YASKAWA MP2300S User manual

Model: JEPMC-MP2300S-E
MANUAL NO. SIEP C880732 00A
Basic Module
Machine Controller MP2300S
USER'S MANUAL
MP2300S
100M
Ethernet
LINK
DC
DC
24V
RLY
OUT
0V
YASKAWA
TEST
ALM
MTX
TRX
RUN
ERR
BAT
IP
SW
1
SW
2
ON
ON
CNFG
INT
SUP
MON
STOP
BATTERY
M- I/II
E-INT
E-TEST
NO
NO
RDY
Overview
Specifications and Functions
Mounting and Wiring
Outline of Motion Control Systems
Ethernet Communications
Slave CPU Synchronous Function
Maintenance, Inspection, and Troubleshooting
Appendices
1
2
3
4
5
6
7
8
A
System Start Up and
Easy Programming

Copyright © 2007 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 MP2300S 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 MP2300S 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:
• MP2300S: MP2300S 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 motion parameters and motion commands, refer to Machine Controller MP2000-series SVB/SVB-
01 Motion Module User’s Manual (Manual no.: SIEPC88070033).
Indication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before
the signal name, as shown in the following example:
Notation Examples
• S-ON = /S-ON
• P-CON = /P-CON
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
Specifications and Func-
tions
√√√√−−
Chapter 3
Mounting and Wiring −√√√−−
Chapter 4
System Start Up and Easy
Programming
√−−−√−
Chapter 5
Outline of Motion Control
Systems
−−√−√−
Chapter 6
Ethernet Communications −−√−√−
Chapter 7
Slave CPU Synchronous
Function
−−√−√−
Chapter 8
Maintenance, Inspection,
and Troubleshooting
−−−−√√
Appendices A to G −−√−√√

iv
Related Manuals
The following table lists the manuals relating to the MP2300S. Refer to these manuals as required.
Copyrights
Manual Name Manual Number Contents
Machine Controller MP2000 series SVB/SVB-01
Motion Module User's Manual SIEPC88070033
Describes the functions, specifications, and applica-
tion methods of the MP2000-series Motion Module
that is built into the SVB, SVB-01, and SVR Module.
Machine Controller MP2300 Basic Module Us-
er's Manual SIEPC88070003 Describes the application methods and modules to be
connected.
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 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 SIEPC88070030
Describes the installation and operation of the engi-
neering 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
High-speed Field Network
MECHATROLINK-compatible AC Servo Drivers
SIEZ-S800-26.4 Describes the ΣSeries SERVOPACK models, speci-
fications, and capacity selection methods.
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 SER-
VOPACKs and Servomotors.
Σ-III Series SGMS/SGDS Digital Operator
Operating Instructions TOBEP 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.
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.
• DeviceNet is a registered trademark of the ODVA (Open DeviceNet Venders Association).
• PROFIBUS is a trademark of the PROFIBUS User Organization.
• Ethernet is a registered trademark of the Xerox Corporation.
• Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation.
• Pentium is a registered trademark of the Intel Corporation.
• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the
®mark do not appear with product or company names in this manual.

v
Safety Information
The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure
the safe operation of the MP2300S 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

vi
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 MP2300S.
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 MP2300S.
Do not attempt to modify the MP2300S 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 MP2300S 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

vii
Storage and Transportation
Installation
Do not store or install the MP2300S 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 MP2300S during transportation.
There is a risk of injury or an accident.
If disinfectants or insecticides must be used to treat packing materials such as wooden frames, 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 MP2300S 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 MP2300S or place heavy objects on the MP2300S.
There is a risk of injury.
Do not block the air exhaust port or allow foreign objects to enter the MP2300S.
There is a risk of element deterioration inside, an accident, or fire.
Always mount the MP2300S in the specified orientation.
There is a risk of an accident.
Do not subject the MP2300S to strong shock.
There is a risk of an accident.
CAUTION
CAUTION

viii
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 MP2300S in the following locations.
There is a risk of device damage.
Noise, such as from static electricity
Strong electromagnetic or magnetic fields
Radiation
Near to power lines
When connecting the battery, connect the polarity correctly.
There is a risk of battery damage or explosion.
Consider the following items when selecting the I/O signal lines (external cables) to connect the MP2300S
to external devices.
Mechanical strength
Noise interference
Wiring distance
Signal voltage, etc.
Separate the I/O signal lines from the power lines both inside and outside the control box to reduce the
influence of noise from the power lines.
If the I/O signal lines and power lines are not separated properly, malfunctioning may result.
CAUTION
CAUTION
鉄板製のセパレータ
ディジタル
入出力信号
ケーブル
一般制御回路
のケーブル
動力回路の
ケーブル
外部配線の分離例
Example of Separated External Cables
Steel separator
Power
circuit
cables
General
control cir-
cuit cables
Digital I/O
signal
cables

ix
Maintenance and Inspection Precautions
Disposal Precautions
Do not attempt to disassemble the MP2300S.
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 MP2300S, 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 MP2300S as general industrial waste.
CAUTION
CAUTION

x
Contents
Using this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-1
1.1 MP2300S Features- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 MP2300S Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Module Appearance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 MP2300S Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.1 Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.2 Example of Distributed Synchronizing System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.4 MECHATROLINK-compatible Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.1 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.2 Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.5 Cables and Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.5.1 Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.5.2 Accessories and Options- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.5.3 Software (Programming Tool) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
2 Specifications and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1
2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Product Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.1.3 Function Lists- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.2.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.2.2 External Appearance, LED Indicators, and Switch Settings- - - - - - - - - - - - - - - - - - - - - - - - - 2-8
2.2.3 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.2.4 218IFA Module (Ethernet) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.2.5 Built-in SVB Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30
2.2.6 SVR Virtual Motion Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-47
2.2.7 M-EXECUTOR Module (Motion Program Executor) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-50
2.3 Option Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-61
2.3.1 Option Module Overview List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-61
2.4 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63
2.4.1 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63
2.4.2 Basic Module with Metal Fittings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-64
3 Mounting and Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1
3.1 Mounting MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.1 Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 MP2300S Mount Direction- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.1.3 Space Required for Mounting MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.1.4 Replacing and Adding Optional Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.2 Basic Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.2 Power Supply Connector- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13

xi
3.2.3 MECHATROLINK Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.2.4 Ethernet Connector Details- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19
3.2.5 RLY OUT Connector Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
3.2.6 System Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-25
4 System Start Up and Easy Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1
4.1 System Startup Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.2 Preparation (step 1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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 (step 2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.1 Programming Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.4 Executing Motion (step 3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4.1 Registering Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4.2 Starting a Motion Program Using the Operation Control Panel - - - - - - - - - - - - - - - - - - - - - - 4-12
4.5 Starting Motion Program from an External Signal- - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.2 Required Equipment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.3 Creation Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
5 Outline of Motion Control Systems- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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 Motion Programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.2.3 Sequence Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
5.2.4 Ladder Drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31
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 Precaution on Using MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54
5.5.1 Precautions when User Definition File is Configured/Changed- - - - - - - - - - - - - - - - - - - - - - 5-54
5.5.2 Setting or Changing Module Configuration Definition Files - - - - - - - - - - - - - - - - - - - - - - - - 5-55
5.5.3 Setting and Changing the Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
6 Ethernet Communications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1
6.1 Communication Methods- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Communication with Other MP Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.1 When the MP2300S Acts as Slave (automatic receive function is used) - - - - - - - - - - - - - - - - 6-3
6.2.2 When the MP2300S Acts as a Slave (ladder program which uses a MSG-RCV function) - - - 6-17

xii
6.2.3 When MP2300S Acts as Master (I/O message communication function is used) - - - - - - - - 6-36
6.2.4 When the MP2300S Acts as Master (ladder program which uses MSG-SND function) - - - - 6-49
6.3 Communication with Touch Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-65
6.3.1 When MP2300S Acts as Slave - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-65
6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation
(MELSEC protocol) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-75
6.4.1 When the MP2300S Acts as Slave (automatic receive function is used)- - - - - - - - - - - - - - - 6-75
6.4.2 When the MP2300S Acts as Master (I/O message communication function is used) - - - - - - 6-83
7 Slave CPU Synchronous Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1
7.1 Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.2 Requirements and Setting of Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.1 Supported Version - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.2 Requirements to Execute Slave CPU Synchronous Function - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.3 How to Set up Slave CPU Synchronous Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.2.4 How to Execute Slave CPU Synchronous Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
7.3 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.3.1 Input/Output Register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.3.2 How to Determine Slave CPU Synchronous State - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.3.3 Calculation of Slave CPU Synchronous Delay Time- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16
7.3.4 How to Use Scan Counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.3.5 How to Determine Input Error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
7.3.6 Management to Resume Slave CPU Synchronization - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
7.4 Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28
7.4.1 Precautions on Usage- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28
7.4.2 Effect of Error on Slave CPU Synchronous Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
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 Module Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.2 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.2.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.2.2 MP2300S 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-25
8.2.6 List of Causes for Command Error Completed Status- - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
8.2.7 Troubleshooting Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-33
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 SERVOPACK Parameter Data Flow- - - - - - - - - - - - - - - - - - - - - - - - - A-5
B.1 Operations and Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
Appendix C Initializing SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-14

xiii
Appendix D Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - A-15
D.1 Σ-III SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-15
D.2 Σ-II SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-16
D.3 Σ-ISERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-18
Appendix E Motion Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-20
E.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-20
E.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-22
E.3 Monitoring Parameter List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-27
Appendix F How to Set up Communication Process - - - - - - - - - - - - - - - - - - - - - A-31
F.1 Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-31
F.2 Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-31
Appendix G MSG-SND/ MSG-RCV Functions- - - - - - - - - - - - - - - - - - - - - - - - - - A-35
G.1 Message Transmit Function (MSG-SND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-35
G.2 Message Receive Function (MSG-RCV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-70
G.3 Communication Buffer Channel- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-102
INDEX
Revision History

MEMO

1-1
1
Overview
1
Overview
This chapter explains an overview and features of the MP2300S Machine Controller.
1.1 MP2300S Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 MP2300S Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 MP2300S Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.1 Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.2 Example of Distributed Synchronizing System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.4 MECHATROLINK-compatible Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.1 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.2 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.5 Cables and Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.5.2 Accessories and Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.5.3 Software (Programming Tool) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.1 MP2300S Features
1-2
1.1 MP2300S Features
The MP2300S is a small all-in-one machine controller, and successor to the MP2000 series in function and perfor-
mance. It is characterized by the following standard features:
Standard Feature Motion Network MECHATROLINK-II
• Controls up to 16 axes of servos supporting MECHATROLINK-II.
• Connects up to 21 stations including I/Os.
Standard Feature Ethernet (100Mbps)
• Allows high-speed communications with the engineering tool MPE720.
• Enables communication without a ladder program by using a touch panel (automatic receive function).
• Enables communication without a ladder program by using an upper PLC (I/O message communication func-
tion).
Scalability Ensured in Preparation for Single Optional Slot
• Single optional slot ensures scalability. The existing optional modules of MP2000 series are available.
• An optional module allows the use of various open networks, such as CC-Link, DeviceNet, and PROFIBUS.
• Connecting an SVB-01 module to the optional slot allows the synchronized control of up to 32 axes of servos.
Capable of a Synchronous Distributed System with MECHATROLINK
• The MP2300S has a CPU synchronous function using MECHATROLINK communications. This is a new func-
tion in the MP2000 series Machine Controllers.
• A sync operation between slave controllers is made possible by connecting the MP2300S as a slave with an
MP2000 series model as a master via MECHATROLINK-II.
• The controller's load balancing affords a high-speed synchronization of multi-axis motions.
Simple Programming
• The operation procedures needed before performing a motion operation are significantly reduced.
• You can start up a motion program from an upper PLC without the need for programming, simply by creating the
motion program and registering execution orders.

1.2 MP2300S Configuration
1.2.1 Basic Module Appearance
1-3
1
Overview
1.2 MP2300S Configuration
The MP2300S is configured with one Basic Module and an optional slot.
1.2.1 Basic Module Appearance
The following figure shows the external appearance of the Basic Module with metal fittings for attachment.
Also, the values in the figure do not include the length of metal fittings.
Battery cover
MECHATROLINK-Τ
connector
(1 line, 2 ports)
DIP switch
(6 points+4 points)
Metal fittings
for attachment
LED
(8 points) MP LIO
3-pole connector
(24-V power supply)
Ethernet connector
with LED
2-pole connector
(RLY OUT)
Optional slot
64 mm
130 mm
108 mm
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1.2 MP2300S Configuration
1.2.2 MP2300S Modules
1-4
1.2.2 MP2300S Modules
The following table shows the names and specifications of the Basic Module and Optional Modules.
Group Name Description Model Specifications
Basic Module Basic Module MP2300S JAPMC-
MP2300S-E
MECHATROLINK-I and -II Interface
Ethernet communications
Optional
Modules
Motion
Modules
MECHATROLINK
Motion Module SVB-01 JAPMC-MC2310 MECHATROLINK-I and -II, Interface 16 axes maximum
Analog Output Motion
Module SVA-01 JAPMC-MC2300 Analog output, 2 axes maximum
Pulse Output Motion
Module PO-01 JAPMC-PL2310 Pulse output, max. 4 axes
I/O Modules
I/O Module LIO-01 JAPMC-IO2300 16 inputs, 16 outputs (sink mode output)
1 pulse input
I/O Module LIO-02 JAPMC-IO2301 16 inputs, 16 outputs (source mode output)
1 pulse input
I/O Module LIO-04 JAPMC-IO2303 32 inputs, 32 outputs (sink mode output)
I/O Module LIO-05 JAPMC-IO2304 32 inputs, 32 outputs (source mode output)
Output Module DO-01 JAPMC-DO2300 64 outputs (sink mode output)
Analog Input Module AI-01 JAPMC-AN2300 Analog input, 8 channels
Analog Output Module AO-01 JAPMC-AN2310 Analog input, 4 channels
Counter Module CNTR-01 JAPMC-
PL2300-E Reversible counter, 2 channels
Communica-
tion
Modules
Ethernet Communica-
tion Module 218IF-01 JAPMC-CM2300 RS-232C and Ethernet communication
General-purpose Serial
Communication
Module
217IF-01 JAPMC-CM2310 RS-232C and RS422/485 communication
DeviceNet
Communication
Module
260IF-01 JAPMC-CM2320 RS-232C and DeviceNet communication
PROFIBUS
Communication
Module
261IF-01 JAPMC-CM2330 RS-232C and PROFIBUS communication
MPLINK/CP-215
Communication
Module
215AIF-01 JAPMC-CM2330
JAPMC-CM2361
RS-232C, MPLINK, and CP-215 communi-
cations

1.3 System Configuration
1.3.1 Example
1-5
1
Overview
1.3 System Configuration
1.3.1 Example
The following diagram shows an example of system configuration.
Terminating resistor
130 Ω
Terminating resistor
130 Ω
RLY
OUT
DC24V
FG
MPE720
MECHATROLINK-II
Ethernet
LIO-01 LIO-02 LIO-04 LIO-05
DO-01
AI-01
AO-01
215AIF-01 217IF-01
218IF-01 260IF-01
261IF-01
Communication module
SVA-01
SVB-01
PO-01
Motion module
AFMP-01
MPANL00-0
MPANL00-0
MPALL00-0
MPALO00-0
MPANO00-0
Other module such as other company's module
Output
Input
RS-232C
Ethernet
DeviceNet
PROFIBUS
RS422/485
215 communications
Servo
amplifier
AnyWire
A-net/A-link
Optional module
I/O module
AFMP-02
AFMP-02-C
CC-Link
Max. 21 stations including I/O.
(Max. 16 stations servo can be included.)
Ethernet Hub
Upper PLC
CNTR-01
5)&*#'

05
Inverter
I/O
Servo Servo Servo
Repeater
YASKAWA SERVOPACK 200V
SGDS-01A12A
SW1
CHARGE
C
N
3
A/B
C
N
1
C
N
2
C
N
4
L1
L2
L2C
L1C
B1/
B2
U
V
W
C
N
6
YASKAWA SERVOPACK 200V
SGDS-01A12A
SW1
CHARGE
C
N
3
A/B
C
N
1
C
N
2
C
N
4
L1
L2
L2C
L1C
B1/
B2
U
V
W
C
N
6
JEPMC-IO2310
VS mini V7
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1.3 System Configuration
1.3.2 Example of Distributed Synchronizing System
1-6
For the details on the system configuration example, refer to 4.2.1 ( 1 ) System Layout Model on page 4-3.
Use the connecting cables and connectors recommended by Yaskawa. Always check the device to be used
and select the correct cable for the device.
Different SERVOPACKs are connected to MECHATROLINK-I (4 Mbps) and MECHATROLINK-II (10 Mbps).
Refer to 1.4.1 SERVOPACKs on page 1-7 and select the appropriate SERVOPACKs.
If devices compatible with MECHATROLINK-I and with MECHATROLINK-II are used together, make the set-
tings for MECHATROLINK-I.
The user must supply the 24-VDC power supply.
When connecting SERVOPACKs via MECHATROLINK, connect the overtravel, zero point return deceleration
limit switch, and external latch signals to the SERVOPACKs. For connection, refer to the SERVOPACK’s man-
ual.
1.3.2 Example of Distributed Synchronizing System
If some MP2300S are connected as slaves and other MP2000-series Machine Controllers are connected via MECHA-
TROLINK-II, slaves can operate synchronously.
Distribution of the load realizes the high-speed synchronization of multiple axes.
MP2300S
SVB-01
Module
Τ
MECHATROLINK-
Τ
MECHATROLINK-
Master
Slave
Synchronization
Synchronization
MP
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23 S
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+
MP2300S
SVB-01
Module
Slave
MP
/
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23 S
&%
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176
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MP2200
MBU-01
POWER
CPU-01 SVB-01
218IF-01
LIO-02
LIO-01
LIO-01
217IF-01 EXIOIF
260IF-01
YASKAWA
MP2100㧘
MP2200,
MP2300
MP2300S㧘
MP2400,
MP2500
SVB-01
TX
ERRRUN
SPD
SIZE
M/S
ON
OFF
10
1
M-I/II
CN1
CN2
SVB-01
TX
ERRRUN
SPD
SIZE
M/S
ON
OFF
10
1
M-I/II
CN1
CN2