YASKAWA MP2200 User manual

Machine Controller MP2200
USER’S MANUAL
MANUAL NO. SIEP C880700 14H
1
2
3
4
5
6
7
8
A
MP2200
MBU-01
POWER
CPU-01 SVB-01
218F-01
LIO-02
LIO-01
LIO-01
217F-01 EXIOIF
260F-01
YASKAWA
MBU-03
CPU-01
MP2200
MBU-03
CPU-01
Overview
Overview of Specifications
and Functions
Mounting and Wiring
System Startup
Overview of System Operation
Built-in Ethernet Communication (Supported by the CPU-03 and CPU-04)
Easy Programming (Supported by the CPU-03 and CPU-04)
Maintenance, Inspection, and Troubleshooting
Appendices

Copyright © 2004 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or other-
wise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to
the use of the information contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa
assumes no responsibility for errors or omissions. Neither is any liability assumed for damages result-
ing from the use of the information contained in this publication.

iii
Using this Manual
The MP2200 is a Machine Controller that can be greatly expanded by mounting up to nine Optional Modules per rack
and connecting up to four racks. The CPU Module for the MP2200 achieves a high-speed motion control cycle of 0.5
ms and can control up to 256 axes.
Please read this manual to ensure correct usage of the MP2200 system and apply to your manufacturing system for
control. Keep this manual in a safe place for future reference.
Basic Terms
Unless otherwise specified, the following definitions are used:
• MP2200: MP2200 Machine Controller
• MPE720: The Programming Device Software or a Programming Device (i.e., a personal computer) running the
Programming Device Software
• PLC: Programmable Logic Controller
Manual Configuration
Read the chapters of this manual as required by the purpose.
For information on how to use motion parameters and motion commands, refer to Machine Controller MP2000-series
Built-in SVB/SVB-01 Motion Module User’s Manual (manual no.: SIEP C880700 33).
Engineering Tool Used in this Manual
The displays for MPE720 version 6 are used for descriptions in this manual.
If you are using MP720 version 5, interpret the displays according to MPE720 version 5.
Chapter
Selecting
Models and
Peripheral
Devices
Studying
Specifications
and Ratings
Designing
the System
Installation
and Wiring
Trial Oper-
ation
Maintenance
and Inspec-
tion
Chapter 1
Overview √−−−−−
Chapter 2
Overview of Specifications
and Functions
√√√√−−
Chapter 3
Mounting and Wiring −√√√−−
Chapter 4
System Startup √−−−√−
Chapter 5
Overview of System Opera-
tion
−−√−√−
Chapter 6
Built-in Ethernet Communi-
cation (Supported by the
CPU-03 and CPU-04)
−−√−√−
Chapter 7
Easy Programming (Sup-
ported by the CPU-03 and
CPU-04)
−−√−√−
Chapter 8
Maintenance, Inspection,
and Troubleshooting
−−√−√√

iv
Related Manuals
The following table lists the manuals relating to the MP2200. Refer to these manuals as required.
Manual Name Manual Number Contents
Machine Controller MP2000 Series
SVA-01 Motion Module
User’s Manual
SIEP C880700 32
Describes the functions, specifications, and applica-
tion methods of the MP2000-series SVA-01 Motion
Module.
Machine Controller MP2000 Series
Built-in SVB/SVB-01 Motion Module
User's Manual
SIEP C880700 33
Describes the functions, specifications, and applica-
tion methods of the MP2000-series Motion Module
that is built into the SVA, SVB-01, and SVR Module.
Machine Controller MP2000 Series
SVC-01 Motion Module
User's Manual
SIEP C880700 41
Describes the functions, specifications, and applica-
tion methods of the MP2000-series SVC-01 Motion
Module.
Machine Controller MP2000 Series
MPU-01 Multiple-CPU Module
User's Manual
SIEP C880781 05
Describes the functions, specifications, and applica-
tion methods of the MPU-01 Multiple-CPU Module
that can be connected to MP2000 Series Machine
Controllers.
Machine Controller MP2000 Series Pulse Output
Motion Module PO-01 User's Manual SIEP C880700 28
Describes the functions, specifications, and applica-
tion methods of the MP2000-series PO-01 Motion
Module.
Machine Controller MP200 Communication
Module User’s Manual SIEP C880700 04
Describes the functions, specifications, and applica-
tion methods of the MP200 Communication Mod-
ules (217IF, 218IF, 260IF, 261IF).
Machine Controller MP2300S/MP2310/MP2400
Basic Module Supplement for Ethernet
Communications
SIEP C880700 37
Describes how to communicate with devices (PLCs,
Windows computers, etc.) connected to the
MP2300S/MP2310/MP2400 by Ethernet.
Machine Controller MP2000 Series 262IF-01
FL-net Communication Module User's Manual SIEP C880700 36
Describes the specifications and communication
methods of an FL-net Communication Module that
can connect to an MP2000-series Machine Control-
ler.
Machine Controller MP2000 Series 263IF-01
EtherNet/IP Communication Module User's
Manual
SIEP C800700 39
Describes the specifications and communication
methods of an EtherNet/IP Communication Module
that can connect to an MP2000-series Machine Con-
troller.
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, CompoNet
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, PROFINET
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, PROFINET
Device Module for the MP2000-series Machine
Controllers.
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 MP2000 Series I/O Module
User's Manual SIEP C800700 34
Describes functions, specifications, and application
methods of the MP2000-series I/O Modules (LIO-01,
LIO-02, LIO-04, LIO-05, LIO-06, and DO-01).
Machine Controller MP2000 Series
Analog Input/Analog Output Module
AI-01/AO-01 User’s Manual
SIEP C800700 26
Describes the functions, specifications, and commu-
nication methods of the MP2000-series I/O Modules
(Al-01 and AO-01).
Machine Controller MP2000 Series
Counter Module CNTR-01
User's Manual
SIEP C800700 27
Describes the functions, specifications, and applica-
tion methods of the MP2000-series CNTR-01
Counter Module.

v
Terms Used to Describe “Torque”
Although the term “torque” is commonly used when describing rotary servomotors and “force” or “thrust” are used
when describing linear servomotors, this manual uses “torque” when describing both (excluding parameters).
Copyrights
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, Motion Programming SIEP C880700 38 Describes the motion language used with an MP2000-series Machine Controller.
Engineering Tool for MP2000 Series Machine
Controller MPE720 Version 6 User's Manual SIEP C880700 30
Describes the installation and operation of the engi-
neering tool for MP2000-series Machine Controller
MPE720 Version 6.
Machine Controller MP2000/MP3000 Series
Engineering Tool MPE720 Version 7
User's Manual
SIEP C880761 03
Describes the installation and operation of the engi-
neering tool for MP2000/MP3000-series Machine
Controller MPE720 Version 7.
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 Instructions
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 Controllers.
Machine Controller MP900/MP2000 Series
Linear Servomotor Manual SIEP C880700 06 Describes the connection methods, setting methods,
and other information for Linear Servomotors.
(cont’d)
Manual Name Manual Number Contents
•MPLINK is a registered trademark of the YASKAWA Electric Corporation.
• Ethernet is a registered trademark of the Xerox Corporation.
• EtherCAT is a registered trademark of Beckhoff Automation GmbH, Germany.
• EtherNet/IP, DeviceNet, and CompoNet are the registered trademark of the ODVA (Open DeviceNet Vendor Association,
Inc.).
•CC-Link is a trademark of the Mitsubishi 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.
• PROFIBUS is a trademark of the PROFIBUS User Organization.
•PROFINET is a registered trademark of PROFIBUS & PROFINET International.
• 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.

vi
Safety Information
The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure
the safe operation of the MP2200 and connected devices. Information marked as shown below is important for the
safety of the user. Always read this information and heed the precautions that are provided.
The conventions are as follows:
Indicates precautions that, if not heeded, could possibly result in loss of life, serious inju-
ry, 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

vii
Safety Precautions
The following precautions are for checking products on delivery, storage, transportation, installation, wiring, operation,
application, inspection, and disposal. These precautions are important and must be observed.
General Precautions
Before connecting the machine and starting operation, ensure that an emergency stop procedure has been
provided and is working correctly.
There is a risk of injury.
Do not touch anything inside the MP2200.
There is a risk of electrical shock.
Always keep the front cover attached when power is being supplied.
There is a risk of electrical shock.
Observe all procedures and precautions given in this manual for trial operation.
Operating mistakes while the servomotor and machine are connected may damage the machine or even cause acci-
dents resulting in injury or death.
There is a risk of electrical shock.
Do not remove the front cover, cables, connector, or options while power is being supplied.
There is a risk of electrical shock.
Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of electrical shock, operational failure or burning of the MP2200.
Do not attempt to modify the MP2200 in any way.
There is a risk of injury or device damage.
Do not approach the machine when there is a momentary interruption to the power supply. When power is
restored, the MP2200 and the device connected to it may start operation suddenly. Provide safety mea-
sures in advance to ensure human safety in the event that operation restarts suddenly.
There is a risk of injury.
Do not allow installation, disassembly, or repairs to be performed by anyone other than specified person-
nel.
There is a risk of electrical shock or injury.
WARNING

viii
Storage and Transportation
Installation
Do not store or install the MP2200 in the following locations.
There is a risk of fire, electrical shock, or device damage.
Direct sunlight
Ambient temperature exceeds the storage or operating conditions
Ambient humidity exceeds the storage or operating conditions
Rapid changes in temperature or locations subject to condensation
Corrosive or flammable gas
Excessive dust, dirt, salt, or metallic powder
Water, oil, or chemicals
Vibration or shock
Do not overload the MP2200 during transportation.
There is a risk of injury or an accident.
Do not under any means subject the MP2200 to an atmosphere that contains halogen gas (fluorine, chlo-
ride, bromine, iodine, etc.) during storage, transportation, or installation.
There is a risk of damage or malfunction.
If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or
plywood, the packing materials must be treated before the product is packaged, and methods other than
fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines, are packed with
fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from
the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or
iodine can contribute to the erosion of the capacitors.
Never use the MP2200 in locations subject to water, corrosive atmospheres, or flammable gas, or near
burnable objects.
There is a risk of electrical shock or fire.
Do not step on the MP2200 or place heavy objects on the MP2200.
There is a risk of injury.
Do not block the air exhaust port or allow foreign objects to enter the MP2200.
There is a risk of element deterioration inside, an accident, or fire.
Always mount the MP2200 in the specified orientation.
There is a risk of an accident.
Do not subject the MP2200 to strong shock.
There is a risk of an accident.
CAUTION
CAUTION

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 MP2200 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.
Do not allow the battery to be replaced by anyone other than qualified personnel who have received safety
training.
Improper battery replacement can result in electric shock. It can also cause equipment malfunction, injury to opera-
tors, or equipment damage.
Do not touch the battery terminals when replacing the battery.
There is a risk of electrostatic discharge failure.
Consider the following items when selecting the I/O signal lines (external cables) to connect the MP2200 to
external devices.
Mechanical strength
Noise interference
Wiring distance
Signal voltage, etc.
Separate the I/O signal lines from the power lines both inside and outside the control box to reduce the
influence of noise from the power lines.
If the I/O signal lines and power lines are not separated properly, malfunctioning may result.
CAUTION
CAUTION
Example of Separated External Cables
Steel separator
Power
circuit
cables
General
control cir-
cuit cables
Digital I/O
signal
cables

x
Maintenance and Inspection Precautions
Disposal Precautions
General Precautions
Do not attempt to disassemble the MP2200.
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 MP2200, restart operation only after transferring the programs and parameters from
the old Module to the new Module.
There is a risk of device damage.
Dispose of the MP2200 as general industrial waste.
A lithium battery is built into the Controller. After replacing the battery, dispose of the old battery separate
from regular waste and in accordance with local regulations.
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

xi
Warranty
( 1 ) Details of Warranty
Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time
of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory,
whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the
warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its
service life and replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or
manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from
Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
( 2 ) Limitations of Liability
1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to
failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execu-
tion of the programs provided by the user or by a third party for use with programmable Yaskawa products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing
the appropriate product for the intended application. The use thereof does not guarantee that there are no infringe-
ments of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a
license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other
proprietary rights of third parties as a result of using the information described in catalogs or manuals.

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

xiii
Contents
Using this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi
1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-1
1.1 MP2200 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 MP2200 Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Unit Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 MP2200 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.3.1 Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.3.2 System Configuration Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.4 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
1.4.1 Devices Connectable to MECHATROLINK-I/II - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
1.4.2 Devices Connectable to MECHATROLINK-III - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.5 Cables, Accessories and Options, and Software - - - - - - - - - - - - - - - - - - - - - - 1-13
1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13
1.5.2 Accessories and Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
1.5.3 Software (Programming Tool) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
2 Overview of Specifications and Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1
2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.1.2 Product Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.1.3 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.2 Base Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.2.1 Overview of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.2.2 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.2.3 Hardware Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
2.3 CPU-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.3.1 Overview of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.3.2 LED Indicators and Switch Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.3.3 Hardware Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.3.4 SVR Module (Virtual Motion Module)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.4 CPU-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15
2.4.1 Overview of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15
2.4.2 External Appearance, Indicators, and Switch Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15
2.4.3 Hardware Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-18
2.4.4 SVR Module (Virtual Motion Module)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-18
2.4.5 CARD Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-19
2.4.6 USB Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-24
2.5 CPU-03 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-33
2.5.1 Overview of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-33
2.5.2 External Appearance, Indicators, and Switch Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-34
2.5.3 Hardware Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-37
2.5.4 SVR Module (Virtual Motion Module)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-37
2.5.5 CARD Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-37
2.5.6 218IFA Module (Ethernet) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-38

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2.5.7 M-EXECUTOR Module (Motion Program Executor) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-57
2.6 CPU-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-68
2.6.1 Overview of Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-68
2.6.2 External Appearance, Indicators, and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-69
2.6.3 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-71
2.6.4 SVR Module (Virtual Motion Module) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-71
2.6.5 218IFC Module (Ethernet) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-72
2.6.6 M-EXECUTOR Module (Motion Program Executor) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-75
2.7 EXIOIF Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-76
2.7.1 Overview of Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-76
2.7.2 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-76
2.7.3 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-76
2.8 Optional Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-77
2.8.1 Optional Module Overview List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-77
2.9 External Dimensions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-79
2.9.1 Basic Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-79
2.9.2 Mounting Procedure for EXIOIF Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-81
3 Mounting and Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1
3.1 Mounting MP2200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.1 Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 MP2200 Mount Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
3.1.3 Installation Clearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.1.4 Replacing and Adding Optional Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.2 Connecting Basic Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.1 Connecting Base Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.2 CPU-02 Module Connections- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.2.3 CPU-03/CPU-04 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.2.4 EXIOIF Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.2.5 System Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20
4 System Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1
4.1 System Startup Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.2 Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.2.1 Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.2.2 Self Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.3 Test Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
4.3 Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.1 Creating a Project- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.2 Creating Group Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.3.3 Creating Motion Programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.3.4 Registering a Motion Program for Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.3.5 Transferring a Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
4.3.6 Program Debugging - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.3.7 Saving a Program to Flash Memory - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17
4.3.8 Executing Motions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18

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5 Overview of System Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1
5.1 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.1.3 Startup Sequence Operation Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.1.4 LED Indicator Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
5.2 User Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.1 Types and Execution Timing of User Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.2 Ladder Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.2.3 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.2.4 Sequence Program (Supported by CPU-03 and CPU-04.)- - - - - - - - - - - - - - - - - - - - - - - - - 5-33
5.3 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.3.1 Types of Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.3.2 Data Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5.3.3 How to Use Subscripts i, j- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
5.3.4 Register Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
5.4 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.4.1 How to Execute Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43
5.4.2 Definition Information Updated with Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-51
5.5 Application Precautions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55
5.5.1 Setting or Changing User Definition Files- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55
5.5.2 Setting or Changing Module Configuration Definition Files - - - - - - - - - - - - - - - - - - - - - - - - 5-56
5.5.3 Setting and Changing the Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57
6 Built-in Ethernet Communication (Supported by the CPU-03 and CPU-04) - - - 6-1
6.1 Communication Methods- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Communication with Other MP Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) - - - - - - - - - - - 6-3
6.2.2 When the CPU-03/CPU-04 Acts as a Slave
(ladder program which uses a MSG-RCV function)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16
6.2.3 When CPU-03/CPU-04 Acts as Master (I/O message communication function is used) - - - - 6-34
6.2.4 When the CPU-03/CPU-04 Acts as Master
(ladder program which uses MSG-SND function) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47
6.3 Communication with Touch Panel- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-63
6.3.1 When CPU-03/CPU-04 Acts as Slave (automatic receive function is used) - - - - - - - - - - - - - 6-63
6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation
(MELSEC protocol) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-73
6.4.1 When the CPU-03/CPU-04 Acts as Slave (automatic receive function is used) - - - - - - - - - - 6-73
6.4.2 When the CPU-03/CPU-04 Acts as Master
(I/O message communication function is used) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-80
7 Easy Programming (Supported by the CPU-03 and CPU-04) - - - - - - - - - - - - - 7-1
7.1 System Startup Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.2 Preparation (step 1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.1 Wiring- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.2 Self Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
7.2.3 Test Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6

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7.3 Programming (step 2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.3.1 Initializing the M-EXECUTOR Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.3.2 Programming Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
7.4 Executing Motion (step 3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14
7.4.1 Registering Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14
7.4.2 Starting a Motion Program Using the Drive Control Panel - - - - - - - - - - - - - - - - - - - - - - - - - 7-16
7.5 Starting Motion Program from an External Signal- - - - - - - - - - - - - - - - - - - - - - 7-17
7.5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.5.2 Required Equipment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.5.3 Creation Procedure- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19
8 Maintenance, Inspection, and Troubleshooting- - - - - - - - - - - - - - - - - - - - - - - 8-1
8.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.1.3 Replacing the Basic Unit Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.2 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.2.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.2.2 Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
8.2.3 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
8.2.4 Troubleshooting System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
8.2.5 Motion Program Alarms- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
8.2.6 List of Causes for Command Error Completed Status- - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
8.2.7 Troubleshooting Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-35
Appendices
Appendix A System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
A.3 Program Software Numbers and Remaining Program Memory Capacity - - - - - - - - - - - - - - - - A-4
Appendix B SVR Motion Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
B.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
B.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-7
B.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-12
Appendix C Simple Connection Function of the Engineering Tool
(Supported by the CPU-03 and CPU-04)- - - - - - - - - - - - - - - - - - - - - - - - A-16
C.1 Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-16
C.2 Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-16
Appendix D MSG-SND/ MSG-RCV Functions (Ethernet) - - - - - - - - - - - - - - - - - - A-20
D.1 Message Send Function (MSG-SND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-20
D.2 Message Receive Function (MSG-RCV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-53
D.3 Communication Buffer Channel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-83
Appendix E Optional Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-85
E.1 Clearing D Registers at Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-85
E.2 Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-86
E.3 Battery Backup for Table Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-94
Appendix F Installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-98
Index
Revision History

1-1
1
Overview
1
Overview
This chapter explains an overview and features of the MP2200 Machine Controller.
1.1 MP2200 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.2 MP2200 Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3
1.2.1 Basic Unit Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 MP2200 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-6
1.3.1 Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.3.2 System Configuration Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.4 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - 1-10
1.4.1 Devices Connectable to MECHATROLINK-I/II - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
1.4.2 Devices Connectable to MECHATROLINK-III - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.5 Cables, Accessories and Options, and Software - - - - - - - - - - - - - - - - - - 1-13
1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13
1.5.2 Accessories and Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
1.5.3 Software (Programming Tool) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15

1.1 MP2200 Features
1-2
1.1 MP2200 Features
The MP2200 is a high-performance, multi-axis Machine Controller for flexible system construction. In addition to I/O
and Communication Modules, it has a wide range of Optional Modules, including various Motion Modules that support
a variety of motor drives. It provides ideal motion control for a range of machines, from stand-alone machines to FA
systems.
Flexibility
• The following CPU Modules are available: CPU-01, CPU-02, CPU-03, and CPU-04. The best CPU Module can
be selected to match your application and machine specifications.
• With an option slot configuration that enables expansion to 35 slots, Optional Modules can be selected freely and
the optimum system can be built for your machine.
High Performance
• Control characteristics have been improved by increasing the CPU and Motion Network (MECHATROLINK-II)
speed.
• Completely synchronous operation can be achieved for up to 256 axes.
• MECHATROLINK-II baud rate: 2.5 times faster than MP920 (previous model)
• CPU processing speed: 2.0 to 5.0 times faster than MP920 (previous model)
• Larger user memory area
• High-speed (0.5 ms) motion control is now possible.
• MECHATROLINK-II enables position control, speed control, torque control, and phase control, and makes pre-
cise synchronous control possible. The control mode can also be changed online, facilitating complicated
machine operations. The range of possible motion control applications is increased even further with the Virtual
Motion Module (SVR).
• The following open networks are supported when optional Communication Modules are used.
•Ethernet
• DeviceNet
• PROFIBUS
•FL-net
• EtherNet/IP
Easy to Use
• Machine startup times can be greatly reduced by using the self-configuration function that automatically detects
devices connected to MECHATROLINK and sets the required parameters.
• The application program converter can utilize your previous software assets with their accumulated databanks of
specific knowledge to improve the system further.
Compact
• The mounting area has been reduced to half that of the MP920 (previous model).

1.2 MP2200 Configuration
1.2.1 Basic Unit Appearance
1-3
1
Overview
1.2 MP2200 Configuration
1.2.1 Basic Unit Appearance
The appearance of the Basic Units is shown below.
MP2200 MBU-01
POWER
CPU-01 SVB-01
218F-01
LIO-02
LIO-01
LIO-01
217F-01 EXIOIF
260F-01
YASKAWA
MP2200
MBU-03
CPU-01

1.2 MP2200 Configuration
1.2.2 MP2200 Modules
1-4
1.2.2 MP2200 Modules
The following table shows the names and specifications of the Basic Unit and Optional Modules.
Group Name Description Model Specifications
Basic
Unit
Base Unit
Base Unit for AC
power supply MBU-01 JEPMC-BU2200-E JEPMC-BU2200
85 to 276 VAC
9 slots
Base Unit for DC
power supply MBU-02 JEPMC-BU2210-E JEPMC-BU2210
24 VDC ±20%
9 slots
Base Unit for DC
power supply MBU-03 JEPMC-BU2220-E 24 VDC ±20% 4 slots
CPU
Modules
CPU Modules
CPU-01 JAPMC-CP2200-E
JAPMC-CP2200 CPU Module for MP2200 system
CPU-02 JAPMC-CP2210-E
JAPMC-CP2210
CPU Module for MP2200 system with 1
Compact Flash slot and 1 USB port
CPU-03 JAPMC-CP2220-E CPU Module for MP2200 system with 1
Compact Flash slot and 1 Ethernet port
CPU-04 JAPMC-CP2230-E Host CPU Module for MP2200 system with
1 Ethernet port
Multiple-CPU Module MPU-01 JAPMC-CP2700-E Optional Module with CPU + SVC-01 func-
tions