YASKAWA MP210 Series User manual

Model: JAPMC-MC2100, -MC2100-E, -MC2102-E
JAPMC-MC2140, -MC2140-E, -MC2142-E
MP210/MP210M
Machine Controller
USER'S MANUAL
Design and Maintenance
MANUAL NO. SIEP C880700 01D
1
2
3
4
5
6
A
B
C
D
E
F
Overview
Specifications and Functions
Installation and Connection
System Startup and
Sample Programs
Outline of Motion Control Systems
Maintenance, Inspection,
and Troubleshooting
System Registers Lists
Current Value and Setting Data
in SVB Definition
Initializing the Absolute Encoder
Motion Parameter Lists
Motion API
MP2100M Slave CPU
Synchronization Function

Copyright ©2003 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.

iii
Using this Manual
The MP2100/MP2100M is a PCI-board-type Machine Controller that contains the CPU, I/O and MECHA-
TROLINK-II communication functions in a single unit.
Read this manual carefully to ensure the proper use of the MP2100/MP2100M. Also, keep this manual in a
safe place so that it can be referred to whenever necessary.
Manual Configuration
Read the chapters of this manual as required by the purpose.
Chapter
Selecting
Models and
Peripheral
Devices
Studying
Specifications
and Ratings
Designing
the System
Installation
and Wiring
Trial
Operation
Maintenance
and
Inspection
Chapter 1
Overview √−−−−−
Chapter 2
Specifications and
Functions
√√−−−−
Chapter 3
Installation and
Connection
−√√√−−
Chapter 4
System Startup and
Sample Programs
−−√−√−
Chapter 5
Outline of Motion Control
Systems
−√√√−−
Chapter 6
Maintenance, Inspection,
and Troubleshooting
−−−−√√
Appendix A
System Registers Lists −−√−√−
Appendix B
Current Value and Setting
Data in SVB Definition
−−√−√−
Appendix C
Initializing the Absolute
Encoder
−−√−√−
Appendix D
Motion Parameter Lists −−√−√−
Appendix E
Motion API −−√−√−
Appendix F
MP2100M Slave CPU
Synchronization Function
−−√−√−

iv
Basic Terms
Unless otherwise specified, the following definitions are used:
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates important information that should be memorized or minor precautions, such as pre-
cautions that will result in alarms if not heeded.
Indicates supplemental information.
Indicates application examples.
Describes technical terms that are difficult to understand, or appear in the text without an expla-
nation being given.
Terms Used to Describe “Torque”
Although the term “torque” is commonly used when describing rotary servomotors and “force” or “thrust”
are used when describing linear servomotors, this manual uses “torque” when describing both (excluding
parameters).
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
Copyrights
• MP2100 Machine Controller MP2100
• MP2100M Machine Controller MP2100M
• PC Programmable Logic Controller
• PP Programming Panel
• MPE720 The Programming Device Software or a Programming Device (i.e., a personal computer) running the
Programming Device Software
• S-ON = /S-ON
• P-CON = /P-CON
IMPORTANT
INFO
EXAMPLE
TERMS
• EtherNet/IP and DeviceNet is a registered trademark of the ODVA (Open DeviceNet Venders Association).
• PROFIBUS is a trademark of the PROFIBUS User Organization.
• EtherCAT is a registered trademark of Beckhoff Automation GmbH, Germany.
• Ethernet is a registered trademark of the Xerox Corporation.
• PROFINET is a registered trademark of PROFIBUS & PROFINET International.
• CC-Link is a trademark of the Mitsubishi Electric Corporation.
• MPLINK is a registered trademark of the YASKAWA Electric Corporation.
• Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation.
• Pentium is a registered trademark of the Intel Corporation.
• MECHATROLINK is a trademark of the MECHATROLINK Members Association.
• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM”
and the
® mark do not appear with product or company names in this manual.

v
Related Manuals
Refer to the following related manuals as required. Thoroughly check the specifications, restrictions, and
other conditions of the product before attempting to use it.
Manual Name Manual Number Contents
Machine Controller MP2000 Series
Built-in SVB/SVB-01 Motion Module
User’s Manual
SIEP C880700 33
Describes the functions, specifications, and
application methods of the optional SVB-01
module and the SVB module that is built into
the MP2000 Series Machine Controllers.
Machine Controller MP2000 Series
SVC-01 Motion Module
USER'S MANUAL
SIEP C880700 41
Describes the functions, specifications, and
application methods of the SVC-01, SVC
Motion Module for the MP2000 Series
Machine Controllers.
Machine Controller MP2000 Series
SVA-01 Motion Module
User’s Manual
SIEP C880700 32
Describes the functions, specifications, and
application methods of the SVA-01, SVA
Motion Module for the MP2000 Series.
Machine Controller MP2000 Series
Pulse Output Motion Module PO-01 User’s
Manual
SIEP C880700 28
Describes the functions, specifications, and
application methods of the PO-01, Pulse Output
Motion Module for the MP2000 Series
Machine Controllers.
Machine Controller MP2000 Series
MPU-01 Multiple-CPU Module
User’s Manual
SIEP C880781 05
Describes the functions, specifications, and
application methods of the Multiple-CPU Mod-
ule for the MP2000 Series.
Machine Controller MP2000 Series
Communication Module
User’s Manual
SIEP C880700 04
Describes the functions, specifications, and
application methods of the MP2000 Series
Communication Modules (217IF, 218IF, 260IF,
261IF).
Machine Controller MP2000 Series
I/O Module User’s Manual SIEP C880700 34
Describes the functions, specifications, and
application methods of the I/O Module for the
MP2000 Series Machine Controllers.
Machine Controller MP2000 Series
Analog Input/Analog Output Module
AI-01/AO-01 User’s Manual
SIEP C880700 26
Describes the functions, specifications, and
application methods of the Analog Input Mod-
ule AI-01 and Analog Output Module AO-01
for the MP2000 Series Machine Controllers.
Machine Controller MP2000 Series
Counter Module CNTR-01
User’s Manual
SIEP C880700 27
Describes the functions, specifications, and
application methods of the Counter Module
CNTR-01 for the MP2000 Series Machine
Controllers.
Machine Controller MP2000 Series
262IF-01 FL-net Communication Module
User's Manual
SIEP C880700 36
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
SIEP C880700 39
Describes the 263IF-01 EtherNet/IP Communi-
cation Module that can be connected to
MP2000 Series Machine Controllers.
Machine Controller MP2000 Series
EtherCAT Module 264IF-01
User’s Manual
SIEP C880700 42
Describes the functions, specifications, and
application methods of the 264IF-01, EtherCAT
Module for the MP2000 Series.
Machine Controller MP2000 Series
265IF-01 CompoNet Module
User’s Manual
SIEP C880700 44
Describes the functions, specifications, and
application methods of the 265IF-01, Com-
poNet Module for the MP2000 Series.
Machine Controller MP2000 Series
266IF-01 PROFINET Controller Module
User’s Manual
SIEP C880700 47
Describes the functions, specifications, and
application methods of the 266IF-01, PROF-
INET Controller Module for the MP2000-series
Machine Controllers.
Machine Controller MP2000 Series
266IF-02 PROFINET Device Module
User’s Manual
SIEP C880700 48
Describes the functions, specifications, and
application methods of the 266IF-02, PROF-
INET Device Module for the MP2000-series
Machine Controllers.

vi
Machine Controller MP2000 Series
267IF-01 CC-Link Master Module
User’s Manual
SIEP C880712 01
Describes the functions, specifications, and
application methods of the 267IF-01, CC-Link
Master Module for the MP2000-series Machine
Controllers.
Machine Controller MP900/MP2000 Series
User’s Manual,
Ladder Programming
SIEZ-C887-1.2 Describes the instructions used in MP900/
MP2000 ladder programming.
Machine Controller MP2000 Series
USER'S MANUAL
for Motion Programming
SIEP C880700 38 Describes the motion program language used
with the MP2000 Series Machine Controllers.
Engineering Tool for MP2000 Series
Machine Controller MPE720 Version 6
User’s Manual
SIEP C880700 30
Describes the installation and operation of the
engineering tools for MP2000 Series Machine
Controller MPE720 Version 6.
Machine Controller MP900/MP2000 Series
MPE720 Software for Programming Device
User’s Manual
SIEP C880700 05
Describes how to install and operate the
MP900/MP2000 Series programming system
(MPE720).
Machine Controller MP900/MP2000 Series
New Ladder Editor
User’s Manual Programming Manual
SIEZ-C887-13.1
Describes the programming instructions of the
New Ladder Editor, which assists MP900/
MP2000 Series design and maintenance.
Machine Controller MP900/MP2000 Series
New Ladder Editor
User’s Manual, Operation
SIEZ-C887-13.2
Describes the operating methods of the New
Ladder Editor, which assists MP900/MP2000
Series design and maintenance.
Machine Controller MP900/MP2000 Series
User’s Manual
MECHATROLINK System
SIEZ-C887-5.1
Describes MECHATROLINK distributed I/O
for MP900/MP2000 Series Machine Control-
lers.
Machine Controller MP900/MP2000 Series
Linear Servomotor Manual SIEP C880700 06
Describes the connection methods, setting
methods, and other information for Linear Ser-
vomotors.
ΣSeries SGM/SGMP/SGD-N
User’s Manual
SIE-S800-26.3 Describes the Σ-I Series SERVOPACK models,
specifications and capacity selection methods.
ΣSeries SGM/SGDB
User’s Manual
SIE-S800-26.4 Describes the Σ-I Series SERVOPACK models,
specifications and capacity selection methods.
Σ-II Series SGMH/SGDH
User’s Manual
SIEP S800000 05 Describes the models, capacities, selection
methods, ratings, characteristics, diagrams,
cables, peripheral devices, wiring, panel
installation, trial operation, adjustment,
function application methods, maintenance, and
inspection of the Σ-II Series SGDH
SERVOPACK and Servomotors.
Σ-II Series SGMH/SGDM
User’s Manual
SIEP S800000 15 Describes the models, capacities, selection
methods, ratings, characteristics, diagrams,
cables, peripheral devices, wiring, panel
installation, trial operation, adjustment,
function application methods, maintenance, and
inspection of the Σ-II Series SGDM
SERVOPACK and Servomotors.
Σ-III Series SGMS/SGDS
User’s Manual
SIEP S800000 00 Describes the models, capacities, selection
methods, ratings, characteristics, diagrams,
cables, peripheral devices, wiring, panel
installation, trial operation, adjustment,
function application methods, maintenance, and
inspection of the Σ-III Series SERVOPACKs
and Servomotors.
Σ-III Series SGMS/SGDS
Digital Operator
Instructions
TOBP S800000 01 Describes the operation methods of the JUSP-
OP05A Digital Operator.
(cont’d)
Manual Name Manual Number Contents

vii
Σ-III Series SGMS/SGDS
User’s Manual
For MECHATROLINK-II communications
SIEP S800000 11 Describes the models, capacities, selection
methods, ratings, characteristics, diagrams,
cables, peripheral devices, wiring, panel
installation, trial operation, adjustment,
function application methods, maintenance,
inspection, and MECHATROLINK
communication of the -III Series
SERVOPACKs and Servomotors.
AC Servo Drives Σ-VSeries
User’s Manual
Setup, Rotational Motor
SIEP S800000 43 Describes how to setup a Σ-V series servo drive
used with rotary motors.
AC Servo Drives Σ-VSeries
User’s Manual
Setup, Linear Motor
SIEP S800000 44 Describes how to setup a Σ-V series servo drive
used with linear motors.
AC Servo Drives Σ-VSeries User’s Manual
Design and Maintenance,
Rotational Motor/Analog Voltage and Pulse
Train Reference
SIEP S800000 45
Describes how to use a Σ-V series servo drive/
analog voltage/pulse train reference type, used
with rotary motors.
AC Servo Drives Σ-VSeries User’s Manual
Design and Maintenance, Linear Motor/
Analog Voltage and Pulse Train Reference
SIEP S800000 47
Describes how to use a Σ-V series servo drive/
MECHATROLINK-II communications type,
used with rotary motors.
AC Servo Drives Σ-VSeries User’s Manual
Design and Maintenance, Rotational Motor
MECHATROLINK-II Communications
Reference
SIEP S800000 46
Describes how to use a Σ-V series servo drive/
analog voltage/pulse train reference type, used
with linear motors.
AC Servo Drives Σ-VSeries User’s Manual
Design and Maintenance, Rotational Motor
MECHATROLINK-II Communications
Reference
SIEP S800000 48
Describes how to use a Σ-V series servo drive/
MECHATROLINK-II communications type,
used with linear motors.
AC Servo Drives Σ-VSeries
User’s Manual
MECHATROLINK-ΙΙ Command
SIEP S800000 54
Describes the MECHATROLINK-II communi-
cations commands of the Σ-V series servo
drives with MECHATROLINK-II communica-
tions.
AC Servo Drives Σ-VSeries
User’s Manual
Operation of Digital Operator SGDV
SERVOPACK
SIEP S800000 55 Describes the operating methods of the JUSP-
OP05A-1-E Digital Operator.
(cont’d)
Manual Name Manual Number Contents

viii
Safety Information
The following conventions are used to indicate precautions in this manual. These precautions are provided to
ensure the safe operation of the MP2100/MP2100M and connected devices. Information marked as shown
below is important for the safety of the user. Always read this information and heed the precautions that are
provided.
The conventions are as follows:
Indicates precautions that, if not heeded, could possibly result in loss of life, serious
injury, or property damage.
Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, or property damage.
If not heeded, even precautions classified under can lead to serious results
depending on circumstances.
Indicates prohibited actions. Specific prohibitions are indicated inside .
For example, indicates prohibition of open flame.
Indicates mandatory actions. Specific actions are indicated inside .
For example, indicates mandatory grounding.
WARNING
CAUTION
CAUTION
PROHIBITED
MANDATORY

ix
Safety Precautions
The following precautions apply to inspection when products arrive, storage and transportation, mounting,
wiring, operation and inspection, and disposal. These precautions are important and must be observed.
• Before connecting the Machine Controller and starting operation, ensure that an emergency stop pro-
cedure has been provided and is working correctly.
There is a risk of injury.
• Observe all the procedures and instructions given in this manual for trial operation.
Operating mistakes while the servomotors and machine are connected may damage the machine, and in some
cases result in accidents causing injury or death.
• Do not disconnect any cable when power is being supplied.
There is a risk of machine failure or electrical shock.
• Do not allow installation, disassembly, or repairs to be performed by anyone other than specified per-
sonnel.
There is a risk of electrical shock or injury.
• Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of electrical shock, operational failure or burning of the MP2100/MP2100M.
• Do not attempt to modify the MP2100/MP2100M in any way.
There is a risk of injury or device damage.
• Do not approach the machine when there is a momentary power loss to the power supply. When the
power is restored, operations may start suddenly. Take steps to ensure human safety in the event
that operation restarts suddenly.
There is a risk of injury.
WARNING

x
Storage and Transportation
• Do not store or install the MP2100/MP2100M in the following locations.
There is a risk of fire, electrical shock, or device damage.
• Direct sunlight
• Ambient temperature exceeds the storage or operating conditions
• Ambient humidity exceeds the storage or operating conditions
• Rapid changes in temperature or locations subject to condensation
• Corrosive or flammable gas
• Excessive dust, dirt, salt, or metallic powder
• Water, oil, or chemicals
• Vibration or shock
• Do not overload the MP2100/MP2100M during transportation.
There is a risk of injury or an accident.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pal-
lets, or plywood, the packing materials must be treated before the product is packaged, and methods
other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 min-
utes 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.
CAUTION

xi
Installation
• The MP2100/MP2100M is mounted in the PCI slot of a standard personal computer (IBM PC/AT or
compatible).
• To prevent the MP2100/MP2100M from being damaged by static electricity, discharge any static
electricity by touching a grounded metal object.
• Before installing or removing the MP2100/MP2100M, always turn OFF the host computer's power
supply and unplug the computer's power cord.
• When installing the MP2100/MP2100M, always press the Board firmly until it is fully seated in the PCI
slot. If the Board is not fully inserted, the MP2100/MP2100M and/or host computer may be damaged
or operate incorrectly. If the MP2100/MP2100M cannot be inserted into the PCI slot with firm
pressure, do not try to force it into the slot. Remove the Board, align it properly, and try inserting it
again.
• When handling the MP2100/MP2100M, hold the Board by its edges and never touch the components
or soldered connections. Touching the components or leads can cause cuts or damage the MP2100/
MP2100M or host computer.
• In some computers, it is necessary to secure the MP2100/MP2100M in the PCI slot with a screw or a
clip after inserting the Board into the slot. Refer to the host computer's user manual for details on
securing PCI Boards. If the MP2100/MP2100M is not secured, it may become loose and the
MP2100/MP2100M and/or host computer may be damaged or operate incorrectly.
• Connect and secure the cables that connect the MP2100/MP2100M to the Servodrive and I/O
Module. If the cable connectors are not fully inserted and secured, the MP2100/MP2100M,
Servodrive, and/or I/O Module may operate incorrectly.
• Never use the MP2100/MP2100M in locations subject to water, corrosive atmospheres, or flammable
gas, or near burnable objects.
There is a risk of electrical shock or fire.
• Do not subject the MP2100/MP2100M to strong shock.
There is a risk of an accident.
CAUTION
PCI bus slot
MP2100 board
PC/AT or compatible computer

xii
Wiring
Selecting, Separating, and Laying External Cables
• Check the wiring to be sure it has been performed correctly.
There is a risk of motor run-away, injury, or an accident.
• Always use a power supply of the specified voltage.
There is a risk of burning.
• In places with poor power supply conditions, take all steps necessary to ensure that the input power
supply is within the specified voltage range.
There is a risk of device damage.
• Install breakers and other safety measure to provide protection against shorts in external wiring.
There is a risk of fire.
• Provide sufficient shielding when using the MP2100/MP2100M in the following locations.
There is a risk of device damage.
• Noise, such as from static electricity
• Strong electromagnetic or magnetic fields
• Radiation
• Near to power lines
• When connecting the battery, connect the polarity correctly.
There is a risk of battery damage or explosion.
• Consider the following items when selecting the I/O signal lines (external cables) to connect the
MP2100/MP2100M to external devices.
• Mechanical strength
• Noise interference
• Wiring distance
• Signal voltage, etc.
• Separate the I/O signal lines from the power lines both inside and outside the control box to reduce
the influence of noise from the power lines.
If the I/O signal lines and power lines are not separated properly, malfunctioning may result.
CAUTION
CAUTION
鉄板製のセパレータ
ディジタル
入出力信号
ケーブル
一般制御回路
のケーブル
動力回路の
ケーブル
外部配線の分離例
Example of Separated External Cables
Steel separator
Power
circuit
cables
General
control cir-
cuit cables
Digital I/O
signal
cables

xiii
Maintenance and Inspection Precautions
Disposal Precautions
General Precautions
• Do not attempt to disassemble the MP2100/MP2100M.
There is a risk of electrical shock or injury.
• Do not change wiring while power is being supplied.
There is a risk of electrical shock or injury.
• When replacing the MP2100/MP2100M, transfer the programs and parameters from the old control-
ler to the new controller before restarting operation.
There is a risk of device damage.
• Dispose of the MP2100/MP2100M as general industrial waste.
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.
CAUTION
CAUTION

xiv
Warranty
(1) Details of Warranty
Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year
from the time of delivery to the location specified by the customer or 18 months from the time of shipment
from the Yaskawa factory, whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product
reaching the end of its service life and replacement of parts that require replacement or that have a limited
service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cat-
alogs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship-
ment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
(2) Limitations of Liability
1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of pro-
gram execution of the programs provided by the user or by a third party for use with programmable
Yaskawa products.
(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 equip-
ment 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 condi-
tions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle sys-
tems, medical equipment, amusement machines, and installations subject to separate industry or gov-
ernment regulations
• 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 systems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety

xv
4. Never use the product for an application involving serious risk to life or property without first ensuring
that the system 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 published with updated code numbers. Consult with your Yaskawa representative to confirm
the actual specifications before purchasing a product.

xvi
Contents
Using this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - viii
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ix
Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv
1 Overview
1.1 MP2100 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 MP2100 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.2 MP2100 Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3
1.2 MP2100M Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.1 MP2100M Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4
1.2.2 Comparing SVB Motion Module and SVB Built into the CPU Module - - - - - - - - - - - - - - - - - - -1-4
1.2.3 MP2100M Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-5
1.3 MP2100/MP2100M Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.4 Example of System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.4.1 Example of MP2100 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-8
1.4.2 Example of MP2100M System Configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-9
1.5 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
1.6 Cables, Included Accessories, and Options - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.6.1 Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-12
1.6.2 Accessories and Options- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.7 Software - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.7.1 The Programming Device Software - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.7.2 Motion API - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
2 Specifications and Functions
2.1 Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2
2.1.2 Specifications of Operating Environment- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-3
2.1.3 Function Lists- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-4
2.2 Functions of the MP2100/MP2100M Base Module- - - - - - - - - - - - - - - - - - - - - - 2-7
2.2.1 MP2100 Appearance/LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - -2-7
2.2.2 MP2100M Appearance/LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.2.3 Module Configuration Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
2.2.4 CPU I/O (Built-in I/O) Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-15
2.2.5 Built-in SVB Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-16
2.2.6 Built-in SVR Virtual Motion Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30
2.2.7 BUS Interface Module (BUSIF) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-33
2.2.8 M-EXECUTOR Module (Motion Program Executor) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-36

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3 Installation and Connection
3.1 Installing the MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.1 Computer Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 Installing the MP2100/MP2100M- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.1.3 Installing the Drivers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
3.1.4 Verifying Driver Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.2 MP2100/MP2100M Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.2.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.2.2 MECHATROLINK-I/II Connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.2.3 I/O Connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
4 System Startup and Sample Programs
4.1 Startup Procedure for a Model System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Flowchart for Model System Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.2 System Configuration Model and Necessary Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.3 Installing the MP2100 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.1.4 Installing the Drivers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
4.1.5 Verifying Driver Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.1.6 Connecting and Wiring the System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.1.7 Initializing SERVOPACKs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.1.8 Setting and Saving Communication Process (Communication Manager) - - - - - - - - - - - - - - 4-12
4.1.9 Executing the MP2100 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.2 Starting Sample Program - MPE720 Ver 6. - - - - - - - - - - - - - - - - - - - - - - - 4-17
4.2.1 Copying and Transferring Sample Program Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control - - - - - - - - - - 4-22
4.2.3 Saving and Transferring Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
4.3 Starting Sample Program - MPE720 Ver 5. - - - - - - - - - - - - - - - - - - - - - - - 4-27
4.3.1 Starting MPE720 Ver 5. and Creating Folders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28
4.3.2 Reading Sample Programs and Setting and Saving Parameters - - - - - - - - - - - - - - - - - - - - 4-32
4.3.3 Other Operations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
4.4 Checking Sample Program Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48
4.4.1 Opening the Tuning Panel Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48
4.4.2 Operation Check 1: Manual Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50
4.4.3 Operation Check 2: Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-59
4.4.4 Operation Check 3: Phase Control - Electronic Shaft - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64
4.4.5 Operation Check 4: Phase Control - Electronic Cam- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68
4.5 System Startup Using Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-74
4.5.1 Starting the System for the First Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-74
4.5.2 System Startup when Adding Electronic Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-77
4.5.3 System Startup when Replacing Electronic Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-79
4.6 MP2100M Startup- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-81
4.6.1 Communication Process Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-81
4.6.2 Controller Configuration Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-82
4.6.3 Module Configuration Definition Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-83

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5 Outline of Motion Control Systems
5.1 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 MP2100 Mode Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-2
5.1.2 MP2100M Mode Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-4
5.1.3 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-5
5.1.4 Startup Sequence Operation Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-6
5.1.5 Indicator Patterns - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-7
5.2 User Programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.2.1 Drawings (DWGs)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-8
5.2.2 Execution Control of Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-9
5.2.3 Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.2.4 Motion Programs and MSEE and S Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
5.2.5 Example of Ladder Programs for Motion Program Control - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
5.2.6 Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.3 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.3.1 Types of Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.3.2 Data Types and Register Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
5.3.3 Using i and j Subscripts- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
5.3.4 Register Specification Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-29
5.4 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
5.4.1 Details of Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-31
5.4.2 Procedure for Self-configuration Using Mode Switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-32
5.4.3 Procedure for Self-configuration Using MPE720 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
5.4.4 Definition Data Updated by Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
5.5 Precautions when Using the MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - 5-40
5.5.1 Precautions when Setting or Changing User Definition Files - - - - - - - - - - - - - - - - - - - - - - - - 5-40
5.5.2 Precautions when Setting or Changing Module Configuration Definition Files- - - - - - - - - - - - 5-41
5.5.3 Precautions when Setting or Changing the Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.6 Motion API- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44
5.6.1 Overview of the Motion API - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44
5.6.2 Motion API Software - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-45
5.6.3 Installed Files List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-45
5.6.4 Installing MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46
6 Maintenance, Inspection, and Troubleshooting
6.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2
6.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3
6.2 Replacing the Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.2.1 Installing the Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-4
6.2.2 Battery Life - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-4
6.2.3 Battery Replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-5

xix
6.3 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
6.3.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
6.3.2 Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
6.3.3 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.4 Troubleshooting System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.4.1 Outline of System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.4.2 Accessing System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.4.3 Troubleshooting when S1 Indicator Is Lit in Red - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.4.4 Troubleshooting when S2 Indicator Is Lit in Red - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
6.4.5 System Registers and Error Statuses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
6.5 Motion Program Alarms- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
6.5.1 Motion Program Alarm Configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
6.5.2 Motion Program Alarm Code List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
6.6 List of Causes for Command Error Occurrence - - - - - - - - - - - - - - - - - - - - - - - 6-28
6.7 Troubleshooting Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
6.7.1 Overview of Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
6.7.2 Motion Error Details and Corrections- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33
6.7.3 Servo Driver Status and Servo Driver Error Codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-38
A System Registers Lists
A.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.1 Shared by All Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.2 DWG.H Only- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.3 DWG.L Only - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
A.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
A.3 Program Software Numbers and Remaining Program Memory Capacity - - - - - - A-4
B Current Value and Setting Data in SVB Definition
B.1 Current Value and Setting Data in SVB Definition - - - - - - - - - - - - - - - - - - - - - - B-2
B.2 Operations and Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-3
B.3 Precautions when Saving SERVOPACK Parameters- - - - - - - - - - - - - - - - - - - B-11
C Initializing the Absolute Encoder
C.1 Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -C-2
C.1.1 Σ-V Series/Σ-III Series SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2
C.1.2 Σ-II Series SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-3
C.1.3 Σ-ISeries SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-5
D Motion Parameter Lists
D.1 Motion Parameter Lists- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -D-2
D.1.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-2
D.1.2 Setting Parameter List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-4
D.1.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-10

xx
E Motion API
E.1 Motion API- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-2
E.1.1 Common APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-2
E.1.2 Sequential APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-3
E.1.3 System APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-5
F MP2100M Slave CPU Synchronization Function
F.1 Overview of the Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - F-2
F.1.1 What is the MP2100M Slave CPU Synchronization Function?- - - - - - - - - - - - - - - - - - - - - - - -F-2
F.2 Execution Conditions and Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - F-3
F.2.1 Compatible Versions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -F-3
F.2.2 Slave CPU Synchronization Function Execution Conditions - - - - - - - - - - - - - - - - - - - - - - - - -F-4
F.2.3 Setting the MP2100M Slave CPU Synchronization Function - - - - - - - - - - - - - - - - - - - - - - - - -F-5
F.2.4 Procedure for Executing the MP2100M Slave CPU Synchronization Function - - - - - - - - - - - -F-8
F.3 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - F-10
F.3.1 I/O Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -F-10
F.3.2 Judging the MP2100M Slave CPU Synchronous Status - - - - - - - - - - - - - - - - - - - - - - - - - - -F-16
F.3.3 Calculating MP2100M Slave CPU Synchronization Delay Time- - - - - - - - - - - - - - - - - - - - - -F-17
F.3.4 How to Use the Scan Counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -F-18
F.3.5 Judging Input Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -F-19
F.3.6 Managing Restarting of MP2100M Slave CPU Synchronization - - - - - - - - - - - - - - - - - - - - -F-26
F.4 Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - F-30
F.4.1 Precautions on Use- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -F-30
F.4.2 Effects of Errors on Slave CPU Synchronization Operation - - - - - - - - - - - - - - - - - - - - - - - - -F-32
Index
Revision History