –
15H
16H W Mask writes to holding register – √
17H W Reads/Writes multiple holding registers – √

Note: 1. B: Bit type, W: Integer type

2. √: Available, –: Not available
3. Transmit and receive registers in the master operation mode are MW (MB) only.
4. In the slave operation mode, coil, holding register, input relay, and input register are MB, MW, IB, IW
respectively.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 7 ) Data Address (PARAM05)

Specify the start address of the data.
The address must be a decimal or hexadecimal number.
Example: When the start address is MW01000, specify “1000 (decimal)” or “3E8H (hexadecimal).”
The range of data addresses may differ according to the function code.
The following table gives the valid ranges of data addresses when using MODBUS/TCP as a protocol.

Table G.13 Valid Range of Data Addresses (MODBUS/TCP)

Target
Function Code Function Valid Range of Data Addresses
Data Type
00H – Unused Disable
01H B Reads coil state 0 to 65535 (0 to FFFFH)
02H B Reads input relay state 0 to 65535 (0 to FFFFH)
03H W Reads holding register content 0 to 65534 (0 to FFFEH)
04H W Reads input register content 0 to 32767 (0 to 7FFFH)
05H B Changes single coil state 0 to 65535 (0 to FFFFH)
06H W Writes to single holding register 0 to 65534 (0 to FFFEH)
07H
: – Unused Disable
0EH
0FH B Changes multiple coil states 0 to 65535 (0 to FFFFH)
10H W Writes to multiple holding registers 0 to 65534 (0 to FFFEH)
11H
: – Unused Disable
15H
16H W Mask writes to holding register*1, *2 0 to 65534 (0 to FFFEH)
17H W Reads/Writes multiple holding register *1, *3 0 to 65534 (0 to FFFEH)

* 1. Invalid when Ethernet (218IF) is used.

* 2. Mask write request to holding register: Specify the start M register number of the remote address-cum-local data
table
* 3. Request for reading/writing multiple holding registers: Specify the start M register number of an address table

Note: 1. Data table

A data table used for a mask write request to the holding register is used for storing mask data. The
two words of addresses at the beginning of the M register specified by PARAM05 (data address) are
used as an address table.
Specify AND and OR mask data for the data table.
Note that PARAM05 (data address) used for the mask write request to the holding register doubles as
the start M register number in the local station, which is also used for specifying the start data address
and as the data table in the remote station for mask writing.
The contents of the data table used when mask writing to the holding register is as follows:

Data table for mask writing to

holding register

PARAM05 MW AND mask data

MW+1 OR mask data
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

2. Address table
An address table used for the read/write request to the multiple holding registers is used for specifying
addresses indirectly in order to indicate read/write data. The four words of addresses at the beginning
of the M register set by PARAM05 (data address) are used as an address table.
For the address table, specify a data address and data size for reading and a data address and data
size for writing.
Read behaves same as “Reads holding register content (function code: 03H)”. Write behaves same as
“Writes to multiple holding registers (function code: 10H)”.
The address table used when reading/writing multiple holding registers is as follows:
Address table for reading/
writing multiple holding registers

PARAM05 MW Data address

For reading
MW+1 Data size
MW+2 Data address
For writing
MW+3 Data size

( 8 ) Data Size (PARAM06)

Set the data size (number of bits or words) for the read/write request.
Be sure that the last data address determined based on the offset, data address, and data size does not go beyond the
scope of the data addresses.
The range of data sizes may differ, depending on the function code.
The following table gives the valid ranges of data sizes when using MODBUS/TCP as a protocol.

Table G.14 Valid Range of Data Sizes (MODBUS/TCP)

Target
Function Code Function Valid Range of Data Addresses
Data Type

00H – Unused Disable

01H B Reads coil state*1 1 to 2000
02H B Reads input relay state*1 1 to 2000
03H W Reads holding register content*2 1 to 125
04H W Reads input register content *2 1 to 125
05H B Changes single coil state*1 Disable
06H W Writes to single holding register *2 Disable
07H
: – Unused Disable
0EH
0FH B Changes multiple coil states*1 1 to 00
10H W Writes to multiple holding registers *2 1 to 100
11H
: – Unused Disable
15H
16H W Mask writes to holding register*2, *3 Disable
Read: 1 to 125
17H W Reads/Writes multiple holding registers*2, *3 Write: 1 to 100
* 1. Specify the number of bits
* 2. Specify the number of words
* 3. Invalid when Ethernet (218IF) is used.
Note: The data size in the table is represented in decimal number.

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G.1 Message Transmit Function (MSG-SND)

( 9 ) Remote CPU Number (PARAM07)

Refer to G.1.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

( 10 ) Offset (PARAM08 to PARAM11)

Specify the offset addresses of the read data storage area and the write data source of the transmission side.
The address for the transmission side will be displaced by the number of words designated by the offset.
Note: 1. For more information, refer to G.1.8 Relationship between Data Address, Data Size, and Offset for
MSG-SND Function.
2. The offset cannot be a negative value.

The offset parameter is prepared for each target data type.

The following table lists the offset parameters.

Table G.15 Offset Parameter List

Parameter Contents Description
PARAM08 Coil offset Sets the coil’s offset word address.
PARAM09 Input relay offset Sets the offset word address of an input relay.
PARAM10 Input register offset Sets the offset word address of an input register.
PARAM11 Holding register offset Sets the offset word address of a holding register.

The valid offset parameter may differ, depending on the function code.
The following table lists the valid parameters for each function code.

Table G.16 Valid Parameter List for Offset of Each Function Code

Valid Offset
Function Code Function
Parameter

01H Reads coil state PARAM08

02H Reads input relay state PARAM09
03H Reads holding register content PARAM11
04H Reads input register content PARAM10
05H Changes single coil state PARAM08
06H Writes to single holding register PARAM11
0FH Changes multiple coil states PARAM08
10H Writes to multiple holding registers PARAM11
16H Mask writes to holding register PARAM11
17H Reads/Writes multiple holding registers PARAM11

( 11 ) Reserved by System 1 (PARAM12)

Used by system (the channel number of communication buffer in use is stored).
Note: At the first scan during power up, make sure to set it to “0” by using the user program. After that, the reg-
ister is used by system. Do not change the value thereafter with the user program.

( 12 ) Reserved by System 2 (PARAM13 to PARAM16)

Used by system. Never change the value with the user program, etc.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

G.1.7 Function Setting and Parameter Details for Non-procedural Protocol

This section explains the MSG-SND function setting and its parameter list details when non-procedure is used as a pro-
tocol.
Note: Non-procedure communication protocol transmits the M register content intact without a protocol conver-
sion. You can create any protocol in accordance with the remote equipment.

( 1 ) Message Transmit Function Setting

( a ) 218IFA Setting Example
An example of a function setting when 218IFA is used as a communication device is as follows:
When non-procedure 2 (per byte) is used, set the Pro-Typ field to “00003” (non-procedure 1 (per word)).
Set the circuit number in accordance with the circuit number allocated to the target 218IFA.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.1.2 ( 1 ) Input Item and G.1.2 ( 2 ) Output Item.

MSG-SND
Communication device = 218IFA
Execute DB000201 Busy DB000210

Protocol =non-procedure 1 Abort DB000202 Complete DB000211

Dev-Typ 00016 Error DB000212
Circuit number = 1 Pro-Typ 00002
Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000 to DW00016)

( b ) 218IF Setting Example

An example of a function setting when 218IF is used as a communication device follows:
When non-procedure 2 (per byte) is used, set the Pro-Typ field to “00003” (non-procedure 1 (per word)).
Set the circuit number in accordance with the circuit number allocated to the target 218IF.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.1.2 ( 1 ) Input Item and G.1.2 ( 2 ) Output Item.

MSG-SND
Communication device = 218IF
Execute DB000201 Busy DB000210

Protocol =non-procedure 1 Abort DB000202 Complete DB000211

Dev-Typ 00006 Error DB000212
Circuit number = 1 Pro-Typ 00002

Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000 to DW00016)

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 2 ) Process Result (PARAM00)

The process result is output to the upper byte. The lower byte is used for system analysis.

Value of Process
Meaning
Result
00H In process (Busy)
10H Process completed (Complete)
8yH Error occurred (Error)

When an error occurs, take corrective action by referring to the following error contents:

Value of Process
Error Contents Description
Result
80H – Reserved
81H – –
The following setting is out of range. Check the setting.
82H Error in setting address PARAM05 (data address)
PARAM11 (register offset)
The transmit or receive data amount is out of range.
83H Data size error
Check PARAM06 (data size).
The circuit number is out of range.
84H Error in setting circuit number
Check Cir-No (circuit number) of the MSG-SND function.
The communication buffer channel number is out of range.
85H Error in setting channel number Check Ch-No (communication buffer channel number) of the MSG-
SND function.
The connection number is out of range.
86H Connection number error
Check PARAM02 (connection number).
87H – Reserved
An error response was returned from the communication section (com-
88H Communication section error munication device). Check the equipment connection. In addition, con-
firm that the remote device is open to communication.
Unavailable device is set. Check Dev-Typ (communication device
89H Device select error
type) of the MSG-SND function.

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 3 ) Status (PARAM01)
Outputs status of the communication section (communication device).
The following figure illustrates bit assignment. Bit assignment details are listed in the table below.
F E D C B A 9 8 7 6 5 4 3 2 1 0

BIts 0 to 7
(d) PARAMETER
Bits 8 to B
(c) COMMAND

Bits C to E
(b) RESULT

Bit Fit
(a) REQUEST

( a ) REQUEST (request)
Outputs whether MSG-SND function is requesting a process.

Bit State Contents

1 Requesting processing
0 The acceptance of process request is completed

( b ) RESULT (result)
Outputs an execution result of the MSG-SND function

Code Abbreviation Meaning

0 CONN_NG In Ethernet communications, transmit error or connection error is complete
1 SEND_OK Normal transmission complete
2 REC_OK Normal reception complete
3 ABORT_OK Forced abort complete
4 FMT_NG Parameter format error
5 SEQ_NG Command sequence error
6 RESET_NG Reset state
7 REC_NG Data reception error (error detected in the lower layer program)

( c ) COMMAND (command)
Outputs a process command for the MSG-SND function. The executed process contents can be found according to the
command.

Code (Hex) Abbreviation Meaning

1 U_SEND General-purpose message transmission
2 U_REC General-purpose message reception
3 ABORT Forced abort
MEMOBUS command transmission: Complete when response is received
8 M_SEND
(for MEMOBUS protocol)
MEMOBUS command reception: Accompanies a response transmission
9 M_REC
(for MEMOBUS protocol)
C MR_SEND MEMOBUS response transmission (for MEMOBUS protocol)

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G.1 Message Transmit Function (MSG-SND)

( d ) PARAMETER (parameter)
When RESULT (process result) = 4 (FMT_NG: parameter format error), an error code in the table below is output.
Otherwise, the connection number is output.

RESULT (process result) Code (Hex) Meaning

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

( 4 ) Connection Number (PARAM02)

Refer to G.1.4 ( 4 ) Connection Number (PARAM02).

( 5 ) Data Address (PARAM05)

Specify the start address of the data.
The address must be input in a decimal or hexadecimal number.
Example: When the start address is MW01000, specify “1000 (decimal)” or “3E8H (hexadecimal).”
The following table provides the valid ranges of the data addresses.

Table G.17 Valid Range of Data Addresses (non-procedure)

Non-procedural Target Data Valid Range of Data Addresses

Function
Type Type Ethernet(218IF) Ethernet(218IFA)
Non-procedure 1 W Transmits data in words 0 to 65534 (0 to FFFEH)
Non-procedure 2 B Transmits data in bytes* 0 to 65534 (0 to FFFEH)

* The unit for address setting is word address.

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 6 ) Data Size (PARAM06)

Set the data size (number of bits or words) for the write request.
Be sure that the last data address determined based on the offset, data address, and data size does not go beyond the
scope of the data addresses.
The valid range of data sizes may differ according to the communication device.

Table G.18 Valid Range of Data Sizes (non-procedure)

Non-procedural Target Data Valid Range of Data Sizes

Function
Type Type Ethernet (218IF) Ethernet (218IFA)
1 to 2046 (BIN)
Non-procedure 1 W Transmits data in words*1 1 to 510
1 to 1023 (ASCII)
1 to 4092 (BIN)
Non-procedure 2 B Transmits data in bytes*2 1 to 1020
1 to 2046 (ASCII)

* 1. Specify the number of words

* 2. Specify the number of bytes
Note: The data size in the table is represented in decimal numbers.

( 7 ) Register Offset (PARAM11)

Specify the offset address of write data source in the transmission side.
The address for the transmission side will be displaced by the number of words designated by the offset.
Note: 1. For more information, refer to G.1.8 Relationship between Data Address, Data Size, and Offset for
MSG-SND Function.
2. The offset cannot be a negative value.
Example: When specifying 1000 words of offset for the register address:
PARAM11=1000

( 8 ) Reserved by System 1 (PARAM12)

Used by system (the channel number of the communication buffer in use is stored).
Note: At the first scan during power up, make sure to set this to “0” by the user program. After that, the register
is used by system, so do not change the value with the user program.

( 9 ) Reserved by System 2 (PARAM13-PARAM16)

Used by system. Do not change the value with the user program, etc.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

G.1.8 Relationship between Data Address, Data Size, and Offset for MSG-SND
Function
The relationship between data address, data size, and offset is as follows, when transmitted with offset:

( 1 ) When Reading

MP2000 series (transmission: master) Remote device (reception: slave)

Coil, input relay,

M register input register, and holding registers
MW00000

Offset A
Data address B

Data address B Data Data size C

MWxxxxx
Data size C Data

Start address of the read

data storage area

Fig. G.4 Data Flow when Reading

[MSG-SND function]

Parameter list
PARAM00
PARAM01

PARAM05 Data address B

PARAM06 Data size C
PARAM07
PARAM08
PARAM09
Offset A
PARAM10 Valid parameter may differ, depending on the function code and
PARAM11 communication protocol used.

PARAM16

Fig. G.5 Parameter Setting

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

( 2 ) When Writing

MP2000 series (transmission: master) Remote device (reception: slave)

M register Coil and holding registers

MW00000

Offset A
Data address B

Data address B Data Data size C

MWxxxxx
Data size C Data
Note: The data type of the remote
device is not determined
Start address of the in non-procedural protocol mode.
write data source

Fig. G.6 Data Flow when Writing

[MSG-SND function]

Parameter list
PARAM00
PARAM01

PARAM05 Data address B

PARAM06 data size C
PARAM07
PARAM08
PARAM09
Offset A
PARAM10 Valid parameter may differ, depending on the function code and
PARAM11 communication protocol used.

PARAM16

Fig. G.7 Parameter Setting

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

Example: When reading coil state with offset:

The various setting values and their relationships with the data of the remote device are as follows, when transmitting
“reading coil state” with offset in MEMOBUS protocol:

• Description of the MSG-SND function in ladder program

MSG-SND
Communication device = 218IFA
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00016 Error DB000212
Circuit number = 1 Pro-Typ 00001
Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address Param DA00000
(use DW00000 to DW00016)

• Parameter list setting of the MSG-SND function

Table G.19 Parameter List Setting

Register Num- Setting Parameter Num-
IN/OUT Remarks
ber Value ber
DW00000 – PARAM00 OUT Process result
DW00001 – PARAM01 OUT Status
DW00002 00001 PARAM02 IN Connection number=1
DW00003 – PARAM03 IN Option (setting unnecessary)
DW00004 00001 PARAM04 IN Function code=1 (reads coil state)
DW00005 08192 PARAM05 IN Data address=8192 bits (512 words)
DW00006 00100 PARAM06 IN Data size=100
DW00007 00001 PARAM07 IN Remote CPU number=1
DW00008 01000 PARAM08 IN Coil offset=1000 words
DW00009 00000 PARAM09 IN Input relay offset=0 word
DW00010 00000 PARAM10 IN Input register offset=0 word
DW00011 00000 PARAM11 IN Holding register offset=0 word
DW00012 – PARAM12 SYS Reserved (zero clear at startup)
DW00013 – PARAM13 SYS Reserved
DW00014 – PARAM14 SYS Reserved
DW00015 – PARAM15 SYS Reserved
DW00016 – PARAM16 SYS Reserved

Note: IN: Input, OUT: Output, SYS: For system use

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.1 Message Transmit Function (MSG-SND)

• Relationship with the Data of the Remote Device

The following figure shows the data flow when transmitting “reads coil state” with offset:
When transmission and reception are carried out normally in the figure below, the coil state in the device is
stored in MW01512 and after of MP2300S.

MP2300S series (transmission: master) Remote device (reception: slave)

M register Coil
MW00000

Data address
Offset (8192 bits)
(1000 words)

Data size
Data
MW01000 (100 points)

Data address
(8192 bits = 512 words)

MW01512

Data size Data

(100 points)

Fig. G.8 Reading Example of Coil State

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

G.2 Message Receive Function (MSG-RCV)

This section explains how the message receive function (MSG-RCV) is used in a ladder program when receiving mes-
sages.

G.2.1 Specification Overview of the Message Receive Function

Function Name MSG-RCV
Receives messages from the remote station on the circuit specified by the communication device type. Supports
Function multiple protocol types.
Keep the execution command (Execute) until Complete or Error turns ON.

MSGRCV
Execute Busy
Abort Complete
Function Defi- Dev-Typ Error
nition
Pro-Typ
Cir-No
Ch-No
Param

I/O Definition No. Name I/O Option*1 Contents

1 Execute B-VAL Executes a reception
2 Abort B-VAL Forcibly ends a reception
Communication device type
3 Dev-Typ I-REG
Ethernet (218IF) = 6, Ethernet (218IFA, 218IFB, 218IFC) = 16
Communication protocol
4 Pro-Typ I-REG MEMOBUS*2 = 1, non-procedure 1*3 = 2,
Input Item non-procedure 2*3 = 3
Line number
5 Cir-No I-REG
Ethernet (218IF) = 1-8, Ethernet (218IFA) = 1 to 8
Communication buffer channel number
6 Ch-No I-REG
Ethernet (218IF) = 1-10, Ethernet (218IFA) = 1 to 4
Parameter list start address
7 Param Address input
(MA, DA)
1 Busy B-VAL In process
Output Item 2 Complete B-VAL Process completed
3 Error B-VAL Error occurred
* 1. The meanings of I/O options are as follows:
 B-VAL: Specify I/O by bit type data.
 I-REG: Specify I/O by integer type data. When specifying, set an integer type register number.
As for the input only, it can be a constant (literal).
 Address input: The address of the specified register (any integer register) is passed to the function.
* 2. When transmitting in MEMOBUS, Extended MEMOBUS, MELSEC, OMRON, or MODBUS/TCP protocol, set the
communication protocol (Pro-Typ) to MEMOBUS(=1). The communication device automatically converts the proto-
col.
* 3. Non-procedure 1: In non-procedural communication, data is received on a per-word basis.
Non-procedure 2: In non-procedural communication, data is received on a per-byte basis.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

G.2.2 I/O Item Details of the Message Receive Function

( 1 ) Input Item
The following table indicates the registers available for each input item.

Input Item I/O Option Available Register

Every bit type register
Execute
B-VAL (except #, C registers),
Abort
Same as above with subscript
Dev-typ
Every integer type register,
Pro-Typ
I-REG Same as above with subscript,
Cir-No
Constant
Ch-No
Register address
Param Address input (except #, C registers),
Same as above with subscript

1. Execute (executes a reception)

Specify a bit to command execution of a message reception.
When Execute turns ON, the message reception is carried out. In order to execute the process, a ladder program
or the like needs to be used to switch the bit ON/OFF.
Note: Keep Execute (executes a reception) until Complete (process completed) or Error (error occurred)
is turned ON. When the command turns ON, the message reception is carried out.
To continuously command the receive execution, make sure to turn Execute (executes a reception)
OFF for one scan or more.

2. Abort (forcibly ends a reception)

Specify a bit to command a forced abort of a message reception.
When Abort turns ON, the message reception is forcibly terminated. Abort takes precedence over Execute.
In order to execute the forced abort, a ladder program or the like needs to be used to switch the bit ON/OFF.

3. Dev-Typ (communication device type)

Specify the type of communication device (refer to the table below).

Device Type Code

Ethernet (218IF) 6
Ethernet (218IFA) 16

4. Pro-Typ (communication protocol)

Specify the communication protocol (refer to the table below).

Type Code Communication Protocol Remarks

Set the type code to “1” when also transmitting using Extended
1 MEMOBUS MEMOBUS, MELSEC, or MODBUS/TCP protocol. The commu-
nication device will automatically convert the protocol.
Data is received on a per-word basis in non-procedural communi-
2 Non-procedure 1 (per word)
cation. No response is transmitted to the remote.
Data is received on a per-byte basis in non-procedural communi-
3 Non-procedure 2 (per byte)
cation. No response is transmitted to the remote.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

5. Cir-No (circuit number)

Specify a circuit number for the communication device.
Specify it in accordance with the circuit number displayed in the MPE720 Module Configuration Definition
Window.
Circuit number

Fig. G.9 MPE720 Module Configuration Definition Window

The following table indicates the range of valid circuit numbers.

Communication device Valid Circuit Number

Ethernet (218IF or 218IFA) 1 to 8

6. Ch-No (communication buffer channel number)

Specify the channel number of a communication buffer.
It can be any channel number in the range. However, when starting multiple functions at the same time, set a
unique channel for each function. (If you do not start up multiple functions at the same time, the channel numbers
can duplicate each other.)
The following table indicates the range of valid channel numbers.

Communication device Valid Channel Number

Ethernet (218IF) 1 to 10
Ethernet (218IFA) 1 to 4

When the communication device is Ethernet (218IFA), because the communication buffer common to the trans-
mission and reception have four channels, four receptions (or transmissions) are available at the same time by
using channel numbers 1 to 4.
Note: 1. As many MSG-RCV (or MSG-SND) functions as lines used at the same time are required.
2. For information on communication buffer channel, refer to G.3 Communication Buffer Channel.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

7. Param (parameter list start address)

Specify the start address of the parameter list. For the “parameter list,” 17 words are automatically assigned from
the configured address. In the parameter list, enter the function code and its relevant parameter data. Addition-
ally, process result and status are output.
Note: For more information about the parameter list, refer to the parameter details for each protocol from
G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols
to G.2.7 Function Setting and Parameter Details for Non-procedural Protocol.

Example: When “DA00000” is specified as a parameter list start address:

Parameter list
Register F 0
DW00000 PARAM00
DW00001 PARAM01
DW00002 PARAM02
DW00003 PARAM03
DW00004 PARAM04
DW00005 PARAM05
DW00006 PARAM06
DW00007 PARAM07
DW00008 PARAM08
DW00009 PARAM09
DW00010 PARAM10
DW00011 PARAM11
DW00012 PARAM12
DW00013 PARAM13
DW00014 PARAM14
DW00015 PARAM15
DW00016 PARAM16

( 2 ) Output Item
The following table lists the registers available for each output item.

Input Item I/O Option Available Register

Busy Every bit type register
Complete B-VAL (except #, C registers),
Error Same as above for subscript

1. Busy (in process)

Specify a bit to report message reception.
The Busy bit is turned ON while executing message reception or a forced abort process.
Keep Execute or Abort ON while Busy is ON.

2. Complete (process completed)

Specify a bit to report message reception ended.
When message reception or a forced abort process is completed properly, the Complete bit will turn ON only for
one scan.

3. Error (error occurred)

Specify a bit to report when an error occurs in the message reception.
When an error occurs, the Error bit will turn ON only for one scan.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

Note: For more information about the error cause, refer to G.2.4 ( 2 ) Process Result (PARAM00) and
G.2.4 ( 3 ) Status (PARAM01).

A timing chart of bit type I/O items in the MSG-RCV function follows:
[In Normal Condition]
To continuously command the receive execution,
keep Execute ON after the process is completed.

<IN> Execute (executes a reception)

<IN> Abort (forcibly ends a reception)

<OUT> Busy (in process)

<OUT> Complete (process completed)

One scan
<OUT> Error (error occurred)

[When Forcibly Aborted]

To continuously command the receive execution,
keep Execute ON after the process is completed.

<IN> Execute (executes a reception)

<IN> Abort (forcibly ends a reception)

<OUT> Busy (in process)

<OUT> Complete (process completed)

One scan
<OUT> Error (error occurred)

[When Error Occurred]

To continuously command the receive execution,
keep Execute ON after the process is completed.

<IN> Execute (executes a reception)

<IN> Abort (forcibly ends a reception)

<OUT> Busy (in process)

<OUT> Complete (process completed)

<OUT> Error (error occurred)

One scan t
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

G.2.3 Message Receive Function Parameter List (Param) Overview

Param of the MSG-RCV function has a parameter list structure composed of 17 words. (The value of Param itself is the
start address (MA, DA) of the parameter list.)
In the parameter list, enter the function code and its relevant parameter data. Process result and status are also output.
When MEMOBUS and non-procedure are used as a transmission protocol, the parameter list is as follows:
Note: Parameter details are explained in the parameter details for each protocol type. Refer to the following
items:
• G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols
• G.2.5 Function Setting and Parameter Details for MELSEC Protocol
• G.2.6 Function Setting and Parameter Details for MODBUS/TCP Protocol
• G.2.7 Function Setting and Parameter Details for Non-procedural Protocol

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

( 1 ) MEMOBUS Parameter List

Param No. IN/OUT Contents Description
00 OUT Process result Outputs process results.
01 OUT Status Outputs the status of the communication device.
02 IN Connection number Specifies the remote source.
03 OUT Option Outputs a unique value for each communication device.
04 OUT Function code Outputs a function code requested from the transmission side.
Outputs the start address of data requested from the transmission
05 OUT* Data address
side.
Outputs the read/write data size requested from the transmission
06 OUT Data size
side.
07 OUT Remote CPU number Outputs the remote CPU number.
08 IN Coil offset Sets the coil’s offset word address.
09 IN Input relay offset Sets the offset word address of an input relay.
10 IN Input register offset Sets the offset word address of an input register.
11 IN Holding register offset Sets the offset word address of a holding register.
12 IN Write range LO Sets the start address for a write range.
13 IN Write range HI Sets the last address for a write range.
14 SYS Reserved 1 −
15 to 16 SYS Reserved 2 −
* It is IN/OUT for MODBUS/TCP.
Note: IN: Input, OUT: Output, SYS: For system use

( 2 ) Non-procedural Parameter List

Param No. IN/OUT Contents Description
00 OUT Process result Outputs the process results.
01 OUT Status Outputs the status of the communication device.
02 IN Connection number Specifies the remote source.
03 OUT Not used −
04 OUT Not used −
05 OUT Not used −
06 OUT Data size Outputs the write data size requested from the transmission side.
07 OUT Not used −
08 to 11 IN Not used −
12 IN Register offset Sets the register's offset word address.
13 IN Write range HI Sets the last address for a write range.
14 SYS Reserved 1 −
15 to 16 SYS Reserved 2 −
Note: IN: Input, OUT: Output, SYS: For system use
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMO-
BUS Protocols
This section explains the MSG-RCV function setting and its parameter list details when MEMOBUS or Extended
MEMOBUS is used as a protocol.

( 1 ) Message Receive Function Setting

[ a ] 218IFA Setting Example
An example of a function setting when 218IFA is used as a communication device follows:
Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol.
Set the circuit number in accordance with the circuit number allocated to the target 218IFA.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.2.2 ( 1 ) Input Item and G.2.2 ( 2 ) Output Item.

MSG-RCV
Communication device = 218IFA
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00016 Error DB000212
Circuit number = 1 Pro-Typ 00001
Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000-DW00016)

[ b ] 218IF Setting Example

An example of a function setting when 218IF is used as a communication device follows:
Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol.
Set the circuit number in accordance with the circuit number allocated to the target 218IF.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.2.2 ( 1 ) Input Item and G.2.2 ( 2 ) Output Item.

MSG-RCV
Communication device = 218IF
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00006 Error DB000212
Circuit number = 1 Pro-Typ 00001

Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000-DW00016)

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

( 2 ) Process Result (PARAM00)

The process result is output to the upper byte. The lower byte is used for system analysis.

Value of Process
Meaning
Result
00H In process (Busy)
10H Process completed (Complete)
8yH Error occurred (Error)

When an error occurs, take corrective action by referring to the following error contents:

Value of Process
Error Contents Description
Result
80H – Reserved
Unused function code was received. Check the source function code.
81H Function code error
The following setting is out of range. Check the setting.
Data address (request from transmission side)
PARAM08 (coil offset)
82H Error in setting address PARAM09 (input relay offset)
PARAM10 (input register offset)
PARAM11 (holding register offset)
The received data size is out of range.
83H Data size error
Check the source data size.
The circuit number is out of range.
84H Error in setting circuit number
Check Cir-No (circuit number) of the MSG-RCV function.
The communication buffer channel number is out of range.
85H Error in setting channel number Check Ch-No (communication buffer channel number) of the MSG-
RCV function.
The connection number is out of range. Check PARAM02 (connection
86H Connection number error
number).
87H – Reserved
An error response was returned from the communication section (com-
88H Communication section error munication device). Check the equipment connection. In addition,
check that the remote device is open to communication.
Unavailable device is set. Check Dev-Typ (communication device
89H Device select error
type) of the MSG-RCV function.

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

( 3 ) Status (PARAM01)
Outputs status of the communication section (communication device).
The following figure shows the bit assignment. Bit assignment details are listed in the tables following.
F E D C B A 9 8 7 6 5 4 3 2 1 0

Bits 0 to 7
(d) PARAMETER
Bits 8 to B
(c) COMMAND

Bits C to E
(b) RESULT

Bit F
(a) REQUEST

[ a ] REQUEST (request)
Outputs whether MSG-RCV function is requesting a process.

Bit State Contents

1 Requesting processing
0 The acceptance of process request is completed

[ b ] RESULT (result)
Outputs the execution result of the MSG-RCV function.

Code Abbreviation Meaning

0 CONN_NG In Ethernet communication, transmission or connection error is completed
1 SEND_OK Normal transmission complete
2 REC_OK Normal reception complete
3 ABORT_OK Forced abort complete
4 FMT_NG Parameter format error
5 SEQ_NG Command sequence error
6 RESET_NG Reset state
7 REC_NG Data reception error (error detected in the lower layer program)

[ c ] COMMAND (command)
Outputs a process command for the MSG-RCV function. The executed process contents can be found according to the
command.

Code (Hex) Abbreviation Meaning

1 U_SEND General-purpose message transmission (for non-procedural protocol)
2 U_REC General-purpose message reception (for non-procedural protocol)
3 ABORT Forced abort
8 M_SEND MEMOBUS command transmission: Completed when response is received
9 M_REC MEMOBUS command reception: Accompanies a response transmission
C MR_SEND MEMOBUS response transmission

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

[ d ] PARAMETER (parameter)
When RESULT(process result) = 4 (FMT_NG: parameter format error), an error code in the table below is output. Oth-
erwise, the connection number is output.

RESULT (process result) Code (Hex) Meaning

00 No error
01 Connection number is out of range
02 Time error for monitoring to receive MEMOBUS response
When RESULT (process re- 03 Error in setting retransmit count
sult) =4
04 Error in setting cyclic area
(FMT_NG: parameter format
error) 05 CPU number error
06 Data address error
07 Data size error
08 Function code error
Others xx Connection number

( 4 ) Connection Number (PARAM02)

Specify the remote source.
When the communication device is Ethernet (218IF or 218IFA), set the connection number.
The following table shows the setting range.

Connection
Communication Device Remarks
Number
Ethernet (218IF) 1 to 20 Receives from the remote station set for the specified connection number.
Ethernet (218IFA) 1 to 4 Same as above

Note: When the communication device is Ethernet (218IF or 218IFA), set the connection number in accor-
dance with the connection number in the 218IF or 218IFA Parameter Setting Window for the MPE720
module configuration definition.

Fig. G.10 218IFA Parameter Setting Screen for the MPE720 Module Configuration Definition Window
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

Fig. G.11 218IF Parameter Setting Screen for the MPE720 Module Configuration Definition Window

( 5 ) Option (PARAM03)
A unique value is output for each communication device.
Not used for the MEMOBUS or Extended MEMOBUS protocols.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

( 6 ) Function Code (PARAM04)

Received function code is output.
The following table lists function codes available when using MEMOBUS or Extended MEMOBUS as a protocol.
Table G.20 Function Code List (MEMOBUS, Extended MEMOBUS)
Protocol
Target
Function Code Function Extended
Data Type MEMOBUS
MEMOBUS
00H – Unused – –
01H B Reads coil state √ √
02H B Reads input relay state √ √
03H W Reads holding register content √ √
04H W Reads input register content √ √
05H B Changes single coil state √ √
06H W Writes to single holding register √ √
07H – Unused – –
08H – Loopback test √ √
09H W Reads holding register content (extended) √ –
0AH W Reads input register content (extended) √ –
0BH W Writes to holding register (extended) √ –
0CH – Unused – –
Discontinuously reads holding register
0DH W √ –
(extended)
Discontinuously writes to holding register
0EH W √ –
(extended)
0FH B Changes multiple coil states √ √
10H W Writes to multiple holding registers √ √

Note: 1. B: Bit type, W: Integer type

2. √: Available, –: Not available
3. Transmit and receive registers in the master operation mode are MW (MB) only.
4. In the slave operation mode, coil, holding register, input relay, and input register are MB, MW, IB, IW
respectively.

( 7 ) Data Address (PARAM05)

A data address requested from the transmission side is output.

( 8 ) Data Size (PARAM06)

The read/write data size (number of bits or words) requested from the transmission side is output.

( 9 ) Remote CPU Number (PARAM07)

When the remote equipment is MP2000 series, “1” is output.
When the remote equipment is a controller manufactured by YASKAWA Electric Corporation other than MP2000
series and is comprised of multiple CPU modules, the remote CPU number is output.
Otherwise, “0” is output.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

( 10 ) Offset (PARAM08 to PARAM11)

Specify an offset address for the reception side data address.
The address for the reception side will be displaced by the number of words designated by the offset.
Note: 1. For more information, refer to G.2.8 Relationship between Data Address, Data Size, and Offset for
MSG-RCV Function.
2. The offset cannot be a negative value.

The offset parameter is prepared for each target data type.

The following table lists the offset parameters.
Table G.21 Offset Parameter List
Parameter Contents Description
PARAM08 Coil offset Sets the coil's offset word address.
PARAM09 Input relay offset Sets the offset word address of an input relay.
PARAM10 Input register offset Sets the offset word address of an input register.
PARAM11 Holding register offset Sets the offset word address of a holding register.

The valid offset parameter may differ according to the function code.
The following table lists the valid parameters for each function code.
Table G.22 Valid Parameter List for Offset of Each Function Code
Protocol Type
Function Valid Offset
Function Extended
Code Parameter MEMOBUS
MEMOBUS
01H Reads coil state PARAM08 √ √
02H Reads input relay state PARAM09 √ √
03H Reads holding register content PARAM11 √ √
04H Reads input register content PARAM10 √ √
05H Changes single coil state PARAM08 √ √
06H Writes to single holding register PARAM11 √ √
09H Reads holding register content (extended) PARAM11 √ –
0AH Reads input register content (extended) PARAM10 √ –
0BH Writes to holding register (extended) PARAM11 √ –
Discontinuously reads holding register
0DH PARAM11 √ –
(extended)
Discontinuously writes to holding register
0EH PARAM11 √ –
(extended)
0FH Changes multiple coil states PARAM08 √ √
10H Writes to multiple holding registers PARAM11 √ √

Note: √: Available, –: Not available

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

( 11 ) Write Range (PARAM12, PARAM13)

Sets an available address range for the write request from the transmission side. A write request which is out of this
available address range will cause an error.
Specify the address range (PARAM12, PARAM13) as a word address.
Note: 1. In MP900/MP2000 series, the data storage area for the write request from the transmission side is M
register.
2. The write range parameter enables you to specify the range of M register which permits writing mes-
sages.

The following table indicates the write range parameters.

Table G.23 Write Range Parameter List
Parameter Contents Description
PARAM12 Write range LO Start address of the write range
PARAM13 Write range HI Last address of the write range

Specify the write range so that the expression below is met:

0 ≤ Write range LO ≤ Write range HI ≤ Maximum address of M register

This write range is effective for the following function codes:

05H (changes single coil state)
06H (writes to single holding register)
0BH (writes to holding register (extended))
0EH (discontinuously writes to holding register (extended))
0FH (changes multiple coil states)
10H (writes to multiple holding registers)

Example: When setting the address of M register which permits writing to 1000 to 1999:
PARAM12=1000
PARAM13=1999
The reception side will return an error against a write request to an address other than MW01000 to
MW01999, and will not write it.

( 12 ) Reserved by System 1 (PARAM14)

Used by system (the channel number of the communication buffer in use is stored).
Note: At the first scan during power up, make sure to set this to “0” with the user program. After that, the regis-
ter is used by system, so do not change the value with the user program.

( 13 ) Reserved by System 2 (PARAM15, PARAM16)

Used by system. Do not change the value with the user program, etc.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

G.2.5 Function Setting and Parameter Details for MELSEC Protocol

This section explains the MSG-RCV function setting and its parameter list details when MELSEC is used as a protocol.

( 1 ) Message Receive Function Setting

[ a ] 218IFA Setting Example
An example of a function setting when 218IFA is used as a transmission device follows:
Set the protocol type to MEMOBUS when used in MELSEC protocol.
Set the circuit number in accordance with the circuit number allocated to the target 218IFA.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.2.2 ( 1 ) Input Item and G.2.2 ( 2 ) Output Item.

MSG-RCV
Communication device = 218IFA
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00016 Error DB000212
Circuit number = 1 Pro-Typ 00001
Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000-DW00016)

[ b ] 218IF Setting Example

An example of a function setting when 218IF is used as a communication device follows:
Set the protocol type to MEMOBUS when used in MELSEC protocol.
Set the circuit number in accordance with the circuit number allocated to the target 218IF.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.2.2 ( 1 ) Input Item and G.2.2 ( 2 ) Output Item.

MSG-RCV
Communication device = 218IF
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00006 Error DB000212
Circuit number = 1 Pro-Typ 00001

Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000-DW00016)

( 2 ) Process Result (PARAM00)

Refer to G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

( 3 ) Status (PARAM01)
Refer to G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

( 4 ) Connection Number (PARAM02)

Refer to G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
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( 5 ) Option (PARAM03)
A unique value is output for each communication device.
Not used for the MELSEC protocol.

( 6 ) Function Code (PARAM04)

Received function code is output.
The following table lists the function codes available when using the MELSEC protocol.
Table G.24 Function Code List (MELSEC)

MELSEC ACPU Target Data

Function Code Function
Common Command Type
01H/02H 00H B Reads bit device in units
03H/04H/09H/0AH 01H W Reads word device in units
05H/0FH 02H B Writes to bit device in units
06H/0BH/10H 03H W Writes to word device in units
08H 16H – Loopback test
Specifies a device number for each word device at random
0EH 05H B
and sets/resets each word device
31H 60H W Writes to the fixed buffer in words
Reads from the random access buffer in words (unable to
32H 61H W
receive for MP2000 series)
33H 62H W Writes to the random access buffer in words

Note: 1. B: Bit type, W: Integer type

2. AnCPU dedicated commands are not supported. Commands for extended file register are not sup-
ported.

( 7 ) Data Address (PARAM05)

A data address requested from the transmission side is output.

( 8 ) Data Size (PARAM06)

The read/write data size (number of bits or words) requested from the transmission side is output.

( 9 ) Remote CPU Number (PARAM07)

Refer to G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

( 10 ) Offset (PARAM08 to PARAM11)

Specify an offset address for the reception side data address.
The address for the reception side will be displaced by the number of words designated by the offset.
Note: 1. For more information, refer to G.2.8 Relationship between Data Address, Data Size, and Offset for
MSG-RCV Function.
2. The offset cannot be a negative value.

The offset parameter is prepared for each target data type.

The following table lists the offset parameters.
Table G.25 Offset Parameter List
Parameter Contents Description
PARAM08 Coil offset Sets the coil's offset word address.
PARAM09 Input relay offset Sets the offset word address of an input relay.
PARAM10 Input register offset Sets the offset word address of an input register.
PARAM11 Holding register offset Sets the offset word address of a holding register.

The valid offset parameter may differ according to the function code.
The following table lists the valid parameters for the function codes.
Table G.26 Valid Parameter List for Offset of Each Function Code
Function Code Function Valid Offset Parameter
01H Reads coil state PARAM08
02H Reads input relay state PARAM09
03H Reads holding register content PARAM11
04H Reads input register content PARAM10
05H Changes single coil state PARAM08
06H Writes to single holding register PARAM11
09H Reads holding register content (extended) PARAM11
0AH Reads input register content (extended) PARAM10
0BH Writes to holding register (extended) PARAM11
0EH Discontinuously writes to holding register (extended) PARAM11
0FH Changes multiple coil states PARAM08
10H Writes to multiple holding registers PARAM11
31H Writes to fixed buffer PARAM11
32H Reads the random access buffer Invalid
33H Writes to the random access buffer PARAM11

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( 11 ) Write Range (PARAM12, PARAM13)

Sets an available address range for a write request from the transmission side. A write request which is out of this avail-
able address range will cause an error.
Specify the address range (PARAM12, PARAM13) as a word address.
Note: 1. In MP900/MP2000 series, the data storage area for the write request from the transmission side is the
M register.
2. The write range parameter enables you to specify the range of M register which permits writing mes-
sages.

The following table shows the write range parameters.

Table G.27 Write Range Parameter List

Parameter Contents Description
PARAM12 Write range LO Start address of the write range
PARAM13 Write range HI Last address of the write range

Specify the write range so that the expression below is met:

0 ≤ Write range LO ≤ Write range HI ≤ Maximum address of M register

This write range is effective for the following function codes:

05H (changes single coil state)
06H (writes to single holding register)
0BH (writes to holding register (extended))
0EH (discontinuously writes to holding register (extended))
0FH (changes multiple coil states)
10H (writes to multiple holding registers)
31H (writes to fixed buffer)
33H (writes to the random access buffer)

Example: When setting the address of the M register which permits writing to 1000 to 1999:
PARAM12=1000
PARAM13=1999
The reception side will return an error against a write request to an address other than MW01000 to
MW01999, and will not write it.

( 12 ) Reserved by System 1 (PARAM14)

Used by system (the channel number of the communication buffer in use is stored).
Note: At the first scan during power up, make sure to set this to “0” by user program. After that, the register is
used by system, so do not change the value with the user program.

( 13 ) Reserved by System 2 (PARAM15, PARAM16)

Used by system. Do not change the value with the user program, etc.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

G.2.6 Function Setting and Parameter Details for MODBUS/TCP Protocol

This section explains the MSG-RCV function setting and its parameter list details when MODBUS/TCP is used as a
protocol.

( 1 ) Message Receive Function Setting

[ a ] 218IFA Setting Example
An example of a function setting when 218IFA is used as a transmission device follows:
Set the protocol type to MEMOBUS when used in MODBUS/TCP protocol.
Set the circuit number in accordance with the circuit number allocated to the target 218IFA.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to in G.2.2 ( 1 ) Input Item and G.2.2 ( 2 ) Output Item.

MSG-RCV
Communication device = 218IFA
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00016 Error DB000212
Circuit number = 1 Pro-Typ 00001

Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000-DW00016)

[ b ] 218IF Setting Example

An example of a function setting when 218IF is used as a communication device follows:
Set the protocol type to MEMOBUS when used in MODBUS/TCP protocol.
Set the circuit number in accordance with the circuit number allocated to the target 218IF.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.2.2 ( 1 ) Input Item and G.2.2 ( 2 ) Output Item.

MSG-RCV
Communication device = 218IF
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00006 Error DB000212
Circuit number = 1 Pro-Typ 00001

Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000-DW00016)

( 2 ) Process Result (PARAM00)

Refer to G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

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( 3 ) Status (PARAM01)
Refer to G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

( 4 ) Connection Number (PARAM02)

Refer to G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

( 5 ) Option (PARAM03)
A unique value is output for each communication device. The output details are as follows:

Communication device Output Details

Ethernet (218IF or 218IFA) A remote unit ID is output when MODBUS/TCP protocol is used.

( 6 ) Function Code (PARAM04)

Received function code is output.
The following table lists the function codes available when using the MODBUS/TCP protocol.
Table G.28 Function Code List (MODBUS/TCP)

Target Protocol Type

Function Code Function
Data Type Ethernet (218IF) Ethernet (218IFA)
00H – Not used – –
01H B Reads coil state √ √
02H B Reads input relay state √ √
03H W Reads holding register content √ √
04H W Reads input register content √ √
05H B Changes single coil state √ √
06H W Writes to single holding register √ √
07H
: – Not used – –
0EH
0FH B Changes multiple coil states √ √
10H W Writes to multiple holding registers √ √
11H
: – Not used – –
15H
16H W Mask writes to holding register – √
17H W Reads/Writes multiple holding registers – √

Note: 1. B: Bit type, W: Integer type

2. √: Available, –: Not available
3. Transmit and receive registers in the master operation mode are MW (MB) only.
4. In the slave operation mode, coil, holding register, input relay, and input register are MB, MW, IB, IW
respectively.
Appendices

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G.2 Message Receive Function (MSG-RCV)

( 7 ) Data Address (PARAM05)

A data address requested from the transmission side is output.
However, when reading/writing multiple holding registers (function code: 17H), enter a start M register number for the
address table. The four words of addresses at the beginning of the M register set by PARAM05 (data address) are used
as an address table. In this address table, read address, read size, write address, and write size requested from the trans-
mission side are output.
For more information about the address table, refer to G.1.6 Function Setting and Parameter Details for MODBUS/
TCP Protocol.

( 8 ) Data Size (PARAM06)

The read/write data size (number of bits or words) requested from the transmission side is output.

( 9 ) Remote CPU Number (PARAM07)

Refer to G.2.8 Relationship between Data Address, Data Size, and Offset for MSG-RCV Function.

( 10 ) Offset (PARAM08 to PARAM11)

Specify an offset address for the reception side data address.
The address for the reception side will be displaced by the number of words designated by the offset.
Note: 1. For more information, refer to G.2.8 Relationship between Data Address, Data Size, and Offset for
MSG-RCV Function.
2. The offset cannot be a negative value.

The offset parameter is prepared for each target data type.

The following table lists the offset parameters.
Table G.29 Offset Parameter List
Parameter Contents Description
PARAM08 Coil offset Sets the coil’s offset word address.
PARAM09 Input relay offset Sets the offset word address of an input relay.
PARAM10 Input register offset Sets the offset word address of an input register.
PARAM11 Holding register offset Sets the offset word address of a holding register.

The valid offset parameter may differ according to the function code.
The following table lists the valid parameters for each function code.
Table G.30 Valid Parameter List for Offset of Each Function Code

Valid Offset
Function Code Function
Parameter

01H Reads coil state PARAM08

02H Reads input relay state PARAM09
03H Reads holding register content PARAM11
04H Reads input register content PARAM10
05H Changes single coil state PARAM08
06H Writes to single holding register PARAM11
0FH Changes multiple coil states PARAM08
10H Writes to multiple holding registers PARAM11
16H Mask writes to holding register PARAM11
17H Reads/Writes multiple holding registers PARAM11

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( 11 ) Write Range (PARAM12, PARAM13)

Sets an available address range for the write request from the transmission side. A write request which is out of this
available address range will cause an error.
Specify the address range (PARAM12, PARAM13) as a word address.
Note: 1. In MP900/MP2000 series, the data storage area for the write request from the transmission side is the
M register.
2. The write range parameter enables you to specify the range of the M register which permits writing
messages.

The following table indicates the write range parameters.

Table G.31 Write Range Parameter List
Parameter Contents Description
PARAM12 Write range LO Start address of the write range
PARAM13 Write range HI Last address of the write range

Specify the write range so that the expression below is met:

0 ≤ Write range LO ≤ Write range HI ≤ Maximum address of M register

This write range is effective for the following function codes:

05H (changes single coil state)
06H (writes to single holding register)
0BH (writes to holding register (extended))
0FH (changes multiple coil states)
10H (writes to multiple holding registers)
16H (mask writes to holding register)
17H (reads/writes multiple holding registers)

Example: When setting the address of the M register which permits writing to 1000 to 1999:
PARAM12=1000
PARAM12=1000
PARAM13=1999
The reception side will return an error against a write request to an address other than MW01000 to
MW01999, and will not write it.

( 12 ) Reserved by System 1 (PARAM14)

Used by system (the channel number of the communication buffer in use is stored).
Note: At the first scan during power up, make sure to set this to “0” by user program. After that, the register is
used by system, so do not change the value with the user program.

( 13 ) Reserved by System 2 (PARAM15, PARAM16)

Used by system. Do not change the value with the user program, etc.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

G.2.7 Function Setting and Parameter Details for Non-procedural Protocol

This section explains the MSG-RCV function setting and its parameter list details when non-procedure is used as a pro-
tocol.
Note: Non-procedure communication protocol stores the received data in the M register intact without a proto-
col conversion.
You can receive any protocol in accordance with the remote device.

( 1 ) Message Receive Function Setting

[ a ] 218IFA Setting Example
An example of a function setting when 218IFA is used as a transmission device follows:
When non-procedure 2 (per byte) is used, set the Pro-Typ field to “00003”. (non-procedure 1 (per word))
Set the circuit number in accordance with the circuit number allocated to the target 218IFA.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.2.2 ( 1 ) Input Item and G.2.2 ( 2 ) Output Item.

MSG-RCV
Communication device = 218IFA
Execute DB000201 Busy DB000210

Protocol = non-procedure 1 Abort DB000202 Complete DB000211

Dev-Typ 00016 Error DB000212
Circuit number = 1 Pro-Typ 00001

Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000 to DW00016)

[ b ] 218IF Setting Example

An example of a function setting when 218IF is used as a communication device follows:
When non-procedure 2 (per byte) is used, set the Pro-Typ field to “00003”. (non-procedure 1 (per word))
Set the circuit number in accordance with the circuit number allocated to the target 218IF.
Set a unique communication buffer channel number for the same circuit.
For information on the register number, refer to G.2.2 ( 1 ) Input Item and G.2.2 ( 2 ) Output Item.

MSG-RCV
Communication device = 218IF
Execute DB000201 Busy DB000210

Protocol = non-procedure 1 Abort DB000202 Complete DB000211

Dev-Typ 00006 Error DB000212
Circuit number = 1 Pro-Typ 00001
Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000 to DW00016)

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( 2 ) Process Result (PARAM00)

The process result is output to the upper byte. The lower byte is used for system analysis.

Value of Process
Meaning
Result
00H In process (Busy)
10H Process completed (Complete)
8yH Error occurred (Error)

When an error occurs, investigate it by referring to the following error contents:

Value of Process
Error Contents Description
Result
80H – Reserved
81H – –
The following setting is out of range. Check the setting.
82H Error in setting address
PARAM11 (holding register offset)
83H Data size error The received data size is out of range. Check the source data size.
The circuit number is out of range. Check Cir-No (circuit number) of
84H Error in setting circuit number
the MSG-RCV function.
The communication buffer channel number is out of range.
85H Error in setting channel number Check Ch-No (communication buffer channel number) for the MSG-
RCV function.
The connection number is out of range. Check PARAM02 (connection
86H Connection number error
number).
87H – Reserved
An error response was returned from the communication section (com-
88H Communication section error munication device). Check the equipment connection. In addition,
check that the remote device is open to communication.
Unavailable device is set. Check Dev-Typ (communication device
89H Device select error
type) of the MSG-RCV function.

Appendices

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G.2 Message Receive Function (MSG-RCV)

( 3 ) Status (PARAM01)
Outputs status of the communication section (communication device). The following figure shows the bit assignment.
The bit assignment details are listed in the following tables.
F E D C B A 9 8 7 6 5 4 3 2 1 0

Bits 0 to 7
(d) PARAMETER
Bits 8 to B
(c) COMMAND

Bits C to E
(b) RESULT

Bit F
(a) REQUEST

[ a ] REQUEST (request)
Outputs whether MSG-RCV function is requesting a process.

Bit State Contents

1 Requesting to process
0 The acceptance of process request is completed

[ b ] RESULT (result)
Outputs the execution result of the MSG-RCV function

Code Abbreviation Meaning

In Ethernet communications, transmit error or connection error is com-
0 CONN_NG
pleted
1 SEND_OK Normal transmission completed
2 REC_OK Normal reception completed
3 ABORT_OK Forced abort completed
4 FMT_NG Parameter format error
5 SEQ_NG Command sequence error
6 RESET_NG Reset state
7 REC_NG Data reception error (error detected in the lower layer program)

[ c ] COMMAND (command)
Outputs a process command for the MSG-RCV function The executed process content can be found according to the
command.
Code (Hex) Abbreviation Meaning
1 U_SEND General-purpose message transmission
2 U_REC General-purpose message reception
3 ABORT Forced abort
Command transmission: Completed when response is received
8 M_SEND
(for MEMOBUS protocol)
Command reception: Accompanies a response transmission
9 M_REC
(for MEMOBUS protocol)
C MR_SEND Response transmission (for MEMOBUS protocol)

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G.2 Message Receive Function (MSG-RCV)

[ d ] PARAMETER (parameter)
When RESULT (process result) = 4 (FMT_NG: parameter format error), an error code in the following table is output.
Otherwise, the connection number is output.

RESULT (process result) Code (Hex) Meaning

00 No error
01 Connection number is out of range
Time error while monitoring to receive MEMOBUS response
02
(for MEMOBUS protocol)
When RESULT (process re-
sult) = 4 03 Error in setting retransmit count
(FMT_NG: parameter for- 04 Error in setting cyclic area
mat error) 05 CPU number error
06 Data address error
07 Data size error
08 Function code error (for MEMOBUS protocol)
Others xx Connection number

( 4 ) Connection Number (PARAM02)

Refer to G.2.4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols.

( 5 ) Data Size (PARAM06)

A data size requested from the transmission side is output.
In case of non-procedure 1, the number of words is output.
In case of non-procedure 2, the number of bytes is output.

( 6 ) Register Offset (PARAM12)

Specify an offset address for the reception side data address.
The address for the reception side will be displaced by the number of words designated by the offset.
Note: 1. For more information, refer to G.2.8 Relationship between Data Address, Data Size, and Offset for
MSG-RCV Function.
2. The offset cannot be a negative value.
In case of non-procedure, received continuous data is stored in the M register. Setting the register offset enables you to
specify a start address of the M register as a storage area.

Example: When specifying MW01000 for the start address of the M register for storing received data:
PARAM12=1000
Appendices

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G.2 Message Receive Function (MSG-RCV)

( 7 ) Write Range HI (PARAM13)

Sets an available address range for the write request from the transmission side. A write request which is out of this
available address range will cause an error.
Specify the write range (PARAM13) as a word address.
Note: The write range parameter enables you to specify the range of the M register which permits writing mes-
sages.

Specify the write range so that the expression below is met:

0 ≤ Write range HI ≤ Maximum address of M register

Example: When setting the last address of the M register which permits writing to 1999:
PARAM13=1999
The reception side will return an error against a write request to an address other than MW00000 to
MW01999, and will not write it.

( 8 ) Reserved by System 1 (PARAM14)

Used by system (the channel number of the communication buffer in use is stored).
Note: At the first scan during power up, make sure to set this to “0” by user program.
After that, the register is used by system, so do not change the value with the user program.

( 9 ) Reserved by System 2 (PARAM15, PARAM16)

Used by system. Do not change the value with the user program, etc.

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G.2.8 Relationship between Data Address, Data Size, and Offset for MSG-RCV
Function
The relationships between data address, data size, and offset when received with offset are as follows:

( 1 ) When Reading

MP2000 series (reception: slave) Remote device (transmission: master)

M register
MW00000

Offset A

Data address B
Data Data size C
IW
Data size C Data

Start address of
the read data

I register
IW00000
Data flow when reading
Offset A

Data address B

[MSG-RCV function] Parameter list

IW
Parameter list
Data size C Data
PARAM00
PARAM01
Start address of
the read data :

PARAM08
PARAM09
Offset A
♦ Transmission side sets the data address B and the data size C.
PARAM10
♦ In case of non-procedure, read cannot be received.
PARAM11
♦ The valid offset parameter may differ according to each data type.
PARAM12
♦ The data type and register correspond as follows: Write range
Coil: MB, holding register: MW PARAM13
Input relay: lB, input register: IW
:
Appendices

PARAM16

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( 2 ) When Writing

MP2000 series (reception: slave) Remote device (transmission: master)

Write range LO
M register
MW00000

Offset A

Start address of
the write data

Data address B
Data Data size C
MW
Data size C Data

Write range HI

Data flow when writing

♦ Transmission side sets the data address B and the data size C.
♦ In case of non-procedure, write cannot be received.
♦ The valid offset parameter may differ according to each data type.
♦ The data type and register correspond as follows:
Coil: MB, holding register: MW

Communication protocol = MEMOBUS Communication protocol = non-procedure

[MSG-RCV function] [MSG-RCV function]

Parameter list Parameter list

PARAM00 PARAM00
PARAM01 PARAM01

: :

PARAM08 PARAM08
PARAM09 PARAM09
Offset A
PARAM10 PARAM10
PARAM11 PARAM11
PARAM12 Offset A PARAM12
Write range
PARAM13 Write range PARAM13

: :

PARAM16 PARAM16

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Example: “Writes to multiple holding registers” with offset is received:

When “writes to multiple holding registers” with offset is received in MEMOBUS protocol, various setting values and the
relationship with the data of remote equipment are as follows:

• Description of the MSG-RCV function in ladder program

MSG-RCV
Communication device = 218IFA
Execute DB000201 Busy DB000210

Protocol = MEMOBUS Abort DB000202 Complete DB000211

Dev-Typ 00016 Error DB000212
Circuit number = 1 Pro-Typ 00001
Cir-No 00001
Communication buffer channel number = 1
Ch-No 00001
Parameter list start address = DA00000 Param DA00000
(use DW00000-DW00016)

• Parameter list setting of the MSG-RCV function

Table G.32 Parameter List Setting
Register Num- Setting Parameter Num-
IN/OUT Remarks
ber Value ber
DW00000 – PARAM00 OUT Process result
DW00001 – PARAM01 OUT Status
DW00002 00001 PARAM02 IN Connection number = 1
DW00003 – PARAM03 OUT Option (setting unnecessary)
DW00004 – PARAM04 OUT Function Code
DW00005 – PARAM05 OUT Data address
DW00006 – PARAM06 OUT Data size
DW00007 – PARAM07 OUT Remote CPU number
DW00008 00000 PARAM08 IN Coil offset = 0 word
DW00009 00000 PARAM09 IN Input relay offset = 0 word
DW00010 00000 PARAM10 IN Input register offset = 0 word
DW00011 01000 PARAM11 IN Holding register offset = 1000 words
DW00012 00000 PARAM12 IN Write range LO = 0
DW00013 65534 PARAM13 IN Write range HI = 65534
DW00014 – PARAM14 SYS Reserved (zero clear at startup)
DW00015 – PARAM15 SYS Reserved
DW00016 – PARAM16 SYS Reserved

Note: IN: Input, OUT: Output, SYS: For system use

Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.2 Message Receive Function (MSG-RCV)

• Relationship with the Remote Device Data

The following figure shows the data flow when receiving “writes to multiple holding registers” with offset:
When transmission and reception are carried out normally in the figure below, the data in the remote device is
stored in MW03000 and after of MP2300S.

MP2300S series (reception) Remote device (transmission)

Write range LO M register

MW00000

Offset
(1000 words) Data address
(2000 words)
MW01000

Data address Data size

Data
(2000 words) (100 words)

MW03000

Data size Data

(100 words)
MW03100

Write range HI

Fig. G.12 Writing Example to Multiple Holding Registers

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.3 Communication Buffer Channel

G.3 Communication Buffer Channel

A communication buffer channel is used for giving and receiving data between the MSG-SND/ MSG-RCV function
and communication device. This data buffer is composed of single or multiple channels, and each channel is distin-
guished by a communication buffer channel number.
The communication buffer channel is associated with a connection by setting the input item Ch-No (communication
buffer channel number) of the MSG-SND/ MSG-RCV function and PARAM02 (connection number) in Param (param-
eter list).

A connection is configuration information for communication between local and remote stations, and is set in the
218IF or 218IFA Parameter Setting Window of the MPE720 module configuration definition.

Fig. G.13 218IFA Parameter Setting Window for the MPE720 Module Configuration Definition

Fig. G.14 218IF Parameter Setting Window for the MPE720 Module Configuration Definition
A schematic diagram of the communication buffer channel is shown in the next page.
Appendices

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 Appendix G MSG-SND/MSG-RCV Functions (Ethernet)
G.3 Communication Buffer Channel

MP2300S Remote device #1 Remote device #2

Ethernet Ethernet Ethernet

Local IP Address Remote IP Address Remote IP Address
192.168.1.x 192.168.1.y 192.168.1.z

Ethernet

Network block diagram

The connection is set in the 218IFA

Parameter Setting Window of the MPE720
Module Configuration Definition Window.

MP2300S
Remote device #1
Ethernet (218IFA)
Local IP Address Connection setting
Ethernet
192.168.1.x - TCP Remote IP Address
- MELSEC 192.168.1.y
- ASCII
Automatic Communication CNO* = 01 Port No.
Receive buffer channel 20010
Port number
1
10010
MSG-SND 2
Function
3
Port number Connection setting
MSG-SND 4
10020 Remote device #2
Function - UDP
- Extended
CNO* = 02 Ethernet
MEMOBUS
MSG-RCV Remote IP Address
Function - BIN
192.168.1.z

The communication buffer Port No.

channel is associated with 20020
Port No.
the connection by setting 10030
the input item "Ch-No"
(communication buffer channel
number) of the MSG-SND/ Port No.
MSG-RCV function and 10040
PARAM02 (connection number)
in Param (parameter list).
* CNO: Connection number
Note: Maximum number of connections=4

Fig. G.15 Schematic Diagram for Communication Buffer Channel

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 Appendix H Optional Functions
H.1 Clearing D Registers at Startup

Appendix H Optional Functions

H.1 Clearing D Registers at Startup

( 1 ) Overview of Functions
D registers are internal registers that are unique for each user program. Normally, the D register data is not defined at
startup, but it is also possible to start with the data cleared. Specifically, the data cleared by this function is the D regis-
ters of DWG (drawings), user functions, and motion programs. Make the settings in the System Setting of the Envi-
ronment Setting Dialog Box. With the default settings, the D registers will not be cleared at startup.

( 2 ) Supported Versions
The following versions support function to clear D registers at startup.
• Controller: Version 2.32 or later
• MPE720: Version 5.21 or later
• MPE720 Version 6: All versions

( 3 ) Setting Procedure for Clearing D Registers at Startup

Use the following procedure to make the setting.

1. Connect the MPE720 online.

Select File (F) - Environment Setting - Setup.

2. Select Enable under the D Register Clear when Start.

Select Enable.

3. Save data to flash memory before turning OFF the power supply.
The system will start with the D registers cleared to zeroes the next time that the flash memory starts.

( 4 ) Application Precautions
• Due to the nature of this function, it will only be enabled when starting with flash memory after having set this
function to “enabled” and saving to flash memory.
Appendices

• It is not possible to clear the D registers for only a specific user program.
• No check is performed to see if the CPU Module supports the function to clear D registers at startup when the
MPE720 is offline. Therefore, confirm that the CPU Module that is being used supports the function to clear D
registers at startup before using this function.

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 Appendix H Optional Functions
H.2 Security

H.2 Security
( 1 ) Overview of Functions
Security functions set a password (security key) to prevent data saved in the Controller from being read by other par-
ties.

( 2 ) Supported Versions
The following versions support security functions.
• Controller: Version 2.32 or later
• MPE720: Version 5.21 or later
• MPE720 Version 6: All versions

( 3 ) Description of Functions
[ a ] Security Settings
• Only one security condition can be set for each Controller.
Note: 1. You cannot make separate security settings for each user that logs on.
2. This security function has no relation to the identify function in terms of user names and passwords
used to log on to the MPE720.
• Only users with writing privilege of level 7 or higher can make this security setting.

[ b ] Target data
• The following table shows the data that can be privacy protected.

Type Description Remarks

All types of drawings, as well as parent, child,
Ladder Drawings (DWG) and user functions (FUNC)
grandchild, and error drawings.
Motion program –
Motion
Sequence program –
Supported from version 2.31 of the embedded
C Language C language tasks and C language functions
API.
• You can place restrictions (e.g., copy protection) only on reading from the Controller.
Note: It is not possible to use the security functions to restrict writing to the Controller.
• You can place restrictions reading according to the reading privilege level of the application.
Note: File rights: Reading is restricted when R (the reading privilege level) is greater than or equal to the
restriction privilege level.

[ c ] Security Identification
• Security identification uses a security key of up to eight alphanumeric case-sensitive characters.
Note: If you forget the key, the security setting cannot be released unless memory is cleared. Keep a
record of the key in case you forget it.
• If the key that is entered is incorrect three consecutive times for the current security settings, it will not be possi-
ble to change any security settings without turning OFF and then ON again the power supply to the Controller.
• You can release the security without changing the security key setting.
Note: You can enable or disable security while the security key is set by selecting whether to restrict read-
ing of files. This is effective when you do not want other parties to make security settings.

[ d ] Precautions for Transfers

• The security settings are not transferred.
• The security settings are automatically canceled after batch transfers or batch loading are performed. After the
batch job has been completed, be sure to return the security settings to their previous state.
Note: If using controller software version 2.76 or later, the security settings are not canceled after batch
transfers or batch loading. If the INIT DIP switch for the controller is ON and then the power supply is
turned ON, however, the security settings will also be released. For details, refer to H.2 ( 6 ) Initial-
ization .

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 Appendix H Optional Functions
H.2 Security

( 4 ) Operation Procedure
[ a ] Opening the Security Setting Dialog Box
Make the security settings using the MPE720. The Security Setting Dialog Box will start when the Engineering Tool
goes online with the Controller.

1. Connect to the Controller online.

2. Select Online - Online Security Setting.

The following dialog box will be displayed in environments that support security settings.
Appendices

The figure above shows the default status.

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 Appendix H Optional Functions
H.2 Security

[ b ] New Security Settings

Make a new security setting in the Security Setting Dialog Box.

1. Select the Apply File Reading Restriction (Ladder/Motion/C Language) Check Box, and then
select a restriction privilege level from 0 to 7.

Note: The display depends on the conditions that are set.

2. Enter a password of eight or less alphanumeric characters in the Security Key Field. For confirmation,
enter the same password in the Security Key Confirmation Field. To apply the security settings to the
Controller, click the Set Button.

The following figure will be displayed if the security settings have been normally applied to the Controller.

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 Appendix H Optional Functions
H.2 Security

[ c ] Changing the Restriction Privilege

Change the restriction privilege with the security settings made.

1. Open the Security Setting Dialog Box and change the restriction privilege level to a number from 0 to
7.

2. Enter the password in the Security Key Field. To apply the security settings to the Controller, click the
Set Button.

If a change in restriction privileges has been normally applied to the Controller, the new restriction privilege level
will be displayed in the Current Status Area of the Security Setting Dialog Box.

Appendices

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 Appendix H Optional Functions
H.2 Security

[ d ] Changing the File Reading Restriction

Change the file reading restriction with the security settings made. In this example, we will release the restriction. To
set the restriction, use the same procedure. Having no file reading restriction set is the same as security being released.

1. Select or clear the Apply File Reading Restriction (Ladder/Motion/C Language) Check Box. Enter
the password in the Security Key Field, and then click the Set Button.

If the change in file reading restriction has been normally applied to the Controller, the status will change from
File Reading Restricted to No Security Setting in the Current Status Area.

[ e ] Changing the Security Key

The security key can be changed with the security settings made. This procedure will change only the security settings.

1. Open the Security Setting Dialog Box, and then click the Change the Security Key Button.

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 Appendix H Optional Functions
H.2 Security

A dialog box for changing the security key will be displayed as shown in the following figure.

2. Enter the set password in the Current Security Key Field. Enter the new password in the New Secu-
rity Key Field and New Security Key Confirmation Field. Click the OK Button to apply the change to
the Controller.

[ f ] Releasing Security
After removing the security settings, the settings will be reinitialized. No security restrictions will be applied.

1. Enter the set password in the Security Key Field, and then click the Set to None Button.

The text No Security Setting will be displayed in the Current Status Area if the security release has been nor-
mally applied to the Controller.
Appendices

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 Appendix H Optional Functions
H.2 Security

( 5 ) Security Operation
[ a ] Privilege Settings in User Applications
Privilege settings enable individually set reading privilege levels and writing privilege levels in the properties for each
application (i.e., ladder, motion, or C language).

The figure above shows the dialog box for ladder (DWG) properties.

[ b ] File Reading with Security Settings

The system will activate a security check if an attempt is made to read a user application with the MPE720 after secu-
rity settings have been made. If the reading privilege level of the application is equal to or higher than the security
restriction privilege level, an error will occur, and you will not be able to read the application. The same will occur
when a comparison is performed between the CPU Unit and MPE720.

Fig. E.1 This Error Message is Displayed If an Attempt is Made to Open a User Application
(i.e., ladder, motion, or C language).

( 6 ) Initialization
Set ON the INIT of DIP switch for the Controller and then turn ON the power supply. Memory will be cleared and
operation will start. The security settings will also be initialized.

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 Appendix H Optional Functions
H.2 Security

( 7 ) Security-related System Registers

The security setting status can be checked by using the following system registers.

Name Register Number Description

Security Status SW00506 0: No security, 1: Security set
File Reading Restriction Privilege
SB005070 to SB005073 SW00507=***xH
x: Restriction privilege level (0 to 7)
Security Reading SB005074 to SB005076
SW00507 Reserved by system.
Restriction Information
0: File reading not restricted
SB005077
1: File reading restricted
SB005078 to SB00507F Reserved by system.

( 8 ) Application Precautions
• The security settings data is saved in flash memory.
When starting from flash memory, an operation will be performed according to the status when data was saved to
flash memory. Therefore, be sure to save the data to flash memory after making the security settings if the Con-
troller will be started from flash memory.
• Security function does not apply when offline (i.e., when the MPE720 is used alone).
You cannot make security settings even if you log on offline. Manage offline data so that applications are pro-
tected from being disclosed.
• Always enter at least one alphanumeric character for the security key.
To ensure security, at least one alphanumeric character must be entered in the security key. Although no key can
guarantee foolproof security, you can increase the security of your key by entering a mixture of uppercase, low-
ercase, and numeric characters (e.g., A to Z, a to z, and 0 to 9).

Appendices

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 Appendix H Optional Functions
H.3 Battery Backup for Table Data

H.3 Battery Backup for Table Data

( 1 ) Overview of Functions
For the MP2000 Series, one table consists of the following three types of data.
1. Table definitions (e.g., definitions of table name, table type, number of columns, and number of rows)
2. Attribute definitions (e.g., definitions for column names, data type (size), and table type)
3. Table data
Normally, the data listed above is placed in volatile memory in the same way as drawings. Therefore, data will not be
held the next time operation is started unless the data has been saved to flash memory. To back up the data when the
power supply is turned OFF, you can place the table data (item number three above) into memory that is backed up
with a battery. This is called “battery backup memory.” You can access table data that has been backed up using this
function by following normal table data operation instructions.

( 2 ) Supported Versions
• Controller: Version 2.32 or later
• MPE720: Version 5.21 or later
• MPE720 Version 6: All versions

( 3 ) Battery Backup Memory Capacity

Capacity of battery backup memory: 512 KB (including data used by the system)

( 4 ) System Registers for Battery Backup Memory Capacity

Data related to battery backup memory is stored in the system registers given in the following table.

Name Register Number Remarks

Battery Backup Memory Remaining Capacity SL00640 Bytes
Battery Backup Memory Total Capacity SL00642 Bytes

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 Appendix H Optional Functions
H.3 Battery Backup for Table Data

( 5 ) Setting Procedure for Using Battery Backup Memory

Use the following procedure.

1. Open the Table Data Store Target Window from the MPE720.

2. Select File - Create New to open the Table Definition Dialog Box.

3. Select Battery Backup in the Table data store target List, and then click the OK Button.

The window for setting the column attribute definitions will be displayed.
Appendices

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 Appendix H Optional Functions
H.3 Battery Backup for Table Data

4. Enter the required data, and then click the Save icon.

The table data store target that was set in the Table Definition
Dialog Box will be displayed.

5. Return to the Table Data Store Target Window, and the following figure will be displayed.

Note: Table data will be displayed as shown below.

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 Appendix H Optional Functions
H.3 Battery Backup for Table Data

( 6 ) Precautions When Using Battery Backup for Table Data

a) When you have created table data or changed definitions using the battery backup function, always save the
data to the flash memory before turning OFF the power. Definitions for tables and column attributes are
stored in the volatile memory so data will be cleared if it is not saved to the flash memory before the power is
turned OFF.
b) Even if the table data is not saved to the flash memory before the power is turned OFF, the table data can still
be saved if battery backup memory is selected in the table data store target. Note that table data cannot be
saved if the battery is not installed or the voltage of the battery is too low. If the table data was not saved for
any of these reasons, you can return to normal operation if you initialize the table data.
c) When battery backup memory is selected in the table data store target, blocks are used as units for an area
reserved to store table data. If table data definitions are saved and deleted repeatedly, empty blocks will
remain. To avoid empty blocks, use MPE720 to save controller programs to the computer. Right-click on the
PLC folder and select Transfer - All Files - From Controller to MPE720. Then initialize the battery backup
memory and save the programs to the controller.
d) When you want to initialize the system, store the programs of the controller in a personal computer by using
MPE720 (right-click on the PLC folder and select Transfer - All Files - From Controller to MPE720). The
data in the battery backup memory will be cleared to zero if the power is turned ON after the dipswitch INIT
is set to ON.
e) If the table data store target is changed, all table data will be cleared to zero even if the data size remains the
same.

Appendices

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 Appendix I Installing MPE720 Version 6

Appendix I Installing MPE720 Version 6

 MPE720
MPE720 Version 6 (CPMC-MPE770) is the Engineering Tool for the MP2000-series Machine Controllers.
With this tool installed on a computer and with a connection to a controller through a Communication Module, you can
program, control, and monitor the controller from computer windows.

 How to Install
When you purchase MPE720 version 6, you will receive an installation CD-ROM.
Use this installation CD-ROM to install MPE720 version 6.
For the installation procedure, refer to the Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6
User's Manual (manual number: SIEP C880700 30).

 Version Upgrade
Version upgrade service is provided free of charge for two years after purchase. To receive a free version upgrade,
membership registration on the Yaskawa e-Mechatronics website and online user registration for MPE720 version 6 are
required. After you are registered, information on version upgrades will be sent to members by e-mail. Members can
download an upgraded version of the software from the Yaskawa e-Mechatronics website (http://www.e-mechatron-
ics.com) or send us the application form that is included with the installation CD-ROM of MPE720 version 6.

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 Index

INDEX communication with touch panel - - - - - - - - - - - - - - - - - - - - - - 6-65

compact flash card-related system registers
(CPU-02 and CPU-03 modules for the MP2200 only) - - - - - - - - A-14
Compatible
Inverters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7, 1-9
Symbols Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
*****I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-44 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7, 1-9
*****SERVO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-44 connection parameter- - - - - - - - - - - - - - - - - - - - - - - - - - 2-20, 2-25
# registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35 connection procedure- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
constants registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
Numerics control signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15, A-18
100Base-TX - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
10Base-T - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18 D
17-byte mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-42 D registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
215AIF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 daily inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
217IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 data registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
218IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 data types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
218IF-02 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 definition information updated with self-configuration - - - - - - - 5-50
218IFA module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12 details of program information used by work n - - - - - - - - - - - - 5-26
configuration definition - - - - - - - - - - - - - - - - - - - - - - - - - 2-15 details on interrupting module - - - - - - - - - - - - - - - - - - - - - - - - A-15
detailed screen - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16 difference between Ethernet (LP) and Ethernet - - - - - - - - - - - - A-50
functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12 differences from SVB simulation mode - - - - - - - - - - - - - - - - - 2-50
Specification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13 DIN rail mounting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
260IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 DIN rail mounting clips - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
261IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 DIN Rail Mounting Parts - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
262IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 DIP switch settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
263IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 direct designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
32-byte mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-42 distributed synchronizing system - - - - - - - - - - - - - - - - - - - - - - - 1-6
DO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63
A double-length integer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12 drawing A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
address- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 drawing execution control - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31
AI-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 drawing H - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
alarm code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-18 drawing I - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
allocation contact interlock - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 drawing L - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
AO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 DWG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
ARP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13 DWG registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
automatic negotiation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13 DWG.A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
automatic receive setting screen - - - - - - - - - - - - - - - - - - - - - - - 2-23 DWG.H - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
DWG.I- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
B DWG.L - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
basic module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3 E
connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12 EEPROM- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-21
indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8 encoder cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11 Ethernet- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
switch settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9 communication methods- - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12 Ethernet cable- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
replacing the battery- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 Ethernet connection example - - - - - - - - - - - - - - - - - - - - - - - - 3-19
bit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 Ethernet connector details- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
block number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-18 executing main program No. - - - - - - - - - - - - - - - - - - - - - - - - - A-18
built-in SVB module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31 executing motion- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
external function registers- - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
C
cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10, 3-15 F
child drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30 fixed parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-37
CNTR-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 flash memory - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-21
communication buffer channel - - - - - - - - - - - - - - - - - - - - - - - A-119 function input registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
communication cycle - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-42 function output registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
communication interface- - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13 function registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
Communication Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63 functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30, 5-34
communication protocols - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
communication with other MP series - - - - - - - - - - - - - - - - - - - - 6-3 G
communication with PLC manufactured grandchild drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
by Mitsubishi Electric Corporation - - - - - - - - - - - - - - - - - - - - - 6-75 groups - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

Index-1
 Index

H motion control function specifications- - - - - - - - - - - - - - - - - - - - 2-5

motion control functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-35
hierarchical structure of drawings - - - - - - - - - - - - - - - - - - - - - - 5-32
Motion Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62
how to determine input error - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
motion parameter details- - - - - - - - - - - - - - - - - - - - - - - - - - - - A-37
how to determine slave CPU synchronous state- - - - - - - - - - - - - 7-15
motion program- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
how to operate work register - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
a way to control a motion program via a sequence or
how to use scan counter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
ladder program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
I calling a motion program - - - - - - - - - - - - - - - - - - - - - - - - 5-11
executor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-51
I/O errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
monitor the motion program execution information- - - - - - - 5-24
I/O map tab - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-45
program numbers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
I/O message - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-25, 2-27
starting from an external signal - - - - - - - - - - - - - - - - - - - - 4-13
ICMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
status flag - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
indirect designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
mounting clamp- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
INIT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43
mounting to DIN rail - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
INIT switch and RAM data - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43
MP2300S
initializing the absolute encoder - - - - - - - - - - - - - - - - - - - - - - -A-31
appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-64
input registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
error check flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
Input/Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63
Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
installing MPE720 version 6 - - - - - - - - - - - - - - - - - - - - - - - - A-134
general specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
integer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
internal function registers - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
interpolation override - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
mount direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
interrupt status list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-15
product specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
IP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
space required for mounting - - - - - - - - - - - - - - - - - - - - - - - 3-8
J when the MP2300S acts as master
JZSP-BA01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 (I/O message communication function is used)- - - - - - - - - - 6-36
when the MP2300S acts as master
L (ladder program which uses a MSG-SND function)- - - - - - - 6-49
ladder drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30 when the MP2300S acts as slave
LAN cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 (automatic receive function is used) - - - - - - - - - - - - - - - - - - 6-3
LED indicator meanings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3 when the MP2300S acts as slave
(ladder program which uses a MSG-RCV function) - - - - - - 6-17
link assignment tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-44
MPE720- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
LIO-01/ LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63
MSG-RCV - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-87
LIO-04/ LIO-05 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63
MSG-SND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-52
LIO-06 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63
MSG-SND/MSG-RCV functions - - - - - - - - - - - - - - - - - - - - - - A-52
M multiple group operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
main program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-6, 5-27
N
management to resume slave CPU synchronization - - - - - - - - - - 7-24
Non-procedure Receive Buffer Mode Selection - - - - - - - - - - - - 2-13
maximum number of slave stations - - - - - - - - - - - - - - - - - - - - - 2-37
MECHATROLINK O
cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
online self-diagnosis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
communication specifications - - - - - - - - - - - - - - - - - - - - - 2-37
operation error processing drawings - - - - - - - - - - - - - - - - - - - - 5-30
connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
operation errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
transmission definition - - - - - - - - - - - - - - - - - - - - - - - - - - 2-40
operation start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
MECHATROLINK-I/II Compatible Devices
operation stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
option module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62
MECHATROLINK-III Compatible Devices - - - - - - - - - - - - - - - - 1-9
option module overview list - - - - - - - - - - - - - - - - - - - - - - - - - 2-62
MELSEC protocol - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-75
optional cover - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12, 3-11
message communication - - - - - - - - - - - - - - - - - - - -2-19, 2-20, 2-22
optional modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
message receive function (MSG-RCV) - - - - - - - - - - - - - - - - - -A-87
installing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
message transmit function (MSG-SND) - - - - - - - - - - - - - - - - - -A-52
removing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
metal fittings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-65
optional SVB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31
metal fittings for attachment- - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
M-EXECUTOR module - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-51
output registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
configuration definition- - - - - - - - - - - - - - - - - - - - - - - - - - 2-53
control register mapping window - - - - - - - - - - - - - - - - - - - 2-57 P
execution scheduling - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-60 parent drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
function overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-51 PLC function specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
program definition screen - - - - - - - - - - - - - - - - - - - - - - - - 2-55 PO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62
program execution registration screen - - - - - - - - - - - - - - - - 2-59 power supply connector - - - - - - - - - - - - - - - - - - - - - - - - 1-12, 3-13
specification - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-52 precaution on using MP2300S - - - - - - - - - - - - - - - - - - - - - - - - 5-53
module synchronization errors (ver.2.75 or later)- - - - - - - - - - - - 9-10 precautions when setting or changing the scan time- - - - - - - - - - 5-55
monitoring parameter list- - - - - - - - - - - - - - - - - - - - - - - - - - - -A-44 precautions when user definition file is configured/changed - - - - 5-53

Index-2
 Index

problem classification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4 SVC-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62

processing time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-50 SVR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-48
program control method - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-52 SVR execution timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-50
program current position - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-18 symbol designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
program number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-18 synchronization between modules - - - - - - - - - - - - - - - - - - - - - 2-33
programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 system
programming tool - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12 register lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
service registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
R status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-7
RAM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-21 work - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-18
real number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 system configuration example - - - - - - - - - - - - - - - - - - - - - 1-5, 2-32
recommended ferrite core - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-21 system connection example- - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
register designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40 system error
register number direct designation - - - - - - - - - - - - - - - - - - - - - 5-40 I/O error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-13
registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35 if a system error occurs - - - - - - - - - - - - - - - - - - - - - - - - - 9-11
regular inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-8
repeater - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-37 system registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
repeater HUB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19 System Service Execution Status - - - - - - - - - - - - - - - - - - - - - - A-11
RLY OUT Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12 system startup- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
RLY OUT connector executing motion - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
connection cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22 programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22 self configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
test run - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
S
wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
S register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
system work number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
scan processing drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31
scan time set value examples - - - - - - - - - - - - - - - - - - - - - - - - - 5-56 T
screwed method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5 TCP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
SDRAM- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-21 terminating resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
self configuration of each module- - - - - - - - - - - - - - - - - - - - - - 5-47 terminator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12, 3-15
self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4, 5-41 total number of system works - - - - - - - - - - - - - - - - - - - - - - - - 5-17
procedure using MPE720 - - - - - - - - - - - - - - - - - - - - - - - - 5-44 transmission bytes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-42
procedure using the DIP switch - - - - - - - - - - - - - - - - - - - - 5-42 transmission distance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-38
self-configuration for all the modules - - - - - - - - - - - - - - - - - - - 5-44 transmission parameter tab - - - - - - - - - - - - - - - - - - - - - - - - - - 2-41
self-diagnosis at startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 troubleshooting details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
sequence program - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-51, 5-27
alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29 U
calling a sequence program - - - - - - - - - - - - - - - - - - - - - - - 5-28 UDP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
program numbers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27 user functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
status flag - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29 user operation error codes 1 - - - - - - - - - - - - - - - - - - - - - - - - - A-10
SERVOPACK initialization - - - - - - - - - - - - - - - - - - - - - - - - - - A-30 user operation error codes 2 - - - - - - - - - - - - - - - - - - - - - - - - - A-11
setting or changing module configuration definition files - - - - - - 5-54 user operation error status- - - - - - - - - - - - - - - - - - - - - - - - - - - A-10
setting parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-39 user operation error status details - - - - - - - - - - - - - - - - - - - - - - A-12
Simple Connection Function of the Engineering Tool - - - - - - - - A-48 user programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
simple setting screen - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22, 2-27
single group operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
V
slave CPU synchronous delay time - - - - - - - - - - - - - - - - - - - - - 7-16 virtual motion module
slave CPU synchronous function - - - - - - - - - - - - - - - - - - - - - - - 7-2 SVR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-48
how to execute - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
W
how to set up - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9 watchdog timer timeout errors- - - - - - - - - - - - - - - - - - - - - - - - 9-10
wild card I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-44
requirements to execute - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
wild card servo - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-44
SRAM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-21
standard system functions - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34 without using a ladder program - - - - - - - - - - - - - - - - - - - - - - - 2-51
work register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13, 5-29
startup sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-18
status tab page- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-45
sub program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6, 5-27
subscripts i, j- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62
SVB definition window - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-46
SVB Module
features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-35
SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62

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 C880732 00A <0>-1

WEB revision number
Revision number
Published in Japan September 2009
Date of publication

WEB
Rev.
Date of Publication Rev. Section Revised Contents
No.
No.
May 2020 <4> 1 1.5, 2.2.5 (2) (a), Partly revised.
3.2, 4.2.1 [ a ],
4.5.2, A.2
Back cover Revision: Address
March 2018 0 2.1.1 Revision: Noise resistance
December 2017 <3> 0 1.2.2 Addition: CC-Link IE Field Communication Module
1.4.1 (3) Revision: Model numbers
1.4.2 (1) Addition: SGD7W-20
1.5.1 Partly revised
2.1.1 Revision: Pollution Level, Noise Resistance
Back cover Revision: Address
February 2017 <2> 2 5.3.1 (1) Revision: Notes for DWG Registers
Appendix H.1 (1) Revision: Description of Clearing D Registers at Startup
Back cover Revision: Address
July 2016 1 Front cover Revision: Format
1.2.2 Revision: MP2300S Modules
1.3 Revision: Option modules
1.4 Revision: Devices Connectable to MECHATROLINK-I/II/III
1.5 Revision: Cables, Accessories and Options, and Software
Back cover Revision: Address and format
March 2015 <2> 0 1.5.1 Revision: Sumitomo 3M → 3M Japan Limited
1.5.2 Revision: Description of RLY OUT connector and DIN rail mounting parts
Back cover Revision: Address
August 2013 <1> 2 1.5.2 Addition: Description of optional cover
Back cover Revision: Address
May 2012 1 3.2.3 Revision: MECHATROLINK connector model
December 2011 0 – Based on the Japanese user's manual,
SIJP C880732 00D<6>-0, published in October 2011
Front cover Revision: Format
All chapter Completely revised
Back cover Revision: Address, format
 WEB
Rev.
Date of Publication Rev. Section Revised Contents
No.
No.
June 2010 <0> 3 2.2.2 (2) Revision: Description of status of IP
April 2010 2 1.5.1 Revision: Application of MP2300S Basic Module and SVB-01
Revision: Model of MP2300S Basic Module and SVB-01
JEPMC-W6011- → JEPMC-W6010-
2.2.3 Addition: Allowable Power Loss Time
4.2.2 Addition: Step 6
4.4.1 Addition: Description of Note
5.2.2 (5) [b] Revision: Description in parentheses of MSEE work resisters address
hexadecimal number → decimal number
5.2.4 (1), (3) Revision: Types of Drawings
FSTART command → FUNC command
6.2.4 (1) Revision: Parameter list setting example for the message transmit function
MW00000 → MW00400
connection number = 1 → connection number = 3
6.3.1 (1) Revision: The other device to be connected in step 4  and 
MP2300 → touch panel
8.2.4 (5) [c] Revision: Table 8.4 Ladder Program User Operation Error Codes 2
06DH: PD → 06EH: PD
September 2009 1 Preface Addition: Warranty
Back cover Revision: Address
November 2007 0 – First edition
Machine Controller MP2300S
Basic Module
USER’S MANUAL

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan
Phone: +81-4-2962-5151 Fax: +81-4-2962-6138
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Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310
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Phone: +49-6196-569-300 Fax: +49-6196-569-398
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Phone: +82-2-784-7844 Fax: +82-2-784-8495
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Phone: +65-6282-3003 Fax: +65-6289-3003
www.yaskawa.com.sg

YASKAWA ELECTRIC (THAILAND) CO., LTD.

59, 1F-5F, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0799
www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, Link Square 1, No.222, Hubin Road, Shanghai, 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1, East Chang An Avenue,
Dong Cheng District, Beijing, 100738, China
Phone: +86-10-8518-4086 Fax: +86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
12F, No. 207, Section 3, Beishin Road, Shindian District, New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519
www.yaskawa.com.tw

In the event that the end user of this product is to be the military and said product is to
be employed in any weapons systems or the manufacture thereof, the export will fall
under the relevant regulations as stipulated in the Foreign Exchange and Foreign
Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications
and improvements.
© 2007 YASKAWA ELECTRIC CORPORATION

MANUAL NO. SIEP C880732 00C <4>-1

Published in Japan May 2020
19-10-16
Original instructions