YASKAWA MP2100 Series User manual

YASKAWA
YA S K A WA
MANUAL NO. SIEP C880700 01C
Machine Controller MP2100/MP2100M
USER'S MANUAL
MODEL：JAPMC-MC2100
JAPMC-MC2140
DESIGN AND MAINTENANCE

Copyright ©2003YASKAWA 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
Please read this manual to ensure correct usage of the MP2100/MP2100M system. Keep this manual in a safe
place for future reference.
■Basic Terms
Unless otherwise specified, the following definitions are used:
■Manual Configuration
Read the chapters of this manual as required by the purpose.
• 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
Chapter
Selecting
Models and
Peripheral
Devices
Studying
Specifications
and Ratings
Designing
the System
Installation
and Wiring
Trial
Operation
Maintenance
and
Inspection
Chapter 1
Overview Applicable --- --- --- --- ---
Chapter 2
System Configuration Applicable --- --- --- --- ---
Chapter 3
System Startup --- --- --- --- Applicable ---
Chapter 4
Specifications Applicable Applicable Applicable Applicable --- ---
Chapter 5
Installation and Wiring --- Applicable Applicable Applicable --- ---
Chapter 6
Basic System Operation --- --- Applicable --- Applicable ---
Chapter 7
Motion Parameters --- --- Applicable --- Applicable ---
Chapter 8
Motion Commands --- --- Applicable --- Applicable Applicable
Chapter 9
Control Block Diagrams --- --- Applicable --- Applicable Applicable
Chapter 10
Absolute Position
Detection
--- --- Applicable --- Applicable Applicable
Chapter 11
SVR Virtual Motion
Module
--- --- Applicable --- Applicable Applicable
Chapter 12
Maintenance and
Inspection
--- --- --- --- --- Applicable
Chapter 13
Troubleshooting --- --- --- --- Applicable Applicable
Chapter 14
Application Precations Applicable --- Applicable --- Applicable Applicable

iv
■Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates important information that should be memorized.
Indicates supplemental information.
Indicates application examples.
Describes technical terms that are difficult to understand, or appear in the text without an explana-
tion being given.
■Indication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/)
before the signal name, as shown in the following example:
■Copyrights
• S-ON = /S-ON
• P-CON = /P-CON
• Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation.
• Pentium is a registered trademark of the Intel Corporation.
• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM”
and the mark do not appear with product or company names in this manual.
IMPORTANT
INFO
EXAMPLE
TERMS

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 MP900 Series
User's Manual
Ladder Programming
SIEZ-C887-1.2 Describes the instructions used in MP900/MP2000 ladder
programming.
Machine Controller MP900 Series
User's Manual
Motion Programming
SIEZ-C887-1.3 Describes the instructions used in MP900/MP2000 motion
programming.
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).
ΣSeries SGM/SGMP/SGD-N
User’s Manual
SIE-S800-26.3 Describes the ΣSeries SERVOPACK models,
specifications and capacity selection methods.
ΣSeries SGM/SGDB
User’s Manual
SIE-S800-26.4 Describes the ΣSeries SERVOPACK models,
specifications and capacity selection methods.
Σ-II Series SGMH/SGDH
User’s Manual
SIEPS80000005 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
SIEPS80000015 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 AC SERVOPACK SGDS
Safety Precautions
TOBPS80000000 Describes Σ-III Series SERVOPACK safety precautions.
Σ-III Series SGMS/SGDS
User’s Manual
SIEPS80000000 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
TOBPS80000001 Describes the operation methods of the JUSP-OP05A
Digital Operator.
Σ-III Series SGMS/SGDS
User’s Manual
For MECHATROLINK-II communications
SIEPS80000011 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.
Machine Controller MP900 Series
New Ladder Editor
Programming Manual
SIE-C887-13.1 Describes the programming instructions of the New Ladder
Editor, which assists MP900/MP2000 Series design and
maintenance.
Machine Controller MP900 Series
New Ladder Editor
User’s Manual
SIE-C887-13.2 Describes the operating methods of the New Ladder Editor,
which assists MP900/MP2000 Series design and
maintenance.

vi
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided
in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment
and systems.
Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.
Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
Indicates prohibited actions that must not be performed. For example, this symbol
would be used to indicate that fire is prohibited as follows:
Indicates compulsory actions that must be performed. For example, this symbol
would be used as follows to indicate that grounding is compulsory:
WARNING
CAUTION
PROHIBITED
MANDATORY

vii
Safety Precautions
The following precautions are for checking products on delivery, storage, transportation, installation, wiring,
operation, maintenance, inspection, and disposal. These precautions are important and must be observed.
Storage and Transportation
• Before starting operation in combination with the machine, ensure that an emergency stop procedure
has been provided and is working correctly.
There is a risk of injury.
• Observe all procedures and precautions given in this manual for trial operation.
Operating mistakes while the servomotor and machine are connected can cause damage to the machine or even
accidents resulting in injury or death.
• Do not remove the cables while power is being supplied.
There is a risk of electrical shock or an accident.
• Do not allow installation, disassembly, or repairs to be performed by anyone other than specified
personnel.
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.
• Do not attempt to modify the MP2100 in any way.
There is a risk of injury or device damage.
• Do not approach the machine when there is a momentary interruption to the power supply. When
power is restored, the machine may start operation suddenly. Provide suitable safety measures to
protect people when operation restarts.
There is a risk of injury.
• Do not store or install the MP2100 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 during transportation.
There is a risk of injury or an accident.
WARNING
CAUTION

viii
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

ix
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
circuit
Digital I/O
signal
cables

x
Maintenance and Inspection Precautions
Disposal 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, restart operation only after transferring the programs and
parameters from the old MP2100/MP2100M to the new MP2100/MP2100M.
There is a risk of device damage.
• Dispose of the MP2100/MP2100M as general industrial waste.
CAUTION
CAUTION

xi
Contents
Using this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
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
2 System Configuration
2.1 MP2100 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 MP2100 Basic System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 MP2100M System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.2.1 MP2100M Basic System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.2.2 Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.3 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.3.1 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.3.2 I/O Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.4 Cables and Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.4.1 Included Accessories- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.4.2 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.4.3 Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5 Software - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.1 The Programming Device Software - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.2 Motion API - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

xii
3 System Startup
3.1 System Startup- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.1 System Startup Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2
3.1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3
3.1.3 Equipment Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-4
3.1.4 Installing the MP2100 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-5
3.1.5 Installing the Drivers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-6
3.1.6 Verifying Driver Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-8
3.1.7 Connecting and Wiring the System- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.1.8 Initializing the System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.1.9 Starting the MPE720 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-14
3.2 Sample Program 1: Manual Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35
3.2.1 Program Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35
3.2.2 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-35
3.2.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38
3.3 Sample Program 2: Positioning Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45
3.3.1 Program Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45
3.3.2 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-46
3.3.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48
3.4 Sample Program 3: Phase Control with an Electronic Shaft - - - - - - - - - - - - - - 3-50
3.4.1 Program Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
3.4.2 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-51
3.4.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
3.5 Sample Program 4: Phase Control with an Electronic Cam- - - - - - - - - - - - - - - 3-55
3.5.1 Program Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
3.5.2 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-56
3.5.3 Program Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-58
3.6 MP2100M Startup- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-62
3.6.1 Communication Process Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-62
3.6.2 Controller Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-62
3.6.3 Module Configuration Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-63
4 Specifications
4.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.2 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3
4.2 Function Lists- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.2.1 PLC Function Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-4
4.2.2 Motion Control Function Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-5
4.2.3 MECHATROLINK Communication Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-6
4.3 MP2100 LED Indicators and Switch Settings- - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
4.3.1 Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7
4.3.2 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7
4.3.3 Switch Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8

xiii
4.4 MP2100M LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.4.1 LED Indicator and Switch Arrangement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.4.2 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.4.3 Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
5 Mounting and Wiring
5.1 Installing the MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 Recommended Computer Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Installing the MP2100/MP2100M- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.1.3 Installing the Drivers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.1.4 Verifying Driver Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2 MP2100/MP2100M Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.2.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.2.2 MECHATROLINK-I/II Connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.2.3 I/O Connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
6 Basic System Operation
6.1 Operating Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Online Operating Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Offline Stop Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.1 MP2100 Mode Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.2 MP2100M Mode Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.2.3 Indicator Patterns - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
6.2.4 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
6.3 User Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.1 Drawings (DWGs) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.2 Execution Control of Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.3.3 Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.3.4 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.4 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21
6.4.1 Types of Register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21
6.4.2 Register Designation Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.4.3 Data Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25
6.4.4 Using Subscripts i and j - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
6.5 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29
6.5.1 Overview of Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29
6.5.2 MP2100/MP2100M Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
6.6 Motion API - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-34
6.6.1 Overview of the Motion API - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-34
6.6.2 Motion API Software - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-35
6.6.3 Installed Files List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-35
6.6.4 Installing MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36

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7 Motion Parameters
7.1 Motion Parameters Register Numbers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.2 Motion Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.1 Motion Fixed Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3
7.2.2 Motion Setting Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-9
7.2.3 Motion Monitoring Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-30
7.3 Example of Setting Motion Parameters for the Machine - - - - - - - - - - - - - - - - - 7-45
7.3.1 Reference Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-45
7.3.2 Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-45
7.3.3 Axis Type Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-48
7.3.4 Position References - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-48
7.3.5 Speed References - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-50
7.3.6 Acceleration/Deceleration Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-53
7.3.7 Acceleration/Deceleration Filter Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-54
8 Motion Commands
8.1 Command Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.1 Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-2
8.1.2 Motion Subcommands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-3
8.1.3 Motion Command Support by SERVOPACK Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-4
8.2 Positioning (POSING) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.3 External Positioning (EX_POSING) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
8.4 Zero Point Return (ZRET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-15
8.5 Interpolation (INTERPOLATE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-33
8.6 Latch (LATCH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36
8.7 JOG Operation (FEED) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-39
8.8 STEP Operation (STEP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.9 Zero Point Setting (ZSET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-47
8.10 Change Linear Acceleration Time Constant (ACC)- - - - - - - - - - - - - - - - - - - - 8-49
8.11 Change Linear Deceleration Time Constant (DCC) - - - - - - - - - - - - - - - - - - - 8-51
8.12 Change Filter Time Constant (SCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53
8.13 Change Filter Type (CHG_FILTER) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-55
8.14 Change Speed Loop Gain (KVS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57
8.15 Change Position Loop Gain (KPS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
8.16 Change Feed Forward (KFS)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61
8.17 Read SERVOPACK Parameter (PRM_RD) - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.18 Write SERVOPACK Parameter (PRM_WR)- - - - - - - - - - - - - - - - - - - - - - - - - 8-65
8.19 Monitor SERVOPACK Alarms (ALM_MON)- - - - - - - - - - - - - - - - - - - - - - - - - 8-67

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8.20 Monitor SERVOPACK Alarm History (ALM_HIST) - - - - - - - - - - - - - - - - - - - - 8-69
8.21 Clear SERVOPACK Alarm History (ALMHIST_CLR) - - - - - - - - - - - - - - - - - - 8-71
8.22 Reset Absolute Encoder (ABS_RST) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-73
8.23 Speed Reference (VELO) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.24 Torque Reference (TRQ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-80
8.25 Phase References (PHASE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-83
8.26 Change Position Loop Integration Time Constant (KIS) - - - - - - - - - - - - - - - - 8-85
9 Control Block Diagrams
9.1 Motion Control Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Position Control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.2 Phase Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
9.1.3 Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.1.4 Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
10 Absolute Position Detection
10.1 Structure of the Absolute Position Detection Function- - - - - - - - - - - - - - - - - - 10-2
10.1.1 Outline of the Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.2 Basic Terminology - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.2 Startup the Absolute Position Detection Function - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.1 System Startup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.2 Setting Related Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.3 Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-7
10.3 Using an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
10.3.1 Finite Length Axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
10.3.2 Infinite Length Axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15
11 SVR Virtual Motion Module
11.1 SVR Virtual Motion Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 System Configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-3
11.1.3 SVR Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
11.2 Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5
11.2.1 Motion Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5
11.2.2 Motion Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7
11.3 Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-17
11.3.1 Motion Command Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-17
11.3.2 Motion Command Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-18
11.4 Sample Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-38

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12 Maintenance and Inspection
12.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -12-2
12.2 Battery for MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
12.2.1 Battery Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -12-3
12.2.2 Battery Life- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
12.2.3 Battery Replacement- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
13 Troubleshooting
13.1 Overview of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-2
13.1.1 Troubleshooting Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-2
13.1.2 Basic Troubleshooting Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.1.3 Indicator Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.1.4 Motion Program Alarms- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -13-5
13.2 System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-6
13.2.1 Overview of System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-6
13.2.2 Processing Flow When a System Error Occurs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-7
13.2.3 Processing Flow for a Ladder Program Error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -13-8
13.2.4 System Register Configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-9
13.3 Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-18
13.3.1 Description of Motion Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-18
13.3.2 Motion Error Details and Corrections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-20
14 Application Precautions
14.1 Controlling a Vertical Axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-2
14.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-2
14.1.2 Connections to SGDH-oooE or SGDS-ooo1oo SERVOPACK - - - - - - - - - - - - - - - - - - - - - - 14-3
14.1.3 Connections to SGDB-ooAN SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-5
14.1.4 Connections to SGD-oooN SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-7
14.2 Overtravel Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-9
14.2.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-9
14.2.2 Overtravel Input Signal Connections- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-9
14.2.3 Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-10
14.3 Software Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-13
14.3.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-13
14.3.2 Fixed Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-14
14.3.3 Processing after an Alarm Occurs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-15
14.4 Setting and Changing User-defined Files or Data- - - - - - - - - - - - - - - - - - - - 14-16
14.4.1 Saving User-defined Files or Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-16
14.4.2 Setting and Changing the Scan Times - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-16
14.4.3 Setting and Changing the Module Configuration Definition - - - - - - - - - - - - - - - - - - - - - - - 14-17

xvii
Appendix A Motion API
A.1 Motion API- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.1 Common APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.2 Sequential APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.3 System APIs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
Appendix B Parameters That are Automatically Updated
B.1 Parameters Updated when a Connection is Established
(MP2100/MP2100M to SERVOPACK) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2
B.2 Parameters Updated when a Setting Parameter is Changed
(MP2100/MP2100M to SERVOPACK) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-3
B.3 Parameters Updated when a Motion Command is Started
(MP2100/MP2100M to SERVOPACK) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-4
B.4 Parameters Updated at Self-configuration
(SERVOPACK to MP2100/MP2100M) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-4
B.5 Parameters Updated at Self-configuration
(MP2100/MP2100M to SERVOPACK) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-5
Appendix C List of System Registers
C.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -C-2
C.1.1 Registers Common to All Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2
C.1.2 Registers Specific to High-speed Scan Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-3
C.1.3 Registers Specific to Low-speed Scan Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-4
C.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -C-5
C.3 Program Software Numbers and Remaining Program Memory Capacity - - - - - -C-5
INDEX
Revision History

1-1
1
1
Overview
This chapter explains an overview and features of the MP2100/MP2100M
Machine Controller.
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 Overview
1.1.1 MP2100 Features
1-2
1.1 MP2100 Overview
1.1.1 MP2100 Features
The MP2100 is a Machine Controller with complete sequence control and motion control functionality integrated
into a half-size PCI board. Just install the MP2100 in a personal computer to provide high-speed communication
with the Servodrive, automatic setup, and full system support from design to maintenance.
(1) Reduced Size
The general purpose personal computer bus connection (PCI bus) and half-size configuration make the MP2100
compatible with almost any personal computer. The MP2100 is just 1/4 the size of the MP910.
(2) Powerful Computer Motion Functions
The large library of 50 programming commands are provided in the motion API (interface software in languages
such as C). This is a valuable resource when creating host computer applications.
(3) High Performance
• Control characteristics have been improved by increasing the CPU and Motion Network (MECHA-
TROLINK-II) speed.
• MECHATROLINK-II baud rate: 2.5 times faster
• MECHATROLINK-II enables position control, speed control, and torque control and makes precise syn-
chronous control possible. The control mode can also be changed while online, facilitating complicated
machine operations.
(4) Easy to Use
• The time of machine development can be greatly reduced by using the self-configuration function that
automatically detects devices connected to MECHATROLINK-II and automatically sets the required
parameters.
• The Application Converter can utilize your previous software assets with their accumulated databanks of
specific knowledge to improve the system further.
(5) Expandability
Up to four MP2100 boards can be installed in one host computer. Each MP2100 can control up to 21 stations,
including 16 Servo axes and I/O devices. A single host computer with four MP2100 boards can thus control up to
84 stations, including 64 Servo axes and I/O devices.

1.1 MP2100 Overview
1-3
1
1.1.2 MP2100 Appearance
The following figure shows the external appearance of the MP2100.
I/O
YASKAWA
MP2100
2 1
BAT
BAT
TX
S2
S1
ON
M-I/II