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Machine Controller MP2000 Series EtherCAT

1. 5 7 5 3 4 Data Refreshing at CPU STOP 5 8 5 4 Mailbox Communication Message Communication 5 8 5 4 1 System Messages 5 8 5 4 2 User Messages 5 8 Operation Specifications of the Module 5 1 5 1 Connection 5 1 1 Node Setting 5 1 Connection 5 1 1 Node Setting For the 264IF 01 Module that is a slave device in EtherCAT systems the communication parameter settings and I O data allocations are made using an MPE720 connected to an MP2000 Series Machine Controller CPU For the EtherCAT master device the device description files provided by the vendors of each of the slave devices are installed and the slave node information is configured using a configuration tool for example TwinCAT made by Beckhoff Inc If there is a mismatch between the configuration information of the slave set at the master node and the slave node information of the 264IF 01 Module the 264IF 01 Module is not recognized by the master node and a communication error occurs EtherCAT master device MP2000 Series Machine Controller 264IF 01 module RJ 45 P CPU S RJ 45 USB Personal Personal computer computer Configuration tool e g TwinCAT by Beckhoff Inc dd 2
2. Name Register No Remarks Error Count SW00200 Number of I O error occurrences Number of Input Errors SW00201 Number of input error occurrences Input Error Address SW00202 Address of the latest input error IWxxxx register number Number of Output Errors SW00203 Number of output error occurrences Output Error Address SW00204 Address ofthe latest output error OWxxxx register number SW00205 Reserved by System 5 00206 Not used SW00207 SW00208 to SW00215 Slot 0 error status Depends on the mounted module and error code SW00216 to SW00223 Reserved by the system I O Error Status SW00224 to SW00231 Slot 1 error status Depends on the mounted module and error code SW00232 to SW00239 Slot 2 error status Depends on the mounted module and error code SW00240 to SW00247 Slot 3 error status Depends on the mounted module and error code 4 MP2310 Machine Controller 6 2 System I O Error Status 6 2 1 System I O Error Status by Controllers Name Register No Remarks Error Count SWO00200 Number of I O error occurrences Number of Input Errors 5 00201 Number of input error occurrences Input Error Address SW00202 Address of the latest input error IWxxxx register number Number of Output Errors SW00203 Number of output error occurrences Output Error Address SW00204 Address of the latest output error OWxxxx register number
3. Hardware error Normal EtherCAT communication EtherCAT communica sons EtherCAT communica NS Green tion status E AE tion status OPERATIONAL SAFE OPERATIONAL INIT flashing 1 s Red L A1 Green Link up Transmission in progress Link down L A2 Green Link up Transmission in progress Link down 2 4 3 Switch Settings The following table shows the switches mounted on the 264IF 01 Module Table 2 5 Switch Settings TEST OFF ON Label Switch No Name Status Function Setting Program loading selection ON Reserved by the system OFF 2 at shipment OFF Always set to OFF ON Test mode Operating mode selection Normal operation mode OFF 1 OFF Always set to OFF except when performing a self diagnosis test 2 4 4 Offline Self diagnostic Test The offline self diagnostic test will be performed if the power is turned ON when the TEST switch is set to ON and all other switches are set to OFF If the result of self diagnosis is normal the lamps light and go off in the following repeated sequence RUN lights ERR lights NS lights in green NS lights in red all lamps go off If the offline self diagnostic test finds a problem in the 264IF 01 Module the indicators will be as shown in the follow ing table Always set the unused switches No 3 4 to OFF Table 2 6 Offline Self diagnostic Test Indicator
4. 23 system messages 5 8 T topology 54 network topology 12 TwinCAT System A3 U user messages 5 8 watchdog timeout 4 5 Index 2 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP C880700 42A Published in Japan October 2009 09 10 Date of Date of original publication publication of Section Revised Contents Publication October 2009 x First edition Machine Controller MP2000 Series EtherCAT Module 264 2 01 USER S MANUAL IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 800 YASKAWA 800 927 5292 or 1 847 887 7000 Fax 1 847 887 7370 YASKAWA EL TRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Sao Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH HauptstraBe 185 65760 Eschborn Germany Phone 49 6196 569 300 Fax 49 6196 569 398 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 Y
5. 1 4 2 3 5 8 mapping address 5 6 message messagebox 44 message communication 1 4 5 8 message function 5 8 sending 3 18 system message communication 23 system messages 5 8 usermessages 5 8 module configuration window 42 displaying 42 module status 62 module status indicators LED 2 5 mounting an Ethernet card 3 11 3 15 720 3 21 720 versions 3 2 negative value representation 327 network number 3 24 network parameters 4 5 network topology 1 2 node 1 2 number allocation 2 6 setting 52 option cover 3 3 3 4 3 7 output error address 63 output registersetting 4 6 P parameter 4 5 communicati
6. 2 7 2 4 Overview 2 8 2 4 1 Appearance 2 8 2 4 2 Status Indicators LEDs 5 5 5 5 5 2 9 2 4 3 Switch 05 2 9 2 4 4 Offline Self diagnostic Test 2 9 2 5 Communication Connector Specifications 2 10 2 5 1 EtherCAT Connector CN1 2 Specifications 2 10 2 5 2 Cable Specifications 2 10 3 Mounting and Starting the Module 3 1 3 1 Applicable Machine Controllers and Supported Versions 3 2 3 1 1 Applicable Machine Controllers 3 2 3 1 2 Supported CPU and MPE720 Versions 3 2 3 2 Mounting and Removing a Module the Machine Controller 3 3 3 2 1 Mounting a 264IF 01 Module 3 3 3 2 2 Removing a 264 01 Module 3 6 3 3 Setting the Communication Manager 3 8 3 3 1 Opening the Communication Manager 3 8 3 3 2 Setting the Com
7. Software Version 00890 1 Details of the Status tab page The following explains each item displayed on the Status tab page CD EtherCAT S Communication Displays the status of EtherCAT The same information as shown by the NS status LED is shown here The actual indications are as follows Non INIT INIT PRE OPERATIONAL SAFE OPERATIONAL OPERATIONAL Data Available Flag Displays the process data communication status after turning the power ON Enable EtherCAT process data is communicated Disable EtherCAT process data is not communicated This is a flag that informs the user whether not process data communication has started It is not a flag that is enabled upon reception of any particular process data from the EtherCAT master device To check the reception of any particular process data from the EtherCAT master device make some provision in the application for example providing a data refresh bit in the process data Vendor ID Displays Yaskawa s YaskawaE JP vendor ID Product Code Displays the product code of the 264IF 01 Module 5 Software Version Displays the software version of the 264IF 01 Module For Ver 1 00 1 00 is shown EtherCAT Transmission Definition 4 7 4 8 4 2 EtherCAT Transmission Definition 4 2 2 Status Tab Page 2 Communication phases The communication phases and their descriptions are listed below Status Description Non INIT
8. 3 20 3 5 Starting the MPE720 and Setting Communication or Network Parameters 3 21 3 5 1 Starting MPE720 Ver 6 and Setting Communication 3 21 3 5 2 Starting MPE720 Ver 5 and Setting the Network 3 22 3 6 Displaying a Register List and Notes at Register Input 3 25 3 6 1 Displaying a Register List 3 25 3 6 2 Notes at Register Input 3 27 Mounting and Starting the Module 3 1 3 1 Applicable Machine Controllers and Supported Versions 3 1 1 Applicable Machine Controllers 3 1 Applicable Machine Controllers and Supported Versions 3 1 1 Applicable Machine Controllers The MP2000 Series Machine Controllers to which the 264IF 01 Modules can be mounted are listed in the following table Max No of Name Model Connectable Remarks Modules Base Unit with 100 200 VAC input JEPMC BU2200 dice M d The maximum number of connectable Modules MP2200 using the CPU 01 is the total for the maximum expansion to four Base Unit with eT CPU 02 CPU 03 or Racks acks 24 VDC input CPU 04 MP2300 JEPMC MP2300 2 modules MP2310 JEPMC MP2310 E 3 modules 23005 JEPMC MP2300S E 1 module MP2100M JAPMC MC2140 8 modules The 264IF 01 Modules can be mou
9. Initial Status e _ Hn Waiting for NS lights according to changes in the connection Green initial settings status following the EtherCAT specifications The L A1 and L A2 indicators light according to the connection status The status in which the Module is performing e ae Normal e Operating EtherCAT communication normally Green normally The L A1 and L A2 indicators light according to the connection status NS lights in accordance with the EtherCAT state machine W State machine Communication Ethereal E 9 communica INIT rror Green tion status PRE OPERATIONAL SAFE OPERATIONAL OPERATIONAL Number of flashes on error occurrence Major 1 ROM diagnostic error e hardware 2 RAM diagnostic error failure 3 Shared memory error 4 Communication ASIC diagnosis error Number of flashes on error occurrence Module 3 Address error reading exception Abnormal 4 Address error writing exception Maj 5 FPU exception IS 6 General illegal command exception software error 7 Illegal slot command exception 8 General FPU suppression exception 9 Slot FPU suppression exception 15 Watchdog time timeout Notlit Lit Flashing Indefinite The NS LED indications conform to the EtherCAT specifications 6 2 System Error Status 6 2 1 System I O Error Status by Controllers 6 2 System Error Status 6 2 1 System Err
10. Logica PTkind DuaL Physca Devce Timeout ro Serial 10000 Saving the Communication Port Settings and Restarting the Communication Manager Save the communication port settings and restart the Communication Manager to validate the settings 1 Select File Save A save confirmation dialog box will be displayed Click the Yes button to save the communication port settings Communication Manager x File view Tool Control Modem pep a aI 2 The Information will be Saved Are You Ready Setting 59 These settings will be used as the communication port information whenever the Communication Manager is started 2 Close the Communication Manager window and restart to validate the settings Select File Exit to close the Communication Manager window A confirmation dialog box will be dis played Click the Yes button to close the Communication Manager window Communication Manager xj File View Tool Control Modem He det Setting pay 22 OK to Close Save No 3 10 2 a b 3 3 Setting the Communication Manager 3 3 2 Setting the Communication Manager 3 Double click the Communication Manager icon in the YE_Applications folder to reopen the Com munication Manager window YE_Applications mj x File Edit View Favorites Tools Help EI gt gt 54 Gisearch 544 Um GE X a gt Addre
11. 1 Reference 1 Coil List amp iReaster List 1 Enterthe drawing number for the D register as follows Register 0 00000 nwi Sa E Output Bitransfer JWatch 1 X cross Reference 1 OForce Coil List Register List 1 The data type is set by default to decimal Place the cursor anywhere in the list and then right click Select Hex hexadecimal from the pop up menu that appears The data will then be displayed in hexadecimal Mounting and Starting the Module 3 25 3 6 Displaying a Register List and Notes at Register Input 3 6 1 Displaying a Register List 2 MPE720 Ver 5 00 Use the following procedure to display the MPE720 Ver 5 00 register list 1 Select File Open Tool Register List from the MPE720 5 00 main menu of the Engineering Manager window to open the Register List window Fg Engineering File View Help File Manager Ctrl F gr E Program LU NEU Exit C Register Cross Reference Define Data Table Disabled Coil List Motion Program Comment List Register Replace Import Axis Comments Referto 4 1 1 Displaying the Module Configuration Window for details on how to display the Engineering Manager window 2 Enter the leading register number MW xxxxx or DWxxxxx to be accessed in the Register No input field enter the final register number to be accessed in the
12. gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 3 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt 2 lt gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 4 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt lt gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SublIndex gt 5 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input4 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Define the final data 32nd item Define the send process data The send process data is the data that is sent lt lt from slave nodes to the master node Index x1a00 is fixed E For Name specify a character string of your choice Define the data of each word within lt Entry gt lt Entry gt lt lt e Index x2004 is fixed For SubIndex assign numbers in the order 1 2 3 so that there are no duplications For Name data name assign a name of your choice Data Type is fixed as UINT unsigned 16 bit lt Define the next send data Create a lt Entry gt lt Entry gt of a size equivalent to input size E Appendices A 13
13. uw MPE720 264 01 No serial port RS 232C has been mounted MP2300 controller There is no serial port RS 232C 2641 01 2 2 Specifications This section provides specifications for the 264IF 01 Module 2 2 1 Hardware Specifications Table 2 1 Hardware Specifications of the 264IF 01 Module 2 2 Specifications 2 2 1 Hardware Specifications Item Specifications Name 264IF 01 Model 2305 Communication Port EtherCAT slave station 1 channel 2 ports Module status indicators LED Indicators RUN green ERR red NS red green L A1 green L A2 green Switch TEST Dimensions mm 125 x 95 mm H x D Mass 80g 264IF 01 Module 2 5 2 6 2 2 Specifications 2 2 2 Transmission Specifications 2 2 2 Transmission Specifications Table 2 2 Transmission Specifications of the 264IF 01 Module EtherCAT Physical Layer Item Specifications Remarks Baud Rate 100 Mbps full duplex Standard Specification IEEE802 3u CATSe STP Communications Medium i i a straight cable or cross cable can be fied by the AUTO MDIX function Connection Method Line type connection Distance between Nodes 100m Communication Port 1 channel 2 ports EtherCAT Communication Master Slave Slave None not necessary to write a MAC MAC Address address IP
14. PT Kind DUAL Physica Device Timeout mo 1 Serial COMI 10000 gt 1 10000 3 4 5 Save the settings and restart the Communication Manager Refer to Saving the Communication Port Settings and Restarting the Communication Manager for the proce dure 3 Setting the Ethernet LP Communication Port These are the optimum settings to perform engineering via the Ethernet communication port of the 2181 02 Module For Ethernet connection a general purpose Ethernet board or PCMCIA Ethernet card must be mounted on the personal computer Prior to make settings the IP address of the personal computer must be set The Ethernet LP communication port can be connected to the 218IFB function of the 218IF 02 Module It has a larger engineering message size in comparison to previous Ethernet communication ports enabling high speed engi neering communication The port type and Modules that can be used together are given in the following table Port Type Module 218IF 01 218IF 218IF 02 218IFB CP 218 Ethernet Ethernet LP x a Mounting an Ethernet Card Mount a general purpose Ethernet board or PCMCIA Ethernet card on the specified connector of the personal com puter Also install the driver provided with the Ethernet card b Setting the IP Address Set the IP address of the personal computer using the procedure given in 3 3 2 2 b Setting the IP Address c
15. Appendix Device Description File Entry lt Index gt x2004 lt Index gt lt SubIndex gt 6 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input5 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 7 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input6 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 8 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input7 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 9 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input8 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 10 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input9 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 11 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt 0 lt gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 12 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input11 lt Name gt lt DataType gt UINT lt DataType gt lt Entry
16. Connect to a TwinCAT System by following the procedure below 1 2 3 Display the main window of TwinCAT System Manager of the master device Select File New from the main menu Check that Config Mode appears at the bottom right of the window If Config Mode is not present select Actions Set Reset TwinCAT to Run mode from the main menu then set to Config Mode Click the Choose Target button 9 5 x 2 64 96 2 SYSTEM Oanfiguration General Boot Settines Configuration Cam Configuration 10 Configuration B 1 0 Devices TwinCAT System Manager C Choose Tareet Mappings 2 v210 Build 1357 Twin AT v2 10 Build 1319 time limited to 2009 03 15 Copyright BECKHOFF 1996 2007 http www beckhoff com Registration Name Company Reg Key Ready Local 192 168 1 31 The Choose Target System dialog box will be displayed E Appendices gt 4 Appendix Connecting TwinCAT System 5 Click the Search Ethernet button Choose Target System Local 921681311 Search Ethernet D C Set as Default Connection Timeout The Add Route Dialog dialog box will be displayed 6 Set the IP address of the embedded PC in the Host field T Click the Ether Host Name IP button Add Houte Dialog C Enter Host Name 67552544821 0 Refresh Status Broadca
17. Select Rack Enable Disable Disable Disable Disable _ Controller Click Rack 1 Rack 2 Rack Rack Slot Number 00 02 Module Type 02 sv amp 01 gt 2641 01 _ gt UNDEFINED gt UNDEFINED UNI VCI 2641F 01 This module has EtherCAT S function Module Details 264 01 SLOTHO2 1 2 2 Double click Module Type EtherCAT S Circuit Number 4 In the Controller area select the 264IF 01 cell and then double click the slot number cell of EtherCAT in the Module Details area The EtherCAT Transmission Configuration window refer to the next page will then open If the Transmission Configuration window is being opened for the first time a new file message box will be dis played and the EtherCAT Transmission Configuration window will open when the OK button is clicked In Online Mode the EtherCAT transmission definition data saved in the Machine Controller is displayed In Offline Mode the EtherCAT transmission definition data saved in the personal computer on which MPE720 is running is dis played Refer to 4 2 EtherCAT Transmission Definition to perform EtherCAT transmission definition settings 4 2 EtherCAT Transmission Definition 4 2 1 Transmission Parameters Tab Page 4 2 EtherCAT Transmission Definition The EtherCAT Transmission Configuration window has two tab pages namely Transmission Parameter
18. There is a risk of an accident Do not subject the product to strong shock There is a risk of an accident B wiring N 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 is sup plied within the specified voltage range There is a risk of device damage Install breakers and other safety measures to provide protection against shorts in external wiring There is a risk of fire Provide sufficient shielding when using the product in the locations subject to the following There is a risk of device damage Noise such as from static electricity Strong electromagnetic or magnetic fields Radiation Near power lines Selecting Separating and Laying External Cables N CAUTION Consider the following items when selecting the I O signal lines external cables to connect the product to external devices Mechanical strength Noise interference Wiring distance Signal voltage etc Separate the 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 Exa
19. This is the status when the power is turned ON before EtherCAT has been initialized INIT This is the EtherCAT initial status PRE OPERATIONAL This is the status that configuration is in progress for mailbox communication SAFE OPERATIONAL This is the status that configuration is completed Mailbox communication is possible The situation for process data communication is as follows Input Input is not possible Output 0 data is output OPERATIONAL This is the normal communication status Mailbox communication and process data communication is possible 5 Operation Specifications of the Module This chapter describes the operation specifications of the 264IF 01 Module 5 1 Connection 5 2 5 1 1 Node Setting 5 2 5 1 2 Connection to an EtherCAT Network 5 4 5 2 Starting Method 5 5 5 2 1 Basic Sequence 5 5 5 2 2 Midstream Association 5 5 5 3 Process Data Communication Cyclic Communication 5 6 5 3 1 Mapping 5 6 5 3 2 Data Refresh Timing 5 7 5 3 3 Data Synchronization
20. e g 05402 drive profile IEC 61491 1 1 1 Object dictionary Application l IP d channel access Ethernet SDO PDO mapping Data link Mailbox Process data layer EtherCAT slave controller Physical layer Ethernet physical layer 1 2 Features The features of EtherCAT are listed below Since Ethernet ISO IEC8802 3 is used in the physical layer it is possible to use general purpose Ethernet cables Ethernet frames are transmitted to the next node in a high speed repeat system enabling high efficiency commu nication At 100 Mbps in the full duplex mode Band usage ratio 80 to 90 reference data Data update time Reading writing 256 digital I O points us Reading writing 1 000 digital I O points at 100 nodes 30 us Reading writing analog I Os 16 bit 20 kHz at 200 nodes 50 us 100 us 350 us Reading writing servo axes 8 byte at 100 nodes Reading writing 12 000 digital I O points This is the transmission cycle guide based on EtherCAT specifications Some lag occurs in the actual data refresh cycle in accordance with the communication cycle of the master device and the data refresh cycle of the slave devices Synchronization with jitter of no greater than 1 ms is possible with a clock synchronization system conforming to 1588 Unrestricted networ
21. 01 Keep this manual in a safe place for future reference Basic Terms Unless otherwise specified the following definitions are used e MP2000 Series Machine Controller 2100 2200 2300 MP2310 MP2300S and MP2500MD Machine Controllers PLC Programmable Logic Controller MPE720 The Programming Device Software or a personal computer running the Programming Device Software Manual Configuration This manual consists of the chapters listed in the following table Read the chapters of this manual as required by the purpose P TuS Selecting Studying Designing Panel Maintenance Models and 5 Trial A Specifications the Installation and Peripheral 4 Operation and Ratings System and Wiring Inspection Chapter Devices Chapter 1 EtherCAT Chapter 2 264 01 Module Y Y Y Y Y Chapter 3 Mounting and Starting _ 7 the Module Chapter 4 EtherCAT Transmis 7 7 sion Definition Chapter 5 Operation Specifica _ 7 tions of the Module Chapter 6 Troubleshooting Y Appendices Y Graphic Symbols Used this Manual The graphic symbols used in this manual indicate the following type of information This symbol is used to indicate important information that should be memorized or minor precautions such as precautions that will result in alarms if not heeded
22. 2 1 Features The 264IF 01 Module is a device that is dedicated as an EtherCAT slave station It carries out process data communica tion and mailbox communication This module cannot be a master station In an EtherCAT system the MP2000 Series Machine Controller on which the 264IF 01 Module is installed operates as slave station I O The MP2000 Series Machine Controller can also be used for example for servo control when connected with MECHATROLINK as a controller for motion control The concept of EtherCAT connection is shown below 6 ee ee ee 9 ott 4 EtherCAT slave station I O EtherCAT master station 0 1 4 t 09 09 OF 00 99 9 99 90 00 vt 42 p 1242272 H 11 91 31 33 CH 4 OE EE 11 1 EK EHEN EH ERES ER FA ER EA eee ee ee ee ee seereres 2 BS WR RR RR EE RA RM RA RA EtherCAT slave station I O EtherCAT m m MP2000 264IF 01 z Module EtherCAT slave station EtherCAT slave device 35 1 ie m Ni MECHATROLINK Fig 2 1 Example of 264 01 Module in an EtherCAT System 2 2 2 1 Features 2 1 1 Process Data Communication Cyclic Communication 2 1 1 Process Data Communication Cyclic Commun
23. 7 YASKAWA Machine Controller MP2000 Series EtherCAT Module 264 01 USER S MANUAL Model 2305 2641 01 RUN ERR EtherCAT Q NS un 9 Qv OFF ON EtherCAT MANUAL NO SIEP C880700 42A EtherCAT ig 264IF 01 Module Mounting and Starting the Module ES EtherCAT Transmission Definition Operation Specifications of the Module gna Troubleshooting Appendices App Copyright 2009 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 This manual describes MP2000 Series Machine Controller EtherCAT Module 264IF 01 Read this manual thoroughly before using 2641
24. Gisearh 59 GE X A Address 71 YE Applications v gt 1 Communica 20 YE Applications Manager Select an item to view its description Double click See also My Documents My Network Places My Computer p n w objectis 3 47 KB 15 My Computer The Communication Manager icon will be displayed in the task tray at the right bottom of the window 2 Double click Communication Manager icon in the task tray and the Communication Manager window like the one shown in the step 3 will be displayed 10 48 Communication Manager icon 3 3 3 3 Setting the Communication Manager 3 2 Setting the Communication Manager Logical ports for up to 16 channels can be set in the Communication Manager window Select and set unused logical ports from the top Communication Manager File View Tool Control Modem Help won C Cn 5 s Logica PTKind Physica Device 1 3 3 2 Setting the Communication Manager TimeOut This section describes the procedure to set the Communication Manager for connecting the MPE720 and MP2000 Series Machine Controller for each type of communication port 1 Setting the Serial Communication Port RS 232C Connection These settings are required to perform engineering communication via the serial RS 232C port of each Com
25. iix File Edit Tool Help mins m d root 5 9 2300 YESAMPLE Online Log On Properties Log Off Transfer gt 2300SMPL File Type Controller Folde Backup Motion Programs User Application Converter i Usage ine connection parameter Port Delete Ctrl D Bbase Local Online Offline Properties The Controller Configuration dialog box will be displayed 3 22 3 5 Starting the MPE720 and Setting Communication or Network Parameters 3 5 2 Starting MPE720 5 OO and Setting the Network 3 Click the Network tab and select Yes for OnLine Controller Configuration Fields will be displayed for the logical port number unit number and route so that they can be set 4 For Logical Port No Device Type set the logical port number to use from the logical port numbers that were set with the Communication Manager Controller Configuration E x Information Network Application OnLine Yes C No Logical Port No 3 Ethemet LP Device 1 217 2 218 3 Ethemet LP 4 CP 215 IP Address 5 NoDevice Search 5 No Device 7 No Device Route 8 No Device 3 No Device The contents display on the tab page may change depending on the port that is selected The devices types indicate the following connections CP 217 indicates an RS 232C connection serial port
26. 8X DESER 5 Go BUS A EE aa s Offline 2300 C appli mp2300 YMW YASKAWA ELECTRIC CORPORATION Setup Programming Monitor Transfer Utility System Scantime setting Mc onfiguration System fy History 51 C confusion P phe fon 8 amp 2 Scope Connection Scantime Setting Module Axis Setup Wizard Disconnection Configuration The Engineering Manager will launch and the Module Configuration window will open refer to 4 1 2 MPE720 Ver 5 1 Start the MPE720 on the personal computer connected to the Machine Controller and use the File Man ager to log in and go online with the application for the Machine Controller For information on starting the MPE720 and logging on refer to MPE720 Software for Programming Device User s Manual Manual No SIEPC88070005 4 1 Displaying the EtherCAT Transmission Configuration Window 4 1 1 Displaying the Module Configuration Window Double click the Module Configuration icon in the Definition Folder H File Manager Fie Edit View Tool Help 2300 YESAMPLE a m 23005MPL 8 11 C Register Folder Database 5 3 Definition Folder Ll Application Information Setting 1 1 Data Trace 1 Configuration Gn Scan Time Setting System Configuration H E Prog
27. CP 218 indicates an Ethernet connection and CP 215 indicates a connection through a CP 215PC AT card mounted on the personal computer 5 RS 232C Connection Leave all other settings other than for Logical Port No Device Type on their default values and click the OK button Controller Configuration 4 Information Network Application OnLine Yes C No Logical Port No 1 CP 217 Ss Device Type qp Defaul Mounting and Starting the Module 3 23 3 5 Starting the MPE720 and Setting Communication or Network Parameters 3 5 2 Starting MPE720 5 and Setting the Network Ethernet Connection Enter the IP address of the personal computer and click the OK button Controller Configuration x Information Network Application nLine C No Logical Port No 2 CP 218 Device Type IP Address fi 92 168 1 1 Route C Yes No Cancel Default CP 215 Connection Enter the network number and station number and click the OK button Enter the same network number and station number as the ones set with the Communication Manager Controller Configuration 1 x Information Network Application OnLine Yes C No Logical Port No 4 CP 215 Device Type Network No 1 s E sd Station No 2 6 Aconfirmation dialog box will be displayed Click the Yes button This completes selecting the logical port File Manager xi 22 The data is ch
28. If Hold is set the last data before the STOP status is output If Clear is set 0 data is output W input Register Setting D Set whether or not the controller CPU exchanges input data with EtherCAT When the checkbox is checked there is no exchange of data ADDRESS Set as a hexadecimal word the initial address of the input area of the controller CPU for the output data of the EtherCAT master device The setting range is 0 to 7FFF EtherCAT Transmission Definition 4 5 4 2 EtherCAT Transmission Definition 4 2 1 Transmission Parameters Tab Page 9 WSIZE Set the same size as the output data size of the EtherCAT master device in word units The setting range is 0 to 199 6 SCAN Set the timing in which the controller CPU exchanges cyclic data with EtherCAT The data exchange cycle of the controller CPU is asynchronous with cyclic communication When HIGH is set the controller CPU inputs cyclic data in the timing of the high speed scan time of the CPU When LOW is set the controller CPU inputs cyclic data in the timing of the low speed scan time of the CPU Output Register Setting D Set whether or not the controller CPU exchanges output data with EtherCAT When the checkbox is checked there is no exchange of data 8 ADDRESS Set as a hexadecimal word the initial address of the output area of the controller CPU for the input data of the EtherCAT master device The setting range is 0 to 7FFF 9 WSIZE
29. SW00205 Reserved by System SW00206 Not used SW00207 Error Status SW00208 to SW00215 Slot 0 error status SW00216 to SW00223 Reserved by the system SW00224 to SW00231 Slot 1 error status SW00232 to SW00239 Slot 2 error status SW00240 to SW00247 Slot 3 error status SW00248 to SW00255 Reserved by the system Slot 4 error status SW00456 to SW00463 Reserved by the system Slot 30 error status 5 23005 Machine Controller Name Register No Remarks Error Count SW00200 Number of I O error occurrences Number of Input Errors 5 00201 Number of input error occurrences Input Error Address SW00202 Address of the latest input error IWxxxx register number Number of Output Errors SW00203 Number of output error occurrences Output Error Address SW00204 Address of the latest output error OWxxxx register number SW00205 Reserved by System SW00206 Not used SW00207 Error Status SW00208 to SW00215 Slot 0 error status SW00216 to SW00223 Reserved by the system SW00224 to SW00231 Slot 1 error status SW00232 to SW00239 Reserved by the system Slot 2 error status SW00240 to SW00247 Reserved by the system Slot 3 error status SW00248 to SW00255 Reserved by the system Slot 4 error status SW00456 to SW00463 Reserved by the system Slot 30 error status
30. Set the same size as the input data size of the EtherCAT master device in word units The setting range is 0 to 199 SCAN Set the timing in which the controller CPU exchanges cyclic data with EtherCAT The data exchange cycle of the controller CPU is asynchronous with cyclic communication When HIGH is set the controller CPU outputs cyclic data in the timing of the high speed scan time of the CPU When LOW is set the controller CPU outputs cyclic data in the timing of the low speed scan time of the CPU B Others 4 Comment Set any name of your choice up to 32 single byte characters for the local station Set WSIZE in the input register settings and output register settings so that it satisfies the following conditions Condition WSIZE Setting 1 When 0 is included in either setting Input WSIZE output WSIZE lt 198 words 2 When either setting is an odd number size Input WSIZE output WSIZE lt 199 words Other than condition 1 or condition 2 Input WSIZE output WSIZE lt 200 words 4 2 EtherCAT Transmission Definition 4 2 2 Status Tab Page 4 2 2 Status Tab Page The Status tab page displays the status of the 264IF 01 Module On this tab page setting is not possible pra CPUIt RACK 01 Slot 02 Transmission Parametd EtherCAT S Communication Data Available Flag O Enable OJ Disable Vendor ID Product Code
31. Setting the Ethernet LP Communication Port 1 Double click Logical Port No the Communication Manager window to display the Logical Port Setting dialog box File View Tool Control Modem Help 0 Communication Manager PT Kind DUAL Physica Device Timeout 180 1 Serial COMI 10000 2 CP 218 1 10000 4 5 6 7 Mounting and Starting the Module 3 15 3 3 Setting the Communication Manager 3 3 2 Setting the Communication Manager 2 Select Ethernet LP under Port Kind in the Logical Port Setting dialog box and click the Detail but ton Logical Port Setting X Logical Port 3 Port Kind Ethernet LP TimeOut 10000 ms Dual Off On The CP 218 Ethernet LP Port Setting dialog box will be displayed 3 Enter the IP address of the computer for the IP Address First make sure the rest of the settings are as shown below and click the OK button to close the dialog box CP 218 Ethernet LP Port Setting IP Addres First 192 158 1 2 IPAddres Second Default OFF Engineering Port 9999 256 65535 Message Received Port Count 10 0 16 TCP Top Port UDP Port Count 10 0 16 Top Port 4 The Logical Port Setting dialog box will be displayed again Click the OK button to return to the Com munication Manager window Check that Eth
32. and push the Module straight in fthe Module is not inserted along the guide rail correctly the frame ground bar on the bottom of the slot may get damaged 2 Connectto the Mounting Base Connector After inserting the Module completely press the Module firmly until it connects securely with the Mounting Base connector If the Module is connected securely the front of the Module should approximately align with the hooks 3 Mount the Option Panel Insert the bottom hook into the hole on the bottom of the option panel and then securely insert the top hook into the hole This completes the mounting procedure 3 4 3 2 Mounting and Removing a Module on the Machine Controller 3 2 1 Mounting a 264 01 Module 4 Procedure after Mounting the Module 1 Connect to a Network Connect the 264IF 01 Module and EtherCAT device with an Ethernet cable Referto 2 5 2 Cable Specifications for cables that can be used 2 Create Module Configuration Definitions a After Mounting New Modules Execute self configuration for each slot in which a 264IF 01 Module has been newly mounted Referto 3 4 Self configuration for more information b After Replacing Modules Turn OFF the CNFG and INIT DIP switches on the Machine Controller and turn ON the power supply After turning ON the power modify the module configuration as required Referto 4 1 1 Displaying the Module Configuration Window for information on the Module con
33. lt SubIndex gt 5 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output4 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 6 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output5 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 7 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output6 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 8 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output7 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 9 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output8 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt Define the receive process data The receive process data is the data that is sent lt index gt x1600 lt Index gt lt lt from the slave node to the master node lt Name gt wOut0 lt Name gt Index x1600 is fixed Entry For Name specify a character string of your choice lt Index gt x2003 lt Index gt lt SubIndex gt 1 lt SubIndex gt Define the data of each word within lt Entry gt lt Entry gt lt BitLen gt 16 lt BitLen gt Index x2003
34. match communication may not be possible depending on the conditions The conditions for the allocation size at the master side and the slave side are indicated below Table 5 1 Conditions for the Allocation Size at the Master Side and the Slave Side Condition EtherCAT Communication Description Input In size in the device description file The input size of the device description file is secured in the EtherCAT transmission lines but when refreshing data between ter setting Input size for the master side 2 264IF 01 parameter Possible the 264IF 01 Module and the MP2000 Series Machine Control setting Output size ler CPU only the output size in the parameter settings is secured and the input size is not secured Input In size in the device description file The EtherCAT communication status will not change to the for the master side lt 264IF 01 parameter Not possible OPERATIONAL status in which process data communication is setting Output size possible The output size of the device description file is secured in the Output Out size in the device description EtherCAT transmission lines but when refreshing data between file for the master side 2 264IF 01 parame Possible the 264IF 01 Module and the MP2000 Series Machine Control ter setting Input size ler CPU only the input size in the parameter settings is secured and the output size is not secured Output Out size in the device description The
35. 2 cyclic I O communication 14 cyclic communication 2 3 5 6 D device description file 2 7 5 2 8 DIP switch 3 20 E engineering tool 24 EtherCAT classification of communication 14 features 12 outline 12 EtherCAT master device 2 3 5 4 EtherCAT network 54 EtherCAT transmission configuration window 44 EtherCAT transmission definition 45 EtherCAT S communication 47 Ethernet cable 2 10 Ethernet connector 2 10 errorstatus 6 3 6 7 sec ob 47 initial address 4 5 4 6 input error address 63 Index 1 input register setting 4 5 IP address 2 6 3 11 3 15 L LED indicator 62 local network address 3 18 M MAC address 2 6 5 4 machine controllers 32 mailbox communication
36. 264IF 01 Module data can be refreshed just by setting the I O size without any awareness of the map ping addresses of the data of the logic process data of the master node MP2000 Series Machine Controller registers EtherCAT process data 0x00000000 Output data Input register Only the master side output data can be taken into the controller CPU 264IF 01 Module The EtherCAT logic process data space is decided in configuration of the master device Output register Input data Mapping of EtherCAT logic process data is performed inside the 264IF 01 Module and the data of input registers and output OxFFFFFFFF registers is refreshed Fig 5 2 Mapping of the EtherCAT Logic Process Data Space 5 3 Process Data Communi 5 3 2 Data Refresh Timing cation Cyclic Communication 5 3 2 Data Refresh Timing The data refresh timing of the MP2000 Series Machine Controller and EtherCAT transmission lines is shown below 264IF 01 Module MP2000 Machine EtherCAT transmission line Communi Output register CPU Series Controller cation IC Input register Refreshed in the scan timing of the allocation settings Refreshed in the communication cycle Fig 5 3 Cyclic Data Refresh Timing of the 264IF 01 Module MP2000 Series Machine Controller lt gt 264IF 01 Module Data is refreshed
37. Address None no need to set Automatic allocation from the master sta Node Number Allocation tion Fixed allocation of node numbers is not possible Communication Modes Process data Mailbox Protocol cyclic message Cheat m CoE CANOpen over EtherCAT x x EoE Ethernet over EtherCAT FoE Filetransfer over EtherCAT SoE Servo Drive over EtherCAT x x VoE Vendor Specific over EtherCAT P Can be used with the 264IF 01 Module x Cannot be used with the 264IF 01 Module Does not exist as a protocol specification With EtherCAT a protocol can be specified for each node Since there is no need to standardize the protocol throughout a network it is possible to connect to an EtherCAT system regardless of the protocol at the remote node Cyclic Communication Automatically set in accordance with the Communication Cycle number of data and number of nodes Differs depending on the master configura tion Input 0 to 198 words Output 0 to 198 words Condition 1 If either includes 0 Input output lt 198 words Condition 2 If either is an odd number size Input output 199 words Condition 3 Other than conditions 1 and 2 Input output lt 200 words Number of Input Output Bytes Message Message Peer Can only receive system messages Connection Broadcast Can only receive system messages Mode Multicast Can only
38. EtherCAT communication status will not change to the file for the master side 264 01 parame Not possible OPERATIONAL status in which process data communication is possible Operation Specifications of the Module 5 3 5 1 Connection 5 1 2 Connection to an EtherCAT Network 5 1 2 1 Connection to an EtherCAT Network Connection Method Connectors and CN2 of the 264IF 01 Module are on the same circuit EtherCAT Connect to the host side of the network that includes the EtherCAT master device and connect CN2 to the subordinate side of a network that does not include the EtherCAT master device If no slave device is connected at the subordinate side of the network leave it open About Topology In EtherCAT networks any kind of connection is possible with no specification of the mode of connection but the con nections before and after 264IF 01 Module must be in the line connection mode However when it is used in the open mode since the 264IF 01 Module has no MAC address it cannot be connected directly to a switching HUB Where a slave node is to be directly connected to a HUB connect a slave device that has a MAC address then connect the 264IF 01 Module after this point Make the selection of open mode or direct mode at the EtherCAT master device Open Mode This is the mode in which a switching HUB is used in an EtherCAT network Slave nodes that are connected directly to a HUB
39. I O Error Status 6 7 Appendices A 1 Appendix A Connection Example A 2 Appendix B Connecting a TwinCAT System A 3 Appendix C Device Description File A 8 Appendix D Transition in EtherCAT Communication Status A 17 Index 1 Revision History xii 1 e s EtherCAT This chapter describes an outline of the EtherCAT 1 1 Outline 1 2 1 2 Features 1 2 1 3 Classification of EtherCAT Communication 1 4 EtherCAT 1 1 1 1 Outline 1 1 Outline EtherCAT is a real time field bus based on the IEEE802 3 standard Ethernet which was advocated by Beckhoff Auto mation GmbH Currently it is being standardized as IEC61185 Type 12 of the IEC International Electrotechnical Com mission The spread of EtherCAT is advancing with the focus on Europe and it is applied to press machines injection molding machines CNC units robots and so on ETG EtherCAT Technology Group is also working to increase the spread of EtherCAT An EtherCAT device model ISO OSI reference is shown below Servo amplifier TM HTTP Application application Application FTP
40. Port Setting C Hardware Parameter Channel LinkMap CP 215 Type PCr Elec Board 15 Elec Board First Physical Port 9910 PCI Opto Board Physical No PC Card Elec Board Mounting and Starting the Module 3 17 3 3 Setting the Communication Manager 3 3 2 Setting the Communication Manager 4 Set the I O port number of the mounted CP 215PC AT card under Physical No Set the I O port num ber to 1 when using one CP 215PC AT card When using two or more cards allocate ports 2 3 and 4 sequentially CP 215 Port Setting py Channel LinkMap Pcr Elec Board S CP 215 Type First Physical Port Physical No CP 215 Port Setting om LinkMap Local Station Address Local Network Address Connect Station Token Round Time Setting MEMOBUS Response Watch Time Station Search Cycle Transfer Speed Maintenance Switchl Maintenance Switch2 Same Period Scan Relay Function Relay Network No 1 Upper Relay Network No 1 Lower Relay Network No 2 Upper Relay Network No 2 Lower 0 0 elk High Disable WE 1 64 1 254 2 64 1 100 0 255 10 255 0 65535 0 65535 1 254 1 254 1 254 1 254 Cancel Default i Local Station Address Set the MPE720 personal computer station number to between 1 and 64 Local Network Setthe number of the network to which the MPE720 personal computer is connecte
41. The 264IF 01 Module responds automatically to requests from the master node 5 4 2 User Messages The standard message function of MP2000 Series Machine Controllers cannot be used Itis not possible to read from or write to the holding registers of an MP2000 Series Machine Controller from the master node 6 Troubleshooting This chapter describes how to troubleshoot problems and take countermeasures against them 6 1 Status Indication by LED Indicators 6 2 6 2 System I O Error Status 6 3 6 2 1 System Error Status by Controllers 6 3 6 2 2 Details on Error Status 6 7 Troubleshooting 6 1 6 1 Status Indication by LED Indicators 6 1 Status Indication by LED Indicators The following table provides a description of the 264IF 01 Module status indicated by each LED indicator UTC LED Indication E Classification Meaning Description RUN ERR NS L A1 L A2 Power ON E The power is The status in which the power to the Module has turned ON been turned ON and it is being initialized Self diagnosis E Self diagnosis This is the status in which self diagnosis is in in progress progress after completion of initialization The status in which the Module started normally is waiting for initialization by the CPU Module x En
42. Troubleshooting 6 5 6 6 6 2 System I O Error Status 6 2 1 System I O Error Status by Controllers 6 MP2500MD Machine Controller Name Register No Remarks Error Count SWO00200 Number of I O error occurrences Number of Input Errors SW00201 Number of input error occurrences Input Error Address 5 00202 Address of the latest input error IWxxxx register number Number of Output Errors SW00203 Number of output error occurrences Output Error Address SW00204 Address of the latest output error OWxxxx register number SW00205 Reserved by System 5 00206 Not used SW00207 Error Status SW00208 to SW00215 MP2500MD Machine Controller error status SW00216 to SW00223 Reserved by the system SW00224 to SW00228 SVB 01 Module error status SW00229 to SW00239 Reserved by the system SW00240 to SW00247 Error status of slot 1 of rack 2 Depends on the mounted module and error code SW00248 to SW00255 Error status of slot 2 of rack 2 Depends on the mounted module and error code SW00256 to SW00263 Error status of slot 3 of rack 2 Depends on the mounted module and error code SW00264 to SW00271 Error status of slot 4 of rack 2 Depends on the mounted module and error code SW00448 to SW00455 Error status of slot 9 of rack 4 Depends on the mounted module and error code Racks 2 to 4 can be used only when using MP21
43. click the Properties button Local Area Connection 5 Properties 2 General Sharing Connect using Big BUFFALO Fast Ethernet Adapter 2 Components checked are used by this connection vi Client for Microsoft Networks VMware Bridge Protocol a File and Printer Sharing for Microsoft Networks Install Uninstall r Description 1 The Internet Protocol TCP IP Properties dialog box will be displayed K Intemet Protocol TCP IP T Clickthe Use the following IP address option and enter 192 168 1 2 for IP address and 255 255 255 0 for Subnet mask Then click the OK button to close the dialog box Internet Protocol TCP IP Properties xj General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically se the following IP address IP address 192 31685 1 212 Subnet mask 255 255 255 0 Default gateway 5 Obtain DNS se ver address automatically Use the following DNS server addresses Preferred DNS server Alternate DNS server Advanced Cancel Mounting and Starting the Module 3 14 3 3 Setting the Communication Manager 3 3 2 Setting the Communication Manager c Setting the Ethernet Communication P
44. gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 13 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input12 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 14 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input13 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 15 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt 4 lt gt lt DataType gt UINT lt DataType gt lt Entry gt A 14 Appendix Device Description File Entry Index x2004 Index lt SubIndex gt 16 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input15 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 17 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input16 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt 5 gt 18 lt 53 gt lt BitLen gt 16 lt BitLen gt lt Name gt Input17 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 19 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input18 lt Name gt lt DataT
45. 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 Related Manuals The following table lists the manuals relating to the 264IF 01 Module for the MP2000 Series Machine Controller Refer to these manuals as needed Manual Name Manual Number Contents Machine Controller MP2100 MP2100M User s Manual Design and Maintenance SIEPC88070001 Describes how to use the MP2100 and MP2100M Machine Controllers Machine Controller MP2200 User s Manual SIEPC88070014 Describes how to use the MP2200 Machine Con troller and the modules that can be connected Machine Controller MP2300 Basic Module User s Manual SIEPC88070003 Describes how to use the MP2300 Basic Module and the modules that can be connected Machine Controller MP2310 Basic Module User s Manual SIEPC88073201 Describes how to use the MP2310 Basic Module and the modules that can be connected Machine Controller MP2300S Basic Module User s Manual SIEPC88073200 Describes how to use the MP2300S Basic Module and the modules that can be connected Machine Controller MP2500 MP2500M MP2500D MP2500MD User s Manual SIEPC88075200 Describes how to use the MP2500 MP2500M MP2500D and MP2500MD Machine Controllers Machin
46. is fixed lt Name gt Output0 lt Name gt For SubIndex assign numbers in the order 1 2 3 so that there are lt DataType gt UINT lt DataType gt duplications lt Entry gt For Name data name assign a name of your choice Entry Data Type is fixed as UINT unsigned 16 bit lt Index gt x2003 lt Index gt n OMM Define the next receive data 1 create a lt Entry gt lt Entry gt of a size equivalent to the output size Appendix Device Description File Entry Index x2003 Index lt SubIndex gt 10 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output9 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 11 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output10 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 12 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output11 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 13 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output12 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 14 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt O
47. lt SubIndex gt 27 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input26 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 28 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt 27 lt gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 29 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input28 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 30 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input29 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 31 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input30 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 32 lt SubIndex gt lt BitLen gt 16 lt BitLen gt Define the final data 32nd item lt gt 31 lt gt lt DataType gt UINT lt DataType gt lt Entry gt lt TxPdo gt lt Mailbox gt lt CoE Sdolnfo 1 CompleteAccess 1 gt lt Mailbox gt lt ImageData16x14 gt 424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000 00000000000000000000
48. module and error code Racks 2 to 4 be used only when using MP2100MEX Troubleshooting 6 3 6 4 6 2 System I O Error Status 6 2 1 System I O Error Status by Controllers 2 MP2200 Machine Controller Name Register No Remarks Error Count SWO00200 Number of I O error occurrences Number of Input Errors SW00201 Number of input error occurrences Input Error Address 5 00202 Address of the latest input error IWxxxx register number Number of Output Errors SW00203 Number of output error occurrences Output Error Address SW00204 Address of the latest output error OWxxxx register number SW00205 Reserved by System 5 00206 Not used SW00207 SW00208 to SW00215 Not used SW00216 to SW00223 Reserved by the system SW00224 to SW00228 Error status of slot 1 of rack 1 Depends on the mounted module and error code SW00229 to SW00239 Error status of slot 2 of rack 1 Depends on the mounted module and error code Error Status SW00240 to SW00247 Error status of slot 3 of rack 1 Depends on the mounted module and error code SW00248 to SW00255 Error status of slot 4 of rack 1 Depends on the mounted module and error code SW00496 to SW00503 Error status of slot 9 of rack 4 Depends on the mounted module and error code Racks 2 to 4 can be used only when using EXIOIF 3 MP2300 Machine Controller
49. of shipment from the Yaskawa factory whichever is sooner Warranty Scope Yaskawa shall replace or repair a defective product free of change 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 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 Causes not attributable to the delivered product itself Modifications or repairs not performed by Yaskawa Abuse of the delivered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for which Yaskawa is not responsible such as natural or human made disasters 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 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 prog
50. or later Ver 6 23 or later MP2310 Ver 2 73 or later Ver 5 53 or later Ver 6 23 or later MP2300S Ver 2 73 or later Ver 5 53 or later Ver 6 23 or later MP2100M Ver 2 73 or later Ver 5 53 or later Ver 6 23 or later MP2500MD Ver 2 73 or later Ver 5 53 or later Ver 6 23 or later 3 2 Mounting and Removing a Module on the Machine Controller 3 2 1 Mounting a 264 01 Module 3 2 Mounting and Removing a Module on the Machine Controller This section explains the procedure for mounting and removing a 2641 01 Module 3 2 1 Mounting a 264 01 Module Use the following procedure to mount a 264IF 01 Module Before replacing 264IF 01 Module remove the 264IF 01 Module that needs to be replaced referring to 3 2 2 Removing a 264IF 01 Module 1 Preparation 1 Backup the Programs Save the programs written to the Machine Controller in the personal computer using MPE720 MPE720 Ver 5 00 Right click the PLC folder and then select Transfer Files From Controller to MPE720 MPE720 Ver 6 00 Open the project file and then select Online Transfer Read from Controller 2 Save in the Flash Memory Save the programs written to the Machine Controller in the flash memory using the MPE720 MPE720 Ver 5 00 Right click the PLC folder and then select Transfer Other Save to Flash MPE720 Ver 6 00 Open the project file and then select Online Transfer Save to Flash 3 Remove the Machine Contro
51. th MPE720 Sets the communication H vira 2 parameters data etc and displays the status Fig 5 1 Node Setting 1 Device Description File The device description file of the 264IF 01 Module is found in the installation disk of the Programming Device Soft ware 720 The following four patterns of allocation are provided in the device description files of the 264 01 Module Allocation of 32 input words and 32 output words File name Yaskawa MP2000 In32 Out32 V1 00 xml Allocation of 100 input words and 100 output words maximum equal allocation for input output File name Yaskawa MP2000 In100 Out100 V1 00 xml Allocation of 2 input words and 198 output words maximum output allocation File name Yaskawa MP2000 In2 Out198 V1 00 xml Allocation of 198 input words and 2 output words maximum input allocation File name Yaskawa MP2000 In198 Out2 V1 00 xml The user can use the module with the input output sizes in the device description files customized For details on the method for customization see Appendix C Device Description File 5 2 5 1 Connection 5 1 1 Node Setting 2 Relationship between Master and Slave Allocations Set the allocation size at the master side the allocation size in the device description file and the allocation size at the slave side the input size output size parameter setting of the 264IF 01 Module so that they match If there is mis
52. the following order 1 Master Node 2 Slave Nodes 3 Initialization Sequence Operation between the Master and Slave Nodes 4 Communications between Master and Slave Nodes The data refresh start timing becomes effective at the point when the 2641F 01 Module s state machine becomes OPERATIONAL From a ladder application you can get to know that communication has started by viewing the sys tem register Midstream Association In the EtherCATnetwork the master node controls the start sequence for each slave node For this reason midstream association of a 264IF 01 Module in an EtherCAT network in which communication is in progress is possible How ever it is necessary that a normal configuration has been set for the EtherCAT master device and the 264IF 01 Module Operation Specifications of the Module 5 5 5 6 5 3 Process Data Communication Cyclic Communication 5 3 1 Mapping 5 3 Process Data Communication Cyclic Communication 5 3 1 Mapping This shows the mapping of the EtherCAT logic process data and the I O registers of the MP2000 Series Machine Con troller The EtherCAT logic process data space used by the 264IF 01 Module is decided in advance by configuration at the master node The position within the Ethernet packets flowing in the network at which the I O data of a 264IF 01 Mod ule is positioned is automatically managed by the communication IC installed in the 264IF 01 Module This means that with the
53. 0000000FDFDFDFFFFFFFFFFC8C9C9FFE9EAEAFFD5DADAFFFDFDFDFFFFFFFFFF747676FF8A909 1FF747676FFAEB5B6FFFFFFFFFFFDFDFDFF747676FFFFFFFFFFFDFDFDFFFFFFFFFFC8C9C9FF303030FF7B8B8CFF95A5 ATFFD5ES5ESFFFDFDFDFFD5DADAFFA4BABABFF8A9091FFAEB5BGFFE9EAEAFFD5DADAFF000000FF8A9091FFFDFDFDFFF FFFFFFF95A5A7FF303030FF747676FFAEB5B6FFD5E5E5FFD5DADAFFFDFDFDFF4B4B4BFF303030FF303030FFE9EAEAFFA EB5B6FF000000FF000000FF95A5A7FFFFFFFFFFFFFFFFFF303030FF747676FF95A5A7FFD5E5ESFFD5DADAFFCADB5D5FFE 9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFFE9EAEAFFE9EAEAFFE9EAEAFFFFFFFFFFFDFDFDFF303030FF747676 FF95A5A7FFD5E5ESFFD5DADAFFAEB5BGFFCAD5D5FFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF FFFFFFFFFFFFFFFFFFFF303030FF 747676FFAEB5B6FFD5E5E5FFD5E5E5FFAEB5B6FFC8C9C9FFEQEAEAFFFFFFFFFFFFF FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF303030FF 7B8B8CFFAEB5B6FFD5E5E5FFD5E5E5FFB8 C9CAFFAEB5BGFFE9EAEAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF747676FF8 A9091FF8A9091FFD5E5E5FFD5E5E5FFCAD5D5FF7B8B8CFFD5DADAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF FFFFFFFFFFFFFFFFFFDFDFDFF8A9091FF4B4B4BFF303030F FD5E5E5FFD5DADAFFC8C9C9FF747676FFC8C9C9FFFFFFFF FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFFFFFFFF303030FF303030FF303030FFD5E5E5FFB8C9C AFFC8C9C9FF747676FFC8C9C9FFFFFFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFF8A9 091FF95A5A7FF95A5A7FFAEB5BGFFB8C9CAFFB8C9CAFF747676FFC8C9C9FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF FFFFFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFD5EBE5BFF8A9091FF95A5A7FF
54. 00MEX 6 2 2 Details on I O Error Status When a system I O error occurs the error status will be written in the system register 6 2 System I O Error Status 6 2 2 Details on 1 Error Status The following shows the register allocation of the error status when the I O Module LIO 01 02 the EtherCAT Com munication Module 264IF 01 and the DeviceNet Communication Module 260IF 01 are set at slots 1 2 and 3 of the MP2300 Machine Controller respectively 1 MP2300 Machine Controller Basic Module Error Status Name Register No Remarks Slot 0 Error Status SW00208 to SW00215 Depends on the mounted module and error code Reserved by System SW00216 to SW00223 Depends on the mounted module and error code Slot 1 Error Status SW00224 to SW00231 Depends on the mounted module and error code Slot 2 Error Status SW00232 to SW00239 Depends the mounted module and error code Slot 3 Error Status SW00240 to SW00247 Depends on the mounted module and error code Register Allocation Slot 0 Reserved for Basic Module Bit No SWO00208 9100209 9100210 9100211 9100212 91 00213 5100214 5100215 Bit No SW00224 9100225 8 7 0 Error code I O error 2 Subslot No 2 Error code Station error 7 1 Subslot No 7 3 ST 15 0 0 0 eevM ST 2 STE Not used Not use
55. 01 Module The device description file for 32 input words 32 output words for the 264IF 01 Module is shown on the following page onward Pay attention to the information in the speech bubbles during customization Appendix Device Description File lt xml versionz 1 0 EtherCATInfo Versionz 1 2 xmlns xsi http www w3 org 2001 XMLSchema instance xsi noNamespaceSchemaLocation EtherCATInf o xsd gt lt Vendor gt lt Id gt 1337 lt ld gt lt Name gt Yaskawa Electric Corporation lt Name gt ImageData16x142424DB6030000000000003600000028000000100000000E000000010020000000000080030000000000000000000 00000000000000000ECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFF FDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFECE3D1FFDBC6A3FFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCF FFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFE8DBC 4FFCFA76CFFE8DBC4FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFD FCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFDBC6A3FFC8954BFFE4CEAEFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDF DFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFBE822BFFE8 DBCAFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFF DBC6AS3FFC8954BFFE8DBCAFFCFA76CFFBE801EFFE8DBCAFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFF FDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFBE801EFFB97006FFB97006FFD9BA8BFFC8954BFFC1862FFFECE3D
56. 1FFFDFDFCFFFD FDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFCFA76CFFB97006FFBE801EFFB97006FFCFA 76CFFBE822BFFBE801EFFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFC89 54BFFB97006FFC1862FFFD9BA8BFFBE801EFFC1862FFFB97006FFBE822BFFECE3D1FFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFC FFFDFDFCFFFDFDFCFFD9BA8BFFB97006FFB97006FFB97006FFCFA76CFFECE3D1FFBE822BFFB97006FFB97006FFC1862FFFFDF DFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFD9BA8BFFB97006FFB97006FFB97006FFB97006FFDDC397FFECES3D 1FFC8954BFFB97006FFB97006FFC1862FFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDFCFFDECO92FFB97006FFB97006FFB 97006FFB97006FFB97006FFE0C399FFFDFDFCFFCFA76CFFB97006FFB97006FFC8954BFFFDFDFCFFFDFDFCFFFDFDFCFFFDFDF CFFD9BA8BFFB97006FFB97006FFB97006FFB97006FFB97006FFB97006F FDBC6A3FFFDFDFCFFDEC092FFB97006FFB97006FFC89 54BFFFDFDFCFFFDFDFCFFFDFDFCFFECE3D1FFE0OC399FFE4CEAEFFDDC397FFDBC6A3FFE0C399FFE4CEAEFFEOC399FFFDFD FCFFFDFDFCFFE8DBC4FFE0C399FFDEC092FFE8DBC4FFFDFDFCFFFDFDFCFF lt ImageData16x14 gt lt Vendor gt lt Descriptions gt lt Groups gt lt Group gt lt Type gt Controller lt Type gt Name Lcld 1033 gt MP2000 lt Name gt lt ImageData16x14 gt 424DD6020000000000003600000028000000100000000e0000000100180000000000A002000000000000000 000000000000000000000FEFEFEFEFEFEFEFEFEFEFEFEFEFEFEFDFCFCF7F6F5F2F1F1EDEBE8E5E2DED4D1CBCECAC6F8F8F7F EFEFEFEFEFEFEFEFEFEFEFEF3F2F0E5E1DDE1DCD7DCD8D2D3CFC9ACA8A3COBFB76C7E4D8C89837 1 706DD3CCC5BCB9B4F 1 F2F1FEFEFEFEFEFEFSF2F 1D
57. 264IF 01 In32W Out32 Wh c BY 1 0 Devices SS Device EtherCAD Type 264IF 01 In32W Out32W Device 1 Imaee t Device 1 Image Info Inputs Outputs 8 InfoData Term 1 1100 0004 Term 3 EK1100 5 1100 0 Disabled Create symbols FL Box 7 Q64IF 01 In32W Out32W amp B Mappings gt Addr In Out Ilse Linked tn Server Port Timestamp Message 65535 2009 02 14 0 27 51 618 Box 7 264IF 01 In32W Out3 1007 INIT to PREOP failed Error check vendor id Comparison 0 00000044 0 00000539 fai TcSysSrv 40 2009 02 14 0 27 46 466 ms TwinCAT System Config mode requested from amp msNetld 32872 port 192 168 1 3 1 1 40 2009 02 14 0 24 58 660 ms TwinCAT System Config mode requested from AmsNetld 32872 port 192 168 1 3 1 1 gt Ready To allocate a detected slave device or to display the device name on the screen the device description XML file of the relevant slave device is required Device description files are provided by the vendors of the individual slave devices Through the procedure above the 264IF 01 Module can be detected in the EtherCAT network For details refer to the TwinCAT manual and the manual of the master device Appendices A 8 Appendix C Device Description File Appendix C Device Description File This appendix explains how to customize the data size in the device description file for the 264IF
58. 5 ST 0 SWO00242 SWO00243 ST 47 ST 32 SWO00244 ST 63 ME ST 48 lt Error Status Details gt Item Code Description ST n Normal communication Communication error at the station n n local station number in slave mode 6 8 Appendices Appendix A Connection Example A 2 Appendix B Connecting a TWinCAT System A 3 Appendix C Device Description File A 8 Appendix D Transition in EtherCAT Communication Status A 17 E Appendices T A 2 Appendix A Connection Example Appendix A Connection Example This section shows a connection example that uses an embedded PC model CX 9010 made by Beckhoff Inc and TwinCAT An example of an EtherCAT connection system is shown in Fig A 1 Embedded PC Slave DI Slave DO MP2000 Series CX 9010 EL2004 EL1004 Machine Controller 264IF 01 nm O Ethernet cable or serial cable or USB cable _ PC for TwinCAT MPE720 Ethernet cable Ethernet cable Ethernet cable Ethernet cable Fig A 1 Example of EtherCAT Connection System For more information about TwinCAT contact Beckhoff Inc or K mecs Co Ltd Appendix Connecting a TwinCAT System Appendix Connecting a TwinCAT System
59. 9 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 MWO00052 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 MWnnnes _ nnnn nnnn nnnn nnnn nnnn nnnn nnnn output Transfer BES cross Coil List Register List 1 Decimal Register List 1 Register 00000 Auto Monitor EE d TF 5 0 0 0 0 0 n output ovem X coss teen Coil List B Register List 1 value through bit inversion In spite of negative value representation processing is performed as a positive value To convert a negative decimal number into a positive decimal number the following expression is used 32768 32767 1 displayed negative value In the above screen example 531 the following is used 32768 32767 1 531 65005 Mounting and Starting the Module 3 27 4 EtherCAT Transmission Definition To perform EtherCAT communication with the 26412 01 Module using an MP2000 Series Machine Controller an EtherCAT transmission definition file must be created This chapter describes how to set the EtherCAT transmission definition on the MPE720 screen 4 1 Displaying the EtherCAT Transmission Configuration Window 4 2 4 1 1 Displaying the Module Configuration Window 4 2 4 1 2 Displaying t
60. 9 09 10 09 8 2
61. 95A5A7FFAEB5BGFF747676FFC8C9C9FFF DFDFDFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFB8C9CA FF95A5A7FF747676FF747676FFB8C9CAFFFDFDFDFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFDFDFFFDFDFDFFFDFD FDFFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFDFFE9EAEAFFAEBSB6GFFC8C9C9FFFDFDFDFFFDFDFDFFFDFDFDFFFDFDFD FFFDFDFDFFFDFDFDFFFDFDFDFF lt ImageData16x14 gt lt Device gt lt Devices gt lt Descriptions gt lt EtherCATInfo gt A 16 Appendix D Transition in EtherCAT Communication Status Appendix D Transition in EtherCAT Communication Status When a state transition request for transition to the next communication status is issued from the EtherCAT master device or a transition to the next communication status occurs as the result of a cable disconnection the 264IF 01 Module resets the communication IC Because of this the communication status temporarily becomes INIT then transi tion to the specified communication status takes place as shown below The transition of communication statuses depends on the settings of the master device Transition from OPERATIONAL to PRE OPERATIONAL Transition from OPERATIONAL to Safe OPERATIONAL Transition from OPERATIONAL to INIT However depending on the transition timing there may be cases where a state transition request is received from the master device during resetting of the communication IC of the 264IF 01 Module in which case transition to the speci f
62. ASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 02A New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2009 YASKAWA ELECTRIC CORPORATION rights reserved MANUAL NO SIEP C880700 42A Published in Japan October 200
63. BD9D4C9COB8B3ABA5474441BDB9B5686663C4C6BD4F61307A78726B6B67DACDC5B2AFA8A2A8A1F 6F7F6FEFEFEEFEDEBD5D5CFCAC3BABDB5AE8E8984C7C3BFB6B6B2C0C2BC67784C9E9A948581 7 969890 7 AODADBD9EFEDEBDDDCD6D8D6DOD8D4CD928F89C8C3BDB7B 1 ACBFBBB699978DBFB9B49E9993D5CDCA4B2AFA9949890A0A097 B8BDB9FOEFECDEDBDADFDBD7C9BFB74B4C4A9E999595938F85837E7B7A7672706A6B6A64DA4CCC4B2AEA78F958C969990B9BD B9EFEDEADDDAD3DDD9D4D4CFC9646566827F7A817F7C807D7877777495918B84817DD4CBC3B0ACA58B93898A938AB7BCB8ED EBE8DCD8D3DCD8D3DBD7D1DDDDD5BDBAB5A19F9AB7B5AF7F817EB2AEA6959591D2C9C1AFACA38B9187899086CFD2CEEBE9 EGDADACEDADACDCAC 1BA5F6060C9C2BBA7A5A2D2CEC9A8A8A6C7C2B89B9994CFC7BEAFAAA18D8F84888E83D1D4D1E9E5E2 D8D1CBD8D1CACDCABD888580C5BEB79F9C99B1ACA56C7073B2ADA36E716ECDC3BBAEA9A091928696968CCACDC8DDD7D1D3 CAC2D2C8COCDCA4BCA6A098C3B9BOB1ACAOBEB7B0A8A29DBBB6AAA7A597C8BFB6B5B0A68F8E829C998EB3B6AFF7F6F5D6CE C8D1C7BED5CDC5DACCC5CAC3BAC9BFB6C6BFB6CACOB7C1BAAFCABBAFB9B2A7A9A599A4A59A919184BOB3ABFEFEFEFCFCF CEFEDEAE2DDD8D8D1C9D6CEC6D2C8BFD1C6BCDOC3B9CFC3B9CEC 1 BECBBEB2C0B5A8A8A498A2A196B5B6AFFEFEFEFEFEF EFEFEFEFEFEFEF1FOEEE3DDD8E3DDD8E5DED9E6EODBE9SE3DEEAE4DFEAES5E0E7E3DEE7E3DEEAE7E3F0EFEC lt ImageData16x 14 gt For DefaultSize the default output size set the number of output data number of bytes For example for 32 words set 64 and for 100 words set 200 However the default size must be a multiple of 4 other than 0 For DefaultSize
64. D input field and click anywhere in the list The contents of the specified range of register numbers will be displayed 89 2300 2300SMPL MP2300 Offline Local a ioj x PT CPU 000000 MW00002 000000 MWO0003 000000 MWOO005 000000 MWOO006 000000 MWO00007 000000 00009 000000 MWOO010 000000 MWO00011 000000 MWOO013 000000 MWOO014 000000 MWO0015 000000 MWO0017 000000 MWOO018 000000 MWO0019 000000 MWO00021 000000 MWO00022 000000 00023 000000 00025 000000 00026 000000 MW00027 000000 MWO0029 000000 MWOO030 000000 MW00031 000000 MWO0033 000000 MWO0034 000000 MWoo035 Mw 4 3 Displaying a Register List with the Quick Reference MPE720 5 00 Register lists can also be accessed with the Quick Reference 1 Select View Quick Reference from the main menu of the MPE720 Engineering Manager window Tool Bar Status Bar Quick Reference Motion Task Manager The Quick Reference will be displayed at the bottom of the Engineering Manager window Referto 4 1 1 Displaying the Module Configuration Window for details on how to display the Engineering Manager window 2 Click the Register List tab to switch to the register list 3 26 3 Enter the leading register number MW xxxxx to be accessed in the Register No input field enter the number of registers to be accessed in the D input field and cl
65. Never subject the product to an atmosphere containing halogen fluorine chlorine bromine or iodine dur ing transportation or installation There is a risk of device damage or an accident 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 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 N CAUTION Never use the product in locations subject to water corrosive atmospheres or flammable gas or near burnable objects There 15 a risk of electrical shock or fire Do not step on the product or place heavy objects on the product There is a risk of injury Do not block the air exhaust port on the product Do not allow foreign objects to enter the product There is a risk of element deterioration inside an accident or fire Always mount the product in the specified orientation
66. Status When Error Is Detected Error Contents RUN ERR NS L A1 L A2 ROM Check Error Flashing 1 RAM Check Error Flashing 2 Depends on Depends on DRAM Check Error Not lit Flashing 3 Not lit theconnection theconnection Communication IC Check status of CNI status of CN2 Error Flashing 4 The number in parentheses following Flashing indicates the number of flashes 264IF 01 Module 2 9 2 10 2 5 Communication Connector Specifications 2 5 1 Connector CN1 2 Specifications 2 5 Communication Connector Specifications 2 5 1 Connector CN1 2 Specifications This section explains the connector specifications for the 264IF 01 Module 1 Connector Specifications Table 2 7 Connector CN1 2 Specifications Connector Connector No of Connector Model Name 4 Shape Name Pins Module Cable Manufacturer CNI HIROSE EtherCAT CN2 8 TMIIR 5M2 88 ELECTRIC CO LTD 2 Connector Pin Arrangement The connector is used to connect the 264IF 01 Module to the devices in the EtherCAT network via an EtherCAT con nection Table 2 8 Connector Pin Arrangement Pin Number Signal Description Pin Number Signal Description 1 TXD O Send data plus side 5 TRESI Termnanng resistance 75 Q 2 TXD Send data minus side 6 RXD I dat mmus 3 RXD I Receive dat
67. System Manager file menu and right click it Select Scan Devices from the popup menu that is displayed L 264 tsm TwinCAT System Manager 04104 BEE File Edit Actions View Options sel 28 0 ETRE 16612 9 SYSTEM Configuration PE PLC Configuration p Configuration Number Device Type Device Ii Import Device CER Devices Paste B Paste with Links Server Port Timestamp Message 5 40 2009 02 14 0 24 58 660 System Config mode requested from AmsNetld 32872 port 192168 1 3 1 1 mee CX 54 The 3 new I O devices found dialog box will be displayed 12 Enter a checkmark in the EtherCAT field and click the OK button viDevice 1 EtherCAT TCIXPNPE2 OK 1 Cancel Select All Unselect Appendix Connecting a TwinCAT System 13 The window shown below is displayed and the slave devices connected to the EtherCAT network are detected 264 lt TwinGAT System Manager 041042 f 5x Optior He BAS Ss ee 61964 PLC Configuration General EtherCAT Process Data Startup CoE Online Online p Configuration VO Configuration Name Box 7
68. a plus side 7 TRES2 E resistance 75 Terminating _ Terminating i TRESI resistance 75 Q 8 IRES resistance 75 Q 2 5 2 Cable Specifications Yaskawa does not provide EtherCAT cables Obtain commercially available category 5e cross or straight cables The AUTO MDI MDI X function of the 264 01 Module automatically distinguishes between cross and straight cables 3 Mounting and Starting the Module This chapter describes how to connect the 264IF 01 Module and start the system focusing on 264IF 01 Module mounting communication process setting and self configuration 3 1 Applicable Machine Controllers and Supported Versions 3 2 3 1 1 Applicable Machine Controllers 3 2 3 1 2 Supported CPU and MPE720 Versions 3 2 3 2 Mounting and Removing a Module on the Machine Controller 3 3 3 2 1 Mounting a 264IF 01 Module 3 3 3 2 2 Removing a 264IF 01 Module 3 6 3 3 Setting the Communication Manager 3 8 3 3 1 Opening the Communication Manager 3 8 3 3 2 Setting the Communication Manager 3 9 3 4 Self configuration 3 20 3 4 1 Executing Self configuration
69. anged OK Yes Mo The transmission definition settings are required for each Communication Module Refer to Machine Controller MP2000 Series Communication Module User s Manual Manual No SIEPC88070004 for details on the transmission definition settings 3 24 3 6 Displaying a Register List and Notes at Register Input 3 6 1 Displaying a Register List 3 6 Displaying a Register List and Notes at Register Input 3 6 1 Displaying a Register List If viewing the I O data IW registers and OW registers with the MPE720 use the register list The following describes how to display the register list and notes during register input 1 MPE720 Ver 6 00 Use the following procedure to display the MPE720 6 00 register list 1 Open the Register List sub window from the MPE720 6 00 main window The Register List 1 tab is provided by default in the sub window displayed on the bottom of the screen Register d E Monitor ER Em E output Transfer T cross Reference 1 OForce Coil Li EBRegister List 1 2 Enter the leading register number of the system register or DWxxxxx to be accessed the Register input field and press the ENTER key The contents of the system register will be dis played starting from the leading register number Register Lic Auto 0 output Transfer
70. any new Modules that are detected 3 5 Starting the MPE720 and Setting Communication or Network Parameters 3 5 1 Starting MPE720 Ver 6 and Setting Communication 3 5 Starting the MPE720 and Setting Communication or Network Parameters This section describes how to start the MPE720 and set the communication parameters in the object file MPE720 Ver 6 or the network parameters in the PLC folder MPE720 5 3 5 1 Starting MPE720 Ver 6 and Setting Communication This section describes how to start the MPE720 Ver 6 and set the communication parameters in the object file Disconnect the Machine Controller when setting the parameters Create the object file in advance 1 Select Online Communications Setting from the main menu Alternatively select Controller Communications Setting or Project Communications Setting in the Start window The Communications Setting dialog box will be displayed 2 Select the logical port number to use to connect the Machine Controller and click the Setting button Settings for the logical port numbers are made with the Communication Manager Refer to 3 3 Setting the Communication Manager for the Communication Manager setting procedure Communications Setting E x Set the communication setting Communication port Cancel Unit No Use the router Detail Communication will be set and the dialog box will close The Conn
71. button and select Settings Control Panel Network Connections On a computer running the Windows 2000 OS the Network and Dial up Connections window will be dis played On a computer running the Windows XP OS the Network Connections window will be displayed 3 3 Setting the Communication Manager 3 3 2 Setting the Communication Manager 5 Onacomputer running the Windows 2000 OS double click the Local Area Connection icon On a computer running the Windows XP OS click Local Area Connection and click Change settings of this connection in the Network Tasks field Windows 2000 Windows XP Network and Dial up Connections File Edit View Favorites Tools Advanced Back gt search Gyrolders 52 25 X Address E Network and Dial up Connections 4 J Lak Lak Make New VMware vMware Connection Netw Netw Address Network Connections Name Network Tasks Internet Gateway 1 Create 4 5 Create a new V Internet Connection connection Set up a home cr small natare LAN or High Speed Internet Pise this network go Repar this connection Rename this connection iew status of this Local Area Connection 5 BUFFALO LUA KTX Fast Ethernet Adapter 2 lv Change settings of this connection The Local Area Connection Properties dialog box will be displayed 6 Select Internet Protocol TCP IP and
72. d ST 30 ST 17 ST 16 Not used Not used Not used Not used Not used Not used Not used tt ttt teres Not used 2 LIO 01 LIO 02 Module Error Status Slot 1 8 70 MH eH 0 Error code I O error 2 Subslot No 7 1 Error code I O error 2 Subslot No 2 sre ST 1 Notused SW00226 SW00227 SW00228 SW00229 SW00230 SW00231 Not used raids Not used Not used Not used Notused Not used Not used 1 111 Not used Troubleshooting 6 7 6 2 System Error Status 6 2 2 Details on I O Error Status 3 264IF 01 Module Error Status Slot 2 Bit No E Fa RR SW00232 Error code Station error 1 Subslot 1 SW00233 Reserved SW00234 Communication phases 5 00235 Data enabled flag SW00236 Reserved Details of Communication Phases Word Meaning 0 Non INIT 1 INIT 2 PRE OPERATIONAL 3 SAFE OPERATIONAL 4 OPERATIONAL Details of Data Enabled Flag Bit Meaning When Relevant Bit ON 0 0 Process data not yet communicated 1 Process data communication in progress 1 to 15 Reser ved 4 260IF 01 Module Error Status Slot 3 Bit No a 8 WU ears SW00240 Error code Station error 1 Subslot No 7 2 5 00241 ST 1
73. d to Address between 1 and 254 If there is only one network segment set 1 Max Connect Station Set the number of CP 215 network stations Token Round Time This is the target time from when each station receives the token until the next time the same Setting station receives the token Set 100 MEMOBUS Response This is the time from when a message is sent until the response is received Set 255 Watch Time Leave the other items set to their default values 3 3 Setting the Communication Manager 3 3 2 Setting the Communication Manager 6 Click the Channel tab in the CP 215 Port Setting dialog box Select 2 under Panel Command Chan nel Leave the other items set to their default values and click the OK button to close the dialog box CP 215 Port Setting Hardware l ED ap Panel Command Channel C gt 0 5 MEMOBUS Read Channel P 0 16 MEMOBUS write Channel P 0 16 MEMOBUS Passive Channel p 4 0 16 C x Default T The Logical Port Setting dialog box will be displayed again Click the OK button to return to the Com munication Manager window Check that CP 215 MPLINK CP 215 connection is assigned to the Logical Port No 4 Communication Manager File View Tool Control Modem Logica Prkind DuaL Physica Device 180 1 Serial COMI 10000 2 CP 218 1 10000 3 Ethernet LP 1 10000 CP 215 1 10000 8 Sav
74. describes the appearance and specifications of the 264IF 01 Module 2 1 Features 2 2 2 1 1 Process Data Communication Cyclic Communication 2 3 2 1 2 Mailbox Communication System Message Communication 2 3 2 1 3 Restrictions 2 4 2 2 Specifications 2 5 2 2 1 Hardware Specifications 2 5 2 2 2 Transmission Specifications 2 6 2 2 3 Operating Environment Specifications 2 7 2 3 Device Description File 2 7 2 4 Overview 2 8 2 4 1 Appearance 2 8 2 4 2 Status Indicators LEDs 2 9 2 4 3 Switch Settings 2 9 2 4 4 Offline Self diagnostic Test 2 9 2 5 Communication Connector Specifications 2 10 2 5 1 Connector CN1 2 Specifications 2 10 2 5 2 Cable Specifications 2 10 264IF 01 Module 2 1 2 1 Features
75. e 5 1 5 1 Connection 5 2 5 1 1 Node Setting 5 2 5 1 2 Connection to EtherCAT Network 5 4 5 2 Starting Method 5 5 5 2 1 Basic Sequence 5 5 5 2 2 Midstream Association 5 5 5 3 Process Data Communication Cyclic Communication 5 6 5 3 1 0 5 6 5 3 2 Data Refresh Timing 5 7 5 3 3 Data Synchronization 5 7 5 3 4 Data Refreshing at CPU STOP 5 8 5 4 Mailbox Communication Message Communication 5 8 5 4 1 System Messages 5 8 5 4 2 User Messages cler 5 8 6 Troubleshooting 6 1 6 1 Status Indication by LED Indicators 6 2 6 2 System I O Error Status 6 3 6 2 1 System I O Error Status by Controllers 6 3 6 2 2 Details on
76. e Controller MP2000 Series Motion Module Built in SVB SVB 01 User s Manual SIEPC88070033 Provides a detailed description on the MP2000 Series Machine Controller built in SVB Module and slot mounting optional SVB 01 Module Machine Controller MP2000 Series Communication Module User s Manual Machine Controller MP900 MP2000 Series User s Manual Ladder Programming Machine Controller MP900 MP2000 Series User s Manual Motion Programming SIEPC88070004 SIEZ C887 1 2 SIEZ C887 1 3 Provides the information on the Communication Module that can be connected to MP2000 Series Machine Controller and the communication meth ods Describes the instructions used in MP900 MP2000 ladder programming Describes the instructions used in MP900 MP2000 motion programming Machine Controller MP2000 Series MPE720 Programming Device Version 6 User s Manual SIEPC88070030 Describes how to install and operate the program ming tool MPE720 version 6 for MP2000 Series Machine Controllers Machine Controller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual SIEPC88070005 Describes how to install and operate the MP900 MP2000 Series programming system MPE720 Machine Controller MP900 MP2000 Series New Ladder Editor Programming Manual SIEZ C887 13 1 Describes the programming instructions ofthe New Ladder Editor which assists design and mainte nance of MP900 MP2000 Series Machine Controlle
77. e the settings and restart the Communication Manager Refer to Saving the Communication Port Settings and Restarting the Communication Manager for the proce dure Mounting and Starting the Module 3 19 3 20 3 4 Self configuration 3 4 1 Executing Self configuration 3 4 Self configuration 3 4 1 The self configuration function automatically detects the Option Modules connected to the Machine Controller and automatically generates the files for the Module configuration definitions and the detailed definition of each Module Executing self configuration will greatly reduce the system startup procedure After executing self configuration always save data to flash memory so that results of self configuration are saved to the Machine Controller Executing Self configuration The methods used to execute self configuration are described below Setting the CNFG DIP Switch Pin and Turning the Power ON 2200 2300 2310 23005 Self configuration can be executed by turning ON the CNFG switch pin on the Machine Controller and then turn ing the power ON The result will depend on the setting of the INIT DIP switch pin CNFG INIT Result The Module configuration definitions are updated The default values are allocated in the definitions for all of the Modules that are detected ON ON The Module configuration definitions are updated ON OFF The definitions for any Modules for
78. ection and Setting buttons will be disabled while the Machine Controller is connected Mounting and Starting the Module 3 21 3 5 Starting the MPE720 and Setting Communication or Network Parameters 3 5 2 Starting MPE720 Ver 5 and Setting the Network 3 5 2 Starting MPE720 5 and Setting the Network This section describes how to start the MPE720 and set the network parameters in the PLC folder Create the PLC folder in advance 1 Open the YE Applications folder and double click the MPE720 icon Alternatively select MPE720 from the Start menu The procedure to select the network depends on the operating system igi xi File Edit View Favorites Tools Qsearch Gyrolders 5 GE X A Address a Applications gt Go ul m ALL 720 n c YE Applications Select an item to view its description See also My Documents My Network Places My Computer object s 3 56 KB al My Computer 2 MPE720 will start and the File Manager window will be displayed 51 File Edit View Tool Help x gt e 11 2300 Group Folder 07 2009 11 43 07 2 2 Open the root group and then order folder right click the desired PLC folder and select Properties from the pop up menu that is displayed
79. en gt lt Name gt Output27 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt A 12 Appendix Device Description File Entry lt Index gt x2003 lt Index gt lt SubIndex gt 29 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output28 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 30 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output29 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 31 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output30 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 32 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output31 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt RxPdo gt lt TxPdo Fixed 0 Sm 3 gt lt Index gt x1a00 lt Index gt lt gt 0 lt gt lt gt Index x2004 Index lt SubIndex gt 1 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt 0 lt gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SublIndex gt 2 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt 1 lt
80. ernet LP is assigned to Logical Port No 3 Communication Manager File View Tool Control Modem Help 1 Serial COMI 10000 2 CP 218 1 10000 WEE Ethernet LP 1 10000 5 Save the settings and restart the Communication Manager Refer to Saving the Communication Port Settings and Restarting the Communication Manager for the proce dure 3 16 3 3 Setting the Communication Manager 3 3 2 Setting the Communication Manager 4 Setting the CP 215 Communication Port These settings are required to perform engineering via the CP 215 communication port of the 215AIF 01 Module ACP 215PC AT card must be mounted on the personal computer and set for the CP 215 connection Contact your Yaskawa representative for more information a Setting the CP 215 Communication Port 1 Double click Logical Port No 4 in Communication Manager window Communication Manager File View Tool Control Modem Help PY Serial 2 CP 218 1 10000 3 Ethernet LP 1 10000 The Logical Port Setting dialog box will be displayed 2 Select CP 215 under Port Kind in the Logical Port Setting dialog box and click the Detail button Logical Port Setting Logical Port 4 Port Kind TimeQut Dual The CP 215 Port Setting dialog box will be displayed 3 The Hardware tab page will be displayed Select the type of CP 215PC AT card mounted on the per sonal computer under CP 215 Type CP 215
81. ernet Properties General Security Privacy Content D Tosetup Internet connection click Setup Setup Dial up and Virtual Private Network settings Add Choose Settings if you need to configure a proxy server for a connection ion is not present default c Current default None Set Default Local Area Network settings LAN Settings do not apply to dial up connections LAN Settings _ Choose Settings above for dial up settings OK Cancel Apply The Local Area Network LAN Settings dialog box will be displayed 3 Check that the Automatically detect settings checkbox is cleared and click the OK button to close the dialog box Local Area Network LAN Settings 2 Automatic configuration Automatic configuration may override manual settings To ensure the of manual settings disable automatic configuration Quern detect settings Use automatic configuration script Address r Proxy server e Use a proxy server for your LAN These settings will not apply to dial up or VPN connections Address Port Bypass proxy server For local addresses OK Cancel 4 Fora computer running the Windows 2000 OS click the Windows Start button and select Settings Control Panel Network and Dial up Connections For a computer running the Windows XP OS click the Windows Start
82. es the information of a device and it is provided by the slave device manufacturer An EtherCAT network can be configured by installing this file in the configuration tool of the master device The device description file is written in the XML format It is a setting file equivalent to the EDS file used with DeviceNet Ethernet IP Obtain the device description file by either of the following methods The MPE720 installation disk Downloading from the Yaskawa website the e mechatronics site http www e mechatronics com index jsp 264IF 01 Module 2 7 2 8 2 4 Overview 2 4 1 Appearance 2 4 Overview 2 4 1 Appearance The following figure shows the appearance of the 264 01 Module Indicators RJ45 connector 100BASE TX RJ45 connector 100BASE TX 264IF 01 RUN e ERR EtherCAT Q NS 1 Quae OFF ON EtherCAT YS CN1 EtherCAT Fig 2 4 Appearance of the 264 01 Module 25 Unit mm 2 4 Overview 2 4 2 Status Indicators LEDs The following table shows the status of the 264IF 01 Module indicated by the LED indicators QERR Ons uai Qua 2 4 2 Status Indicators LEDs Table 2 4 Status Indicators LEDs Indicator Color Meaning When Lit Meaning When Flashing Meaning When Not Lit RUN Green Operating normally
83. figuration def initions A Communication Module other than the 264IF 01 Module is required for communication between the Machine Controller and the personal computer running the MPE720 Be sure to mount the Communication 47 Module and refer to 3 3 Setting the Communication Manager 3 4 Self configuration and 3 5 Starting the MPE720 and Setting Communication or Network Parameters to make the required settings before creating module configurations Mounting and Starting the Module 3 5 3 2 Mounting and Removing a Module on the Machine Controller 3 2 2 Removing a 264 01 Module 3 2 2 Removing a 264IF 01 Module Use the following procedure to remove a 264IF 01 Module 1 Preparation 1 Backup the Programs Save the programs written to the Machine Controller in the personal computer using MPE720 MPE720 5 Right click the PLC folder and then select Transfer Files From Controller to MPE720 MPE720 Ver 6 00 Open the project file and then select Online Transfer Read from Controller 2 Remove the Machine Controller and Expansion Rack Turn OFF the power supply and remove the cables connected to the Machine Controller or Expansion Rack Then remove the Machine Controller and Expansion Rack from the panel or rack and place them where there is sufficient space such as on a work table 2 Removing Procedures 1 Remove the Battery Cover lt MP2200 MP2300 MP2200 Base Unit Insert a
84. gt lt BitLen gt 16 lt BitLen gt lt Name gt Output20 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 22 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output21 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 23 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output22 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 24 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output23 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 25 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output24 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 26 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output25 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 27 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output26 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 28 lt SubIndex gt lt BitLen gt 16 lt BitL
85. hard thin metal object such as a coin into the notch on the side of the battery cover and open the cover forward to remove the battery cover 2 Remove the Option Panel lt 2310 23005 gt Insert a finger in the lug on the lower part of the bat tery cover as shown in the figure and remove the battery cover Hold the battery cover with the front facing forward insert the protrusion on the battery cover into the notch at the top of the Module s option panel and release the hook on the option panel 2200 MBU 01 s POWER Release the hook on the bottom in the same way and remove the option panel 3 6 3 2 Mounting and Removing a Module on the Machine Controller 3 2 2 Removing 264IF 01 Module 3 Remove the 264IF 01 Module from the Mounting Base Pull the top of the option panel to remove it A notch can be seen in the 264IF 01 Module from the gap in the panel Insert the round projection on the battery cover see the following figure into the gap in the panel so that it engages the notch in the Module wf Projection Hold the battery cover as shown in the following figure and rotate it toward the rear using the round projection as a fulcrum to disconnect the Module from the Mounting Base connector The Module will come out toward the front 4 Pull Out the 264IF 01 Module Hold onto the top and bottom of the Module with your fingers and pull the Module straight out Be sure to hold onto
86. he EtherCAT Transmission Configuration Window from the Module Configuration Window 4 4 4 2 EtherCAT Transmission Definition 4 5 4 2 1 Transmission Parameters Tab Page 4 5 4 2 2 Status Tab Page 4 7 EtherCAT Transmission Definition 4 1 4 1 Displaying the EtherCAT Transmission Configuration Window 4 1 1 Displaying the Module Configuration Window 4 1 Displaying the EtherCAT Transmission Configuration Window 4 1 1 2 4 2 This section describes how to open the Module Configuration window from the MPE720 open the EtherCAT Transmission Configuration window from the Module Configuration window and set the transmission definition for the EtherCAT Module Displaying the Module Configuration Window Use the following procedure to display the Module Configuration window MPE720 Ver 6 1 Start the MPE720 on the personal computer connected to the Machine Controller and open the project file For information on starting the MPE720 refer to Machine Controller MPE720 Programming Device Ver 6 User s Manual Manual No SIEPC88070030 2 Select Setup Module configuration in the Launcher or double click the Module configuration icon in the system subprogram M 720 Ver 6 mp2300 MP2300 Start loj Edi Online Compile Debug Window Help
87. ication The 2641 01 Module can carry out cyclic communication with the EtherCAT master device using the process data communication function It is not possible to refer to the data of other slave stations from a 264IF 01 Module 2 1 2 Mailbox Communication System Message Communication Data refresh 1 Data refresh Other Other MP2000 264IF 01 Other MP2000 264IF 01 company s company s Series slave company s Series slave master slave Machine station Slave Machine station station station Controller station Controller RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 5 5 RJ45 Ethernet Ethernet Ethernet Ethernet cable cable cable cable Fig 2 2 Cyclic Communication between the Master and Slave Stations in a Line connection EtherCAT System The 26412 01 Module can carry out message communication dedicated to EtherCAT systems by using the mailbox communication function User message communication such as reading from writing to the user memory M registers is not possible Other Other MP2000 264IF 01 Other MP2000 264IF 01 company s company s Series slave company s Series slave master slave Machine station slave Machine station station station Controller station Contro
88. ick anywhere in the list The contents of 3 6 Displaying a Register List and Notes at Register Input 3 6 2 Notes at Register Input the specified range of register numbers will be displayed Register List Watch Page Register aa owe 2 TYPE v Controller 2300 MWO00001 MW00002 MWOO003 MWOO005 MwWOO006 MWOO0007 MWoOo009 00010 MWOO0011 3 6 2 Notes at Register Input 1 Decimal Hexadecimal Number DW and MW registers are signed integer registers and their input ranges in decimal notation are from 32768 to 32767 Hexadecimal 0 to FFFFH Because integers greater than or equal to 32768 cannot be input to these registers as decimal numbers set the display mode to HEX hexadecimal and input them in hexadecimal notation for entry of a remote address or transaction code Negative Value Representation in Decimal Numbers When a register input with a hexadecimal value is displayed as a decimal number its value may be represented as a negative value as shown below This is because a hexadecimal input value is greater than 32768 decimal number and it is represented as a negative Hexadecimal Register List 1 Register 00000 Auto 3 7 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0003
89. ied 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 of the product or burning Do not attempt to modify the product 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 MP2000 Series Machine Controller or machine connected to it may start operation suddenly Provide suitable safety measures to protect people when operation restarts 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 vi E Storage and Transportation N CAUTION Do not store or install the product in locations subject to the following There is a risk of fire electric shock and machine product damage Direct sunlight Ambient temperatures exceeding the storage or operating conditions Ambient humidity exceeding the storage or operating conditions Extreme changes in temperature that would result in condensation Corrosive or flammable gas Excessive dust dirt salt or metallic powder Water oil or chemicals Vibration or shock Do not overload the product during transportation There is a risk of injury or an accident
90. ied status will not take place and state transition will be stopped in an error status If this happens issue any state tran sition request from the master device again E Appendices A 17 Index Index Numerics 264IF 01 Module communication connector specifications 2 10 features 22 mounting 33 Overview 2 8 removing 3 6 specifications 2 5 address initial address 4 5 4 6 input error address 63 IPaddres 2 6 3 11 3 15 MAC address 2 6 5 4 output error address 63 setting the IP address 3 11 3 15 address ofthe data 5 6 B battery cover 3 3 3 6 C communication manager 3 8 opening the communication manager 3 8 setting the communication manager 3 9 communication parameter 52 communication phases 48 details of communication phases 6 8 2 S82 4 5 CPU versions 3
91. in the timing of the scan setting of I O allocation in the detailed definitions window of the 264IF 01 Module EtherCAT Transmission Lines lt gt 2641F 01 Module Data is refreshed in the timing of the EtherCAT communication cycle Sandwiching a communications IC operations between an MP2000 Series Machine Controller and 264IF 01 Module and between EtherCAT communication lines and the 264IF 01 Module are asynchronous 5 3 3 Data Synchronization The synchronization of data between an MP2000 Series Machine Controller and EtherCAT transmission lines is guar anteed Operation Specifications of the Module 5 7 5 8 5 4 Mailbox Communication Message Communication 5 3 4 Data Refreshing at CPU STOP 5 3 4 Data Refreshing at CPU STOP When the CPU module has been set in the STOP status the 264IF 01 Module carries out the following processing Table 5 2 Data Refreshing at CPU STOP Output status at CPU STOP Setting in the 264 01 Module s Output Data Input Data Detailed Definitions The final data output before CPU STOP is Hold continued There is no refreshing of input registers ET At input registers the final data before CPU Faro cledr Output of 0 data is continued during the STOP is held CPU STOP status 5 4 Mailbox Communication Message Communication 5 4 1 System Messages Allow reading data from and writing data of the EtherCAT standard system
92. k topology line type star type tree type and daisy chain type connections possible 1 2 1 2 Features CI Fig 1 1 Example of Line Type Connection Master EtherCAT Segment Slaves High speed repeat function Received packets are repeated in octet units to the next port Takes in only the input data field of the local node and overwrites the data of the output data field of the local node and then sends the packet to the remote node Fig 1 2 High speed Repeat Function Conceptual EtherCAT 1 3 1 4 1 3 Classification of EtherCAT Communication 1 3 Classification of EtherCAT Communication EtherCAT provides the following two communication functions 1 Process Data Communication Function This is equivalent to cyclic I O communication An EtherCAT system has a 4 gigabyte logical process data area cyclic data area Mapping the logical process data area at the EtherCAT master station to each of the slave nodes enables cyclic 1 communications between the master and slave stations 2 Mailbox Communication Function This is equivalent to message communication The EtherCAT master station sends commands to the slave stations and the slave stations return a response to the mas ter station Reading from writing to the system EtherCAT system register Reading writing process data Reading from writing to user memory 2 264IF 01 Module This chapter
93. ller RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 Ethernet Ethernet Ethernet Ethernet cable cable cable cable Message communication Command Response Fig 2 3 Message Communication between Master and Slave Stations in a Line connection EtherCAT System 264IF 01 Module 2 3 2 4 2 1 Features 2 1 3 Restrictions 2 1 3 Restrictions The 264IF 01 Module has been designed as a communication module dedicated for use in EtherCAT Note the follow ing points The 264IF 01 Module cannot be connected to a regular Ethernet network to be connected from the 218IF 01 or 218IF 02 Module Though the 264IF 01 Module uses a standard Ethernet cable it does not allow connection for communications based on general purpose TCP IP or UDP IP because it serves only as an EtherCAT dedicated module MP2300 controller MP2200 controller 88 88 88 58 BIB 8 11 I 218IF 01 218 02 Ethernet X MP2300 controller MPE720 2641 01 The MPE720 engineering tool cannot be connected to 264IF 01 Module directly When connecting the MPE720 separately prepare a module with any of the RS 232C Ethernet and CP 215 ports for connection MP2300 controller o 0 B Ethernet X
94. ller and Expansion Rack Turn OFF the power supply and remove all the cables connected to the Machine Controller or Expansion Rack MP2200 Base Unit Then remove the Machine Controller and Expansion Rack from the panel or rack and place them where there is sufficient space such as on a work table 2 Removing the Option Cover If an Option Cover is attached to the slot into which the 264IF 01 Module is to be mounted remove it using the follow ing procedure 1 Remove the Battery Cover MP2200 MP2300 MP2200 Base Unit lt 2310 23005 gt Insert a hard thin metal object such as a coin into Insert a finger in the lug on the lower part of the bat the notch on the side of the battery cover and open tery cover as shown in the figure and remove the the cover forward to remove the battery cover battery cover Mounting and Starting the Module 3 3 3 2 Mounting and Removing a Module on the Machine Controller 3 2 1 Mounting 264IF 01 Module 2 Remove the Option Cover Hold the battery cover with the front facing forward insert the protrusion on the battery cover into the notch at the top of the Option Cover and release the hook on the Option Cover Release the hook on the bottom in the same way and remove the Option Cover 3 Mounting Procedures 1 Insert 264IF 01 Module Grip the top and bottom of the 264IF 01 Module align the Module with the left side of the guide rail inside the option slot
95. mple of Separated External Cables Steel separator General Power circuit control circuit Digital cables cables signal cables OOOO Maintenance and Inspection Precautions N CAUTION Do not attempt to disassemble the product 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 vii E Disposal Precautions N CAUTION Dispose of the product as general industrial waste 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 viii Warranty 1 Details of Warranty W warranty Period The warranty period for a product that was purchased hereafter called delivered product is one year from the time of delivery to the location specified by the customer or 18 months from the time
96. munica tion Module using the MPE720 Use the following procedure to make the settings 1 2 Double click Logical Port No 1 in the Communication Manager window File View Tool Control Modem Help Communication Manager alzi Logica Prkmd DuaL physica Device 1 OO 0 The Logical Port Setting dialog box will appear Logical Port Setting Logical Port n Pott Kind E TimeOut Dual The Serial Port Setting dialog box will appear Double click fi 0000 ms Cancel TimeOut Select Serial under Port Kind and then click the Detail button x Mounting and Starting the Module 3 9 3 3 Setting the Communication Manager 3 3 2 Setting the Communication Manager 3 Match the settings under Physical Port to the computer s serial communication port Leave the other items on the default settings Once the settings have been completed and checked click the OK but ton to close the dialog box Serial Port Setting Physical Port COM 1 16 Unit No fi 0 63 Baud Rate 19200 Data Bits 8 x Parity EVEN 4 Stop Bits 1 Cancel Default 4 The Logical Port Setting dialog box will be displayed again Click the OK button to return to the Com munication Manager window Check that Serial is assigned to Logical Port No 1 21 Communication Manager File View Tool Control Modem Help
97. munication Manager 3 9 3 4 Self configuration 3 20 3 4 1 Executing Self configuration 3 20 3 5 Starting the MPE720 and Setting Communication or Network Parameters 3 21 3 5 1 Starting MPE720 6 and Setting Communication 3 21 3 5 2 Starting MPE720 Ver 5 OO and Setting the Network 3 22 3 6 Displaying a Register List and Notes at Register Input 3 25 3 6 1 Displaying a Register List 3 25 3 6 2 Notes at Register Input 3 27 4 EtherCAT Transmission Definition 4 1 4 1 Displaying the EtherCAT Transmission Configuration Window 4 2 4 1 1 Displaying the Module Configuration Window 4 2 4 1 2 Displaying the EtherCAT Transmission Configuration Window from the Module Configuration Window 4 4 4 2 EtherCAT Transmission Definition 4 5 4 2 1 Transmission Parameters Tab 4 5 4 2 2 Status Tab Page 4 7 5 Operation Specifications of the Modul
98. must have an Ethernet MAC address EtherCAT segment amp d Other MP2000 264IF 01 Other MP2000 264IF 01 ave node company s Series slave company s Series slave that requires slave Machine station slave Machine station station Controller station Controller a MAC address RJ45 RJ45 RJ45 RJ45 Ru45 RJA5 RJ45 RJ45 Other company s master station mm NEtherCAT segment witching HUB 9 RJ45 Other MP2000 264IF 01 Other MP2000 264IF 01 company s Series slave company s Series slave slave Machine station slave Machine station station Controller station Controller RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 Direct Mode This is the mode in which no switching HUB is used Other Other MP2000 264IF 01 Other MP2000 264IF 01 company s company s Series slave company s Series slave master slave Machine station slave Machine station station station Controller station Controller RJ45 RJ45 RJ45 RJ45 RJ45 J4 RJ45 RJ45 5 2 Starting Method 5 2 1 Basic Sequence 5 2 Starting Method 5 2 1 5 2 2 Basic Sequence Start the devices or items in an EtherCAT network in
99. nted to Expansion Racks which use the MP2200 Base Unit connected to an Expansion Interface Board MP2100MEX model JAPMC MP2500MD JAPMC MC2540 D 8 modules EX2100 mounted to the Machine Controller The maximum number of connectable Modules is the total for the maximum expansion to three Racks 1 A special CPU Module the CPU 01 CPU 02 CPU 03 or CPU 04 is required The models are as follows CPU 01 JAPMC CP2200 CPU 02 JAPMC CP2210 with 1 CF card slot 1 USB port CPU 03 JAPMC CP2220 with 1 CF card slot 1 Ethernet port CPU 04 JAPMC CP2230 with 1 Ethernet port 2 An EXIOIF Inter Rack Connection Module model JAPMC EX2200 is required to add Expansion Racks The 264IF 01 Modules cannot be mounted on the following MP2000 Series Machine Controllers MP2100 MP2400 MP2500 MP2500M and MP2500D 3 1 2 Supported CPU and MPE720 Versions The CPU versions and MPE720 versions of the Machine Controller corresponding to the 264IF 01 Module are listed in the following table Supported Versions Machine Controller CPU MPE720 MPE720 Ver 6 CPMC 720 CPMC 770 CPU 01 Ver 2 73 or later Ver 5 53 or later Ver 6 23 or later 02 Ver 2 73 or later Ver 5 53 or later Ver 6 23 or later CPU 03 Ver 2 73 or later Ver 5 53 or later Ver 6 23 or later CPU 04 Ver 2 73 or later Ver 5 53 or later Ver 6 23 or later MP2300 Ver 2 73 or later Ver 5 53
100. on parameter 52 network parameters 4 5 parameter setting 53 transmission parameters tab 45 watchdog timeout 45 process data communication 1 4 2 3 5 6 programming device software iii R RJ45 connector 2 10 Index self configuration 3 20 setting 215 communication port 3 17 Ethernet LP communication port 3 15 Ethernet communication port 3 11 IP address 3 11 3 15 netwOrk 2 2c2 l2222z22 2222l z2llL22icl 2 322 serial communication port RS 232C connection 3 9 setting communication 321 slave device 54 slavestations 23 status errorstatus 6 3 6 7 47 LED indicator 62 module status 62 status indicators LED 2 5 status tab page 47 status indicators LEDs 2 9 switch settings 2 9 system message communication
101. or Status by Controllers The following shows the system I O error status of the MP2000 Series Machine Controller Refer to 3 6 1 Displaying a Register List and specify a system register number SWxxxxx to access 1 MP2100M Machine Controller Name Register No Remarks Error Count SW00200 Number of I O error occurrences Number of Input Errors 5 00201 Number of input error occurrences Input Error Address SW00202 Address of the latest input error IWxxxx register number Number of Output Errors SW00203 Number of output error occurrences Output Error Address SW00204 Address of the latest output error OWxxxx register number SW00205 Reserved by System SW00206 Not used SW00207 SW00208 to SW00215 MP2100M Machine Controller error status SW00216 to SW00223 Reserved by the system SW00224 to SW00228 SVB 01 Module error status SW00229 to SW00239 Reserved by the system SW00240 to SW00247 Error status of slot 1 of rack 2 Depends on the mounted module and error code SW00248 to SW00255 Error status of slot 2 of rack 2 Error Status Depends on the mounted module and error code SW00256 to SW00263 Error status of slot 3 of rack 2 Depends on the mounted module and error code SW00264 to SW00271 Error status of slot 4 of rack 2 Depends on the mounted module and error code SW00448 to SW00455 Error status of slot 9 of rack 4 Depends on the mounted
102. ort 1 Double click Logical Port No 2 in the Communication Manager window to display the Logical Port Setting dialog box Communication Manager File View Tool Control Modem Help TimeOut 1 Serial COMI 10000 2 Select Ethernet or CP 218 under Port Kind in the Logical Port Setting dialog box and click the Detail button Ethernet and CP 218 set the same communication specifications Either can be set for Ethernet communica tions Logical Port Setting 1 x Logical Port 2 Part Kind TimeQut 10000 ms Dual Off On Cancel The CP 218 Ethernet LP Port Setting dialog box will be displayed 3 Enter the IP address of the computer and click OFF for Default Leave the other items on their default settings Click the OK button to close the dialog box CP 218 Ethernet LP Port Setting Addres First 182 158 1 2 IPAddres Second Default Engineering Port 10000 256 65535 Message Received TCP Port Count 10 0 16 20000 20000 65535 UDP Port Count 10 0 16 3 3 Setting the Communication Manager 3 3 2 Setting the Communication Manager 4 The Logical Port Setting dialog box will be displayed again Click the OK button to return to the Com munication Manager window Check that CP 218 Ethernet connection is assigned to Logical Port No 2 fen alz s s w
103. ot heeded could result in relatively serious or minor injury or property damage CAUTION If not heeded even precautions classified under CAUTION lead to serious results depending on circumstances Indicates prohibited actions Specific prohibitions are indicated inside 9 PROHIBITED p PEOR 9 For example indicates no fire or open flame Indicates mandatory actions Specific actions are indicated inside MANDATORY For example e indicates that grounding is required 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 A WARNING Before starting operation while connected to the machine ensure that an emergency stop procedure has been provided and is working correctly There is a risk of injury Donottouch anything inside the product 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 can cause damage to the machine or even acci dents resulting in injury or death Do notremove the front cover cables connector or options while power is being suppl
104. pecifications before purchasing a product Contents Using this Manual iii Safety V Safety Precautions V Warranty ix WB CAT Se dealt duae itle 1 1 1 1 Outline 5 5 5 5 5 1 2 1 2 Features 1 2 1 3 Classification of EtherCAT Communication 1 4 2 264IF 01 Module 24 2 1 Features 2 2 2 1 1 Process Data Communication Cyclic Communication 2 3 2 1 2 Mailbox Communication System Message Communication 2 3 2 1 3 5 2 4 2 2 5 2 5 2 2 1 Hardware Specifications 2 5 2 2 2 Transmission Specifications 2 6 2 2 3 Operating Environment Specifications 2 7 2 3 Device Description File
105. r MP900 MP2000 Series New Ladder Editor User s Manual SIEZ C887 13 2 Describes the operating methods ofthe New Ladder Editor which assists design and maintenance of the MP900 MP2000 Series Machine Controllers Machine Controller MP2000 Series 262IF 01 FL net Communication Module User s Manual SIEPC88070036 Describes the 262IF 01 FL net communication module that can be connected to MP2000 Series Machine Controllers Machine Controller MP2000 Series 263IF 01 EtherNet IP Communication Module User s Manual SIEPC88070039 Describes the 263IF 01 EtherNet IP communica tion module that can be connected to MP2000 Series Machine Controllers Copyrights EtherCAT is an international registered trademark of Mr Hans Beckhoff Ethernet is a registered trademark of the Xerox Corporation Other product names and company names are the trademarks or registered trademarks of the respective company and the 9 mark do not appear with product or company names in this manual Safety Information The following conventions are used to indicate precautions in this manual 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 con ventions are as follows Indicates precautions that if not heeded could possibly result in loss of life or serious N WARNING Indicates precautions that if n
106. rammable Yaskawa products 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 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 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 s
107. rams 9 03 Table Data Folder The Engineering Manager will launch and the Module Configuration window will open refer to 4 1 2 EtherCAT Transmission Definition 4 4 4 1 Displaying the EtherCAT Transmission Configuration Window 4 1 2 Displaying the EtherCAT Transmission Configuration Window from the Module Configuration Window 4 1 2 Displaying the EtherCAT Transmission Configuration Window from the Module Configuration Window As the result of executing self configuration all Option Modules connected to the Machine Controller will be dis played in the Controller area of the Module Configuration window Refer to 3 4 1 Executing Self configuration lt MP2300 MP2310 MP2300S Module Configuration Window imi Module Configuration MP2300 2300 Offline Local inl x PT CPU D Cli n Controller ModuleType ___ 2300 218 02 JUNDEFINED Controller Number ______ Circuit Number __ i YOStareRegister ____ WO End Register gt pm Disable Input Disable Output Motion Start Register 2641F 01 This module has EtherCAT S function Module Details 2641F 01 SLOTtU2 01 lt 2100 MP2200 MP2500MD Module Configuration Window imi Module Configuration MP2200 MP2200 02 Offline Local E lol xl PT CPUR I
108. receive system messages 2 3 Device Description File 2 2 3 Operating Environment Specifications 2 2 3 Operating Environment Specifications Table 2 3 Operating Environment Specifications for the 264 01 Module Item Specifications Ambient Operating 0 to 55 Temperature Ambient Storage 25 to 485 C Temperature Ambient Operatin Conditions si p 8 30 to 95 RH with no condensation Humidity Ambient Storage Humidity 5 to 95 RH with no condensation Pollution Level Pollution level 1 conforming to JIS B3501 Operating Altitude 2 000 m above sea level or lower Vibration amplitude acceleration Vibration 16 7 Hz 14 7 m s 2 x 10 lt f lt 57 Hz 0 075 mm of single amplitude perating 2 Conditions 57 lt lt 150 Hz 9 8 m s of fixed acceleration Shock Resistance Peak acceleration of 147 m s twice for 11 ms each in the X Y and Z direc tions Power supply noise FT noise 2 kV min for one minute Electrical ee Radiation noise FT noise 1 kV min for one minute Operating Noise Resistance Conditions Ground noise impulse noise 1 kV min for ten minutes Electrostatic noise contact discharge method 6 kV min ten times Installation Ground Ground to 100 max Requirements Cooling Method Natural cooling 2 3 Device Description File The device description file is a profile that stat
109. s and Status Select the appropriate tab page to perform setting and monitoring 4 2 1 Transmission Parameters Tab Page On the Transmission Parameters tab page set the network parameters required to perform EtherCAT communication The following explains the details of the network parameter setting After changing the setting on the Transmission Parameters tab page save the definition data by selecting File Save to Flash from the main menu ini x CPU s CKit 1 qme ciFuro1 Transmission Parameters Status Configuration Information Watchdog Timeout 1000 ms The output in CPU STOP Hold annees vege scan Configuration Information Displays the 2641 01 Module configuration information The configuration information is the same as the information displayed in the Module Details area in the Module Configuration window RACK The rack number of the rack in which the 264IF 01 Module is defined Slot slot number of the slot in which the 264IF 01 Module is defined CIR circuit number of the EtherCAT port on the 264IF 01 Module Parameters Watchdog Timeout Set the monitoring time for detecting an error in EtherCAT communication The setting range is 0 to 65535 This setting is for future use Making a setting has no effect The output in CPU STOP Set the status of the output data when the STOP status has been set at the controller CPU
110. ss YE Applications Go M ES Y Ma B Applications i nManager Select an item to view its description Double click See also My Documents My Network Places My Computer po t n 2 object s 3 47 KB 15 My Computer Setting the Ethernet Communication Port These settings are required to perform engineering via the 10Base T communication port Ethernet of the 218IF 01 Module For Ethernet connection a general purpose Ethernet board or PCMCIA Ethernet card must be mounted on the personal computer Prior to make settings the IP address of the personal computer must be set Mounting an Ethernet Card Mount a general purpose Ethernet board or PCMCIA Ethernet card on the specified connector of the personal com puter Also install the driver provided with the Ethernet card Setting the IP Address Prior to make settings for Ethernet connection the IP address of the personal computer must be set Set the IP address using the following procedure Make the following settings with the LAN cable connected 1 Click the Windows Start button and select Settings Control Panel Internet Options The Internet Properties dialog box will be displayed Mounting and Starting the Module 3 11 3 3 Setting the Communication Manager 3 3 2 Setting the Communication Manager 2 Click the Connections tab to display the tab page Click the LAN Settings button Al xl Int
111. st Search Host Name Connected Address AMS NetlId Twin AT OS Versian Comment LE Route Name Target Route Name Remote GEN Target Foute Remote Route Tosca TOP IP Proiect None Static Static Temporary Temporary Address Info Host Name OP Address Connection Timeout e Appendix Connecting a TwinCAT System 8 Check that the target controller has been detected then click the relevant controller 9 Click the Add Route button Koute Dialog Enter Host Name IP 16925448201 Refresh Status Broadcast Search Host Name Route Name Target Transport Type Address Info Hoct Connection Timeout Gonnected Address AMS 54 16 701 OR U04104F 416 791 TOP IP OX 04104F OP Address 5 TwinGaAT 05 version Route Name Remote Target Foute Project OStatic O Temporary Comment GEN Remote Route None Static Temporary C S 10 Select the relevant controller then click the OK button Choose larget system a Local 49216812311 EE ALAU 41 1 C Set as Default Connection Timeout s 5 4 gt E Appendices gt Appendix Connecting a TwinCAT System 11 Select I O Device from the
112. the default input size set the number of input data number of bytes For example for 32 words set 64 and for 100 words set 200 However the default size must be a multiple of 4 other than 0 00001 U lt Fmmu Sm 2 gt Outputs lt Fmmu gt Fmmu Sm 3 gt Inputs lt Fmmu gt lt Fmmu gt MboxState lt Fmmu gt Sm MinSize 128 MaxSize 128 faultSize 128 Sta 1000 ControlByte x36 Enable 1 gt MBoxOut lt Sm Sm MinSize 128 MaxSize 128 DefaultSize 128 Address x1080 ControlByte x32 Enable 1 gt MBoxlIn lt Sm gt Sm MinSize 1 MaxSize 400 DefaultSize 64 otartAddress x1100 ControlByte x74 Enable 1 gt Outputs lt Sm gt Sm MinSize 1 MaxSize 400 DefaultSize 4 StartAddress x1358 ControlByte x30 Enable 1 gt Inputs lt Sm gt E Appendices gt A 10 Appendix Device Description File RxPdo Fixed 0 Sm 2 gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 3 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output2 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 4 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output3 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt
113. the edges of the Module Do not touch the components mounted to the Module Place the Module that you removed into the bag that it was delivered in and store it Always attach an Option Cover JEPMC OP2300 to any unused slot Mounting and Starting the Module 3 7 3 8 3 3 Setting the Communication Manager 3 3 1 Opening the Communication Manager 3 3 Setting the Communication Manager This section describes the software called the Communication Manager that is used to set the communication method for engineering communication between the personal computer running the MPE720 and the MP2000 Series Machine Controller Use a Communication Module other than the 264IF 01 Module for communication between the Machine Controller and the personal computer running the MPE720 and set an appropriate communication method depending on the Mod ule used Set the communication conditions with the Communication Manager after the MPE720 Programming Device has been installed Once they have been set it is unnecessary to set from the next startup except when other conditions are to be added 3 3 1 Opening the Communication Manager 1 Double click the Communication Manager icon in the Applications folder on the desktop to start the Communication Manager Alternatively select All Programs YE Applications Communica tion Manager under the Windows Start button in x Fie Edit view Favorites Tools Help d Back gt
114. utput13 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 15 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output14 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt 5 gt 16 lt 3 gt lt BitLen gt 16 lt BitLen gt lt Name gt Output15 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 17 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output16 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 18 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output17 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt E Appendices A 11 Appendix Device Description File Entry lt Index gt x2003 lt Index gt lt SubIndex gt 19 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output18 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 20 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Output19 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2003 lt Index gt lt SubIndex gt 21 lt SubIndex
115. which definitions already exist are not changed The default values are allocated in the definitions for any new Modules that are detected The DIP switch is not normally used for the MP2100M MP2500MD For these Machine Controllers execute self configuration by following the procedure described in 2 Using the MPE720 MP2100M MP2500MD below Using the MPE720 MP2100M MP2500MD After starting the MPE720 start the Engineering Manager and then select Order Self Configure All Modules from the main menu in the Module Configuration window Alternatively select the Module for which self configuration is to be executed in the Module Configuration window and then select Order Module Self configuration from the main menu Referto 4 1 1 Displaying the Module Configuration Window for the procedure to display the Module Configuration window The result depends on the command that is used as described below Command Result Self configuration for all The Module configuration definitions are updated Modules The definitions for any Modules for which definitions already exist are not changed The default values are allocated in the definitions for any new Modules that are detected Definitions are allocated only for the selected Module Module Self configuration The definitions for any Modules for which definitions already exist are not changed The default values are allocated in the definitions for
116. ype gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 20 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt Name gt Input19 lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt 5 gt 21 lt 53 gt lt BitLen gt 16 lt BitLen gt lt gt 20 lt gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 22 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt 21 lt gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 23 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt 22 lt gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 24 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt 23 lt gt lt DataType gt UINT lt DataType gt lt Entry gt lt Entry gt lt Index gt x2004 lt Index gt lt SubIndex gt 25 lt SubIndex gt lt BitLen gt 16 lt BitLen gt lt gt 24 lt gt lt DataType gt UINT lt DataType gt lt Entry gt E Appendices A 15 Appendix Device Description File Entry lt Index gt x2004 lt Index gt
117. ystems 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 s

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