YASKAWA MP2300 User manual

Model: JEPMC-MP2300
Basic Module
Machine Controller MP2300
USER’S MANUAL
MANUAL NO. SIEP C880700 03F
Overview of the MP2300
Module Specifications
Mounting and Connections
System Startup and Sample Programs
Outline of Motion Control Systems
Maintenance and Inspection
Appendices
1
2
3
4
5
6
App
MP2300
RDY
ALM
TX
RUN
ERR
BAT
BATTERY
SW1
OFF ON
M-I/II
CPU I/O
POWER
DC24V
DC 0V
STOP
SUP
INIT
CNFG
MON
TEST

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

iii
Using this Manual
The MP2300 is a compact Machine Controller that contains the power supply, the CPU, I/O, and the communication
functions in one single unit.
Please read this manual to ensure correct usage of the MP2300 system. Keep this manual in a safe place for future
reference.
Read this manual carefully to ensure the proper use of the MP2300. Also, keep this manual in a safe place so that it can
be referred to whenever necessary.
■Basic Terms
Unless otherwise specified, the following definitions are used:
■Manual Configuration
Read the chapters of this manual as required by the purpose.
■Graphic Symbols Used in this Manual
The graphic symbols used in this manual indicate the following type of information.
■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).
• MP2300: MP2300 Machine Controller
• 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 of the MP2300 √√−−−−
Chapter 2
Module Specifications √√−√√√
Chapter 3
Mounting and Connections √√√√√√
Chapter 4
System Startup and Sample
Programs
−−√−√−
Chapter 5
Outline of Motion Control
Systems
−√√−−−
Chapter 6
Maintenance and
Inspection
−−√√√√
This symbol is used to indicate important information that should be memorized or minor precautions,
such as precautions that will result in alarms if not heeded.

iv
■Indication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before
the signal name, as shown in the following example:
Notation Examples
■Related Manuals
The following table lists the manuals relating to the MP2300. Refer to these manuals as required.
• S-ON = /S-ON
• P-CON = /P-CON
Manual Name Manual Number Contents
Machine Controller MP2000 Series Built-in SVB/
SVB-01 Motion Module User’s Manual SIEP C880700 33
Describes the functions, specifications, and
application methods of the MP2000 Series Motion
Module that is built into the SVB, SVB-01, and SVR
Module.
Machine Controller MP2000 Series
SCV-01 Motion Module User’s Manual SIEP C880700 41
Describes the functions, specifications, and
application methods of the SVC-01, SVC Motion
Module for the MP2000 Series.
Machine Controller MP2000 Series
Built-in SVA-01 Motion Module User’s Manual SIEP C880700 32
Describes the functions, specifications, and
application methods of the SVA-01, SVA Motion
Module for the MP2000 Series.
Machine Controller MP2000 Series
Pulse Output Motion Module PO-01
User’s Manual
SIEP C880700 28
Describes the functions, specifications, and
application methods of the PO-01, Pulse Output
Motion Module for the MP2000 Series.
Machine Controller MP2000 Series
MPU-01 Multiple-CPU Module User’s Manual SIEP C880781 05
Describes the functions, specifications, and
application methods of the Multiple-CPU Module for
the MP2000 Series.
Machine Controller MP2000 Series
Communication Module
User’s Manual
SIEP C880700 04
Describes the functions, specifications, and
application methods of the MP2000 Series
Communication Modules (218IF-01, 218IF-02,
217IF-01, 260IF-01, 261IF-01, 215IF-01).
Machine Controller MP2000 Series
I/O Module User’s Manual SIEP C880700 34
Describes the functions, specifications, and
application methods of the I/O Module for the
MP2000 Series.
Machine Controller MP2000 Series Analog
Input/Analog Output Module AI-01/AO-01
User’s Manual
SIEP C880700 26
Describes the functions, specifications, and
application methods of the Analog Input Module
AI-01 and Analog Output Module AO-01 for the
MP2000 Series.
Machine Controller MP2000 Series
Counter Module CNTR-01 User’s Manual SIEP C880700 27
Describes the functions, specifications, and
application methods of the Counter Module
CNTR-01 for the MP2000 Series.
Machine Controller MP2000 Series
262IF-01 FL-net Communication Module
User’s Manual
SIEP C880700 36
Describes the functions, specifications, and
application methods of the 262IF-01, FL-net
Communication Module for the MP2000-series
Machine Controllers.
Machine Controller MP2000 Series
263IF-01 EtherNet/IP Communication Module
User’s Manual
SIEP C880700 39
Describes the functions, specifications, and
application methods of the 263IF-01, EtherNet/IP
Communication Module for the MP2000 Series.
Machine Controller MP2000 Series
EtherCAT Module 264IF-01User’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.

v
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 MP900/MP2000 Series
User’s Manual, Ladder Programming SIEZ-C887-1.2 Describes the instructions used in MP900/MP2000
ladder programming.
Machine Controller MP900/MP2000 Series
User’s Manual
Motion Programming
SIEZ-C887-1.3 Describes the instructions used in MP900/MP2000
motion programming.
Engineering Tool for MP2000 Series Machine
Controller MPE720 Version 6 User’s Manual SIEP C880700 30
Describes the installation and operation of the
engineering tools for MP2000 Series Machine
Controller MPE720 Version 6.
Machine Controller MP900/MP2000 Series
MPE720 Software for Programming Device
User’s Manual
SIEP C880700 05 Describes how to install and operate the MP900/
MP2000 Series programming system (MPE720).
ΣSeries SGM/SGD
User’s Manual SIEZ-S800-26.3 Describes the ΣSeries SERVOPACK models,
specifications, and capacity selection methods.
ΣSeries SGM/SGD
User’s Manual
High-speed Field Network
MECHATROLINK-compatible AC Servo Drivers
SIEZ-S800-26.4 Describes the ΣSeries SERVOPACK models,
specifications, and capacity selection methods.
Σ-II Series
SGMH/SGDH User’s Manual SIEP S800000 05
Describes the installation, wiring, trial operation,
function applications methods, maintenance, and
inspection of the Σ-II Series SERVOPACKs.
Σ-II Series
SGMH/SGDM User’s Manual SIEP S800000 15
Describes the installation, wiring, trial operation,
function applications methods, maintenance, and
inspection of the Σ-II Series SERVOPACKs.
Σ-III Series SGMH/SGDS
User’s Manual SIEP S800000 00
Describes the models, specifications, wiring, 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
Operating Instructions TOBP S800000 01 Describes the operating methods of the JUSP-OP05A
Digital Operator.
Σ-III Series SGMS/SGDS MECHATROLINK-II
SERVOPACKs with Communication
User’s Manual
SIEP S800000 11
Describes the models, specifications, wiring, trial
operation, adjustment, function application methods,
maintenance, inspection, and MECHATROLINK
communication of the Σ-III Series SERVOPACKs
and Servomotors.
AC Servodrive Σ-VSeries
User’s Manual Setup Rotational Motor SIEP S800000 43
Describes the installation, wiring, connection, and
trial operation of the Σ-V Series servodrives and
rotational servomotors.
AC Servodrive Σ-VSeries
User’s Manual Setup Linear Motor SIEP S800000 44
Describes the installation, wiring, connection, and
trial operation of the Σ-V Series servodrives and
linear servomotors.
AC Servodrive Σ-VSeries SGM/SGDV
User’s Manual Design and Maintenance SIEP S800000 45 Describes the maintenance of the Σ-V Series analog
servodrives and rotational servomotors.
AC Servodrive Σ-VSeries User’s Manual
Design and Maintenance Rotational Motor SIEP S800000 46
Describes the maintenance of the Σ-V Series
servodrives with MECHATROLINK-II
communications and rotational servomotors.
AC Servodrive Σ-VSeries User’s Manual
Design and Maintenance Linear Motor SIEP S800000 47 Describes the maintenance of the Σ-V Series analog
servodrives and linear servomotors.
AC Servodrive Σ-VSeries User’s Manual
Design and Maintenance Rotational Motor SIEP S800000 48
Describes the maintenance of the Σ-V Series
servodrives with MECHATROLINK-II
communications and linear servomotors.
(cont’d)
Manual Name Manual Number Contents

vi
■Copyrights
AC Servodrive Σ-VSeries User’s Manual
MECHATROLINK-ΙΙ Command SIEP S800000 54
Describes the MECHATROLINK-II
communications commands of the Σ-V Series
servodrives with MECHATROLINK-II
communications and rotational servomotors.
AC Servodrive Σ-VSeries User’s Manual
Operation of Digital Operator SGDV
SERVOPACK
SIEP S800000 55
Describes the MECHATROLINK-II
communications commands of the Σ-V Series
servodrives with MECHATROLINK-II
communications and linear servomotors.
Machine Controller MP900/MP2000 Series
Linear Servomotor Manual SIEP C880700 06 Describes the connection methods, setting methods,
and other information for Linear Servomotors.
Machine Controller MP900/MP2000 Series
New Ladder Editor User’s Manual
Programming Manual
SIEZ-C887-13.1
Describes the programming instructions of the New
Ladder Editor, which assists MP900/MP2000 Series
design and maintenance.
Machine Controller MP900/MP2000 Series
New Ladder Editor User’s Manual
Operation
SIEZ-C887-13.2
Describes the operating methods of the New Ladder
Editor, which assists MP900/MP2000 Series design
and maintenance.
Machine Controller MP900/MP2000 Series
User’s Manual, MECHATROLINK System SIEZ-C887-5.1 Describes MECHATROLINK distributed I/O for
MP900/MP2000 Series Machine Controllers.
(cont’d)
Manual Name Manual Number Contents
• EtherNet/IP and DeviceNet is a registered trademark of the ODVA (Open DeviceNet Venders Association).
• PROFIBUS is a trademark of the PROFIBUS User Organization.
• EtherCAT is a registered trademark of Beckhoff Automation GmbH, Germany.
• Ethernet is a registered trademark of the Xerox Corporation.
• PROFINET is a registered trademark of PROFIBUS & PROFINET International.
• CC-Link is a trademark of the Mitsubishi Electric Corporation.
• MPLINK is a registered trademark of the YASKAWA Electric Corporation.
• Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation.
• MECHATROLINK is a trademark of the MECHATROLINK Members Association.
• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM”
and the
®
mark do not appear with product or company names in this manual.

vii
Safety Information
The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure
the safe operation of the MP2300 and connected devices. Information marked as shown below is important for the
safety of the user. Always read this information and heed the precautions that are provided.
The conventions are as follows:
Indicates precautions that, if not heeded, could possibly result in loss of life, serious
injury, or property damage.
Indicates precautions that, if not heeded, could result in relatively serious or minor injury,
or property damage.
If not heeded, even precautions classified under can lead to serious results
depending on circumstances.
Indicates prohibited actions. Specific prohibitions are indicated inside .
For example, indicates prohibition of open flame.
Indicates mandatory actions. Specific actions are indicated inside .
For example, indicates mandatory grounding.
WARNING
CAUTION
CAUTION
PROHIBITED
MANDATORY
●

viii
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 MP2300.
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
accidents 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 MP2300.
• Do not attempt to modify the MP2300 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 MP2300 and the device connected to it may start operation suddenly. Provide
safety measures 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
personnel.
There is a risk of electrical shock or injury.
WARNING

ix
■Storage and Transportation
■Installation
• Do not store or install the MP2300 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 MP2300 during transportation.
There is a risk of injury or an accident.
• Never subject the product to an atmosphere containing halogen (fluorine, chlorine, bromine, or
iodine) during transportation or installation.
There is a risk of device damage or an accident.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames,
pallets, or plywood, the packing materials must be treated before the product is packaged, and
methods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°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 MP2300 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 MP2300 or place heavy objects on the MP2300.
There is a risk of injury.
• Do not block the air exhaust port or allow foreign objects to enter the MP2300.
There is a risk of element deterioration inside, an accident, or fire.
• Always mount the MP2300 in the specified orientation.
There is a risk of an accident.
• Do not subject the MP2300 to strong shock.
There is a risk of an accident.
CAUTION
CAUTION

x
■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 MP2300 in the following locations.
There is a risk of device damage.
• Noise, such as from static electricity
• Strong electromagnetic or magnetic fields
• Radiation
• Near to power lines
• When connecting the battery, connect the polarity correctly.
There is a risk of battery damage or explosion.
• Only qualified safety-trained personnel should replace the battery.
If the battery is replaced incorrectly, machine malfunction or damage, electric shock, or injury may result.
• When replacing the battery, do not touch the electrodes.
Static electricity may damage the electrodes.
• Consider the following items when selecting the I/O signal lines (external cables) to connect the
MP2300 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
General
control
Digital I/O
signal

xi
■Maintenance and Inspection Precautions
■Disposal Precautions
■General Precautions
• Do not attempt to disassemble the MP2300.
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 MP2300, 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 MP2300 as general industrial waste.
Observe the following general precautions
to ensure safe application.
• The products shown in illustrations in this manual are sometimes shown without covers or protective guards. Always
replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.
CAUTION
CAUTION

xii
Warranty
(1) Details of Warranty
■Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year
from the time of delivery to the location specified by the customer or 18 months from the time of shipment
from the Yaskawa factory, whichever is sooner.
■Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product
reaching the end of its service life and replacement of parts that require replacement or that have a limited
service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cat-
alogs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship-
ment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
(2) Limitations of Liability
1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of pro-
gram execution of the programs provided by the user or by a third party for use with programmable
Yaskawa products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer pur-
chasing the appropriate product for the intended application. The use thereof does not guarantee that there
are no infringements 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.

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

xiv
Contents
Using this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - viii
Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xii
1 Overview of the MP2300
1.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 MP2300 Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Module Appearance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3
1.2.2 MP2300 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4
1.3 System Configuration Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.4 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.4.1 Devices Connectable to MECHATROLINK-I/II- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.4.2 Devices Connectable to MECHATROLINK-III - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.5 Cables, Accessories and Optionals, and Software - - - - - - - - - - - - - - - - - - - - - - 1-9
1.5.1 Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-9
1.5.2 Accessories and Options- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1.5.3 Software (Programming Tool (Options)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
2 Module Specifications
2.1 MP2300 Basic Module Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2
2.1.2 Environmental Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-3
2.1.3 Function Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-4
2.2 MP2300 Basic Module Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.2.1 External Appearance, LED Indicators, and Switch Settings- - - - - - - - - - - - - - - - - - - - - - - - - -2-6
2.2.2 Module Configuration Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-8
2.2.3 CPU I/O (Built-in I/O) Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.2.4 Built-in SVB Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.2.5 Setting SVB Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16
2.2.6 Built-in SVB Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-24
2.2.7 SVR Virtual Motion Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-25

xv
3 Mounting and Connections
3.1 Mounting the MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.1 Basic Module Dimensional Drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 Mounting the MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.3 Replacing and Adding Optional Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2 Basic Module Connections Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.2.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.2.2 Power Supply Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.3 MECHATROLINK Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.4 CPU I/O (Built-in I/O) Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
4 System Startup and Sample Programs
4.1 Model System Startup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Flowchart for Model System Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.3 Initializing SERVOPACKs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.1.4 Setting and Saving Communication Process (Communication Manager) - - - - - - - - - - - - - - - 4-6
4.1.5 MP2300 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.2 Starting the Sample Program - MPE720 Ver 6. - - - - - - - - - - - - - - - - - - - - 4-13
4.2.1 Copying and Transferring Sample Program Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control - - - - - - - - - - 4-17
4.2.3 Saving Data from the MP2300 to Flash Memory, and Transferring Data to Your Computer from the
MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
4.3 Starting Sample Program - MPE720 Ver 5. - - - - - - - - - - - - - - - - - - - - - - - 4-23
4.3.1 Starting MPE720 Ver 5. and Creating Folders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.3.2 Reading Sample Programs and Setting and Saving Parameters - - - - - - - - - - - - - - - - - - - - 4-28
4.3.3 Other Operations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
4.4 Checking Sample Program Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44
4.4.1 How to Open the Tuning Panel Window- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44
4.4.2 Operation Check 1: Manual Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
4.4.3 Operation Check 2: Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53
4.4.4 Operation Check 3: Phase Control - Electronic Shaft - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58
4.4.5 Operation Check 4: Phase Control - Electronic Cam - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-62
4.5 System Startup Using Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68
4.5.1 Starting the System for First Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68
4.5.2 System Startup when Adding Electronic Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-71
4.5.3 System Startup when Replacing Electronic Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-73

xvi
5 Outline of Motion Control Systems
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 Ladder Drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-6
5.2.2 Execution Control of Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-7
5.2.3 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.2.4 Motion Programs and MSEE and S Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.2.5 Example of Ladder Programs for Motion Program Control - - - - - - - - - - - - - - - - - - - - - - - - -5-18
5.2.6 Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-20
5.3 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.1 Types of Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.2 Data Types and Register Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
5.3.3 Using i and j Subscripts- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
5.3.4 Register Specification Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-27
5.4 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
5.4.1 Self-configuration Processing Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5.4.2 Execution Procedure for Self-configuration Using the DIP Switch - - - - - - - - - - - - - - - - - - - - 5-30
5.4.3 Execution Procedure for Self-configuration Using MPE720- - - - - - - - - - - - - - - - - - - - - - - - - 5-32
5.4.4 Definition Data Refreshed by Self-configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.5 Precautions When Using the MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
5.5.1 Precautions when Setting or Changing User Definition Files - - - - - - - - - - - - - - - - - - - - - - - - 5-38
5.5.2 Precautions when Setting or Changing Module Configuration Definition Files- - - - - - - - - - - - 5-39
5.5.3 Setting and Changing the Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
6 Maintenance and Inspection
6.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2
6.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3
6.2 Replacing the Basic Module Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.2.1 Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-4
6.3 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
6.3.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-5
6.3.2 MP2300 Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-6
6.3.3 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-7

xvii
6.4 Troubleshooting System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.4.1 Outline of System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.4.2 Accessing System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.4.3 Troubleshooting When ERR is Lit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.4.4 Troubleshooting When ALM is Lit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.4.5 System Register Configuration and Error Status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
6.5 Motion Program Alarms- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.5.1 Motion Program Alarm Configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.5.2 Motion Program Alarm Code List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.6 List of Causes for Command Error Occurrence - - - - - - - - - - - - - - - - - - - - - - - 6-26
6.7 Troubleshooting Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
6.7.1 Overview of Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
6.7.2 Motion Error Details and Corrections- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
6.7.3 Servo Driver Status and Servo Driver Error Codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36
Appendices
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 Name - - - - - - - - - - - - A-4
B Current Values and Set Values (Input Data) in the SVB Definition Window - - - - - - A-5
B.1 Operations and Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
B.2 Precautions When Saving SERVOPACK Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-12
C Initializing the Absolute Encoder- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-13
C.1 Initializing Procedures for Σ-Vand Σ-III Series SERVOPACKs- - - - - - - - - - - - - - - - - - - - - - - A-13
C.2 Σ-II SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-15
C.3 Σ-ISERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-17
D Motion Parameter Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-19
D.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-19
D.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-20
D.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-25
INDEX
Revision History

1-1
1
Overview of the MP2300
1
Overview of the MP2300
This chapter explains an overview and features of the MP2300 Machine Controller.
1.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 MP2300 Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 MP2300 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 System Configuration Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.4 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.4.1 Devices Connectable to MECHATROLINK-I/II - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.4.2 Devices Connectable to MECHATROLINK-III - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.5 Cables, Accessories and Optionals, and Software - - - - - - - - - - - - - - - - - - 1-9
1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.5.2 Accessories and Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1.5.3 Software (Programming Tool (Options)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1 Overview of the MP2300
1-2
1.1 Features
The MP2300 is an all-in-one, compact Machine Controller that combines power supply, CPU, SVB, I/O, and
communication functions in one system. The MP2300 consists of a Basic Module that performs motion
control and sequence control and Optional Modules that perform I/O and communication functions.
The MP2300 has the following features:
• Flexibility
• High performance, and
• Easy to use
Flexibility
Optional Modules can be inserted into any of the three slots, so the optimum system can be built for your
machine.
High Performance
• High control characteristics have been realized by increasing the CPU and Motion Network (MECHA-
TROLINK-II) speed.
• MECHATROLINK-II baud rate: 2.5 times faster
• CPU processing speed: 1.4 times faster than MP930
• MECHATROLINK-II enables position control, speed control, and torque control and makes precise synchronous
control possible. The control mode can also be changed while online, facilitating complicated machine opera-
tions.
• Select the appropriate Communication Module to use the following open networks.
•Ethernet
• DeviceNet
• PROFIBUS
•MPLINK
• CP-215
•FL-net
• EtherNet/IP
•EtherCAT
• CompoNet
•PROFINET
•CC-Link
Easy to Use
• The time of machine development can be greatly reduced by using the self-configuration function that automati-
cally detects devices connected to MECHATROLINK and automatically 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.

1.2 MP2300 Configuration
1-3
1
Overview of the MP2300
1.2 MP2300 Configuration
The MP2300 is configured with one Basic Module and up to three Optional Modules.
1.2.1 Basic Module Appearance
The following figure shows the external appearance of the Basic Module.
MP2300
RDY
ALM
TX
RUN
ERR
BAT
BATTERY
SW1
OFFࠉࠉࠉON
M-I/II
CPUࠉI/O
POWER
DC24V
DC 0V
STOP
SUP
INIT
CNFG
MON
TEST
Option
Option
Option
LED indicators
Battery holder
Switches
MECHATROLINK
connector
Power supply connector
I/O connector