YASKAWA MP2600iec User manual

MP2600iec
Hardware Manual

Table of Contents
1
Table of Contents
1 Introduction
1.1 MP2600iec Features - - - - - - - - - - - - - - - - - - - - - - - - -3
1.2 MP2600iec Appearance - - - - - - - - - - - - - - - - - - - - - - -4
1.3 Model Number Reference - - - - - - - - - - - - - - - - - - - - -5
2 Specifications
2.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - -7
2.2 MP2600iec Hardware Specifications - - - - - - - - - - - - - -8
3 Mechanical Installation
3.1 Mounting Information - - - - - - - - - - - - - - - - - - - - - - - - -9
3.2 Installation Standards - - - - - - - - - - - - - - - - - - - - - - -10
3.3 Dimensions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11
4 Inputs/Outputs
4.1 CN13 Connection Diagram - - - - - - - - - - - - - - - - - - - -13
4.2 CN13 Connection Description - - - - - - - - - - - - - - - - - -14
4.3 External Encoder Interface - - - - - - - - - - - - - - - - - - - -15
4.4 Controller Digital I/O - - - - - - - - - - - - - - - - - - - - - - - -16
4.5 Sigma-5 / Sigma-7 I/O - - - - - - - - - - - - - - - - - - - - - - -18
4.6 Analog I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -19
5 DIP Switches
5.1 Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - -21
6 LED Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 23
7 Battery
7.1 Battery Installation - - - - - - - - - - - - - - - - - - - - - - - - - -25

Table of Contents
2
8 Ethernet
8.1 Connectivity Information - - - - - - - - - - - - - - - - - - - - - -27
8.2 Ethernet Connector Details - - - - - - - - - - - - - - - - - - -27
8.3 Ethernet Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - -28
8.4 Ethernet Connection Examples - - - - - - - - - - - - - - - - -28
9 Cable Diagrams
9.1 CBK-U-MP2B-xx (Controller Terminal Block) - - - - - - -31
9.2 CFC-U-MP2B-xx (Controller Flying Lead) - - - - - - - - -32
9.3 SBK-U-VBA-xx (Servo Amp Terminal Block) - - - - - - - -33
9.4 JZSP-CSI02-x-E (Servo Amp Flying Lead) - - - - - - - - -34
10 Firmware Upgrade Procedure- - - - - - - - - - - - - - - - - 35
11 EMC Installation Conditions - - - - - - - - - - - - - - - - - - 37

1.1 MP2600iec Features
3
1 Introduction
1.1 MP2600iec Features
MP2600iec is a single-axis machine controller option card that is
attached to a Sigma-5 or Sigma-7* servo amplifier. The servo amplifier
and controller are factory assembled, providing a compact, all-in-one
servo/controller package with the following features:
PLCopen for Motion Control, including indexing, camming, gearing, and
servo parameter maintenance capability.
Sigma-5/Sigma-7 self-tuning, anti-vibration, and other high perfor-
mance, easy-to-implement servo control features
Ethernet (100Mbps) Auto crossover switching
• EtherNet/IP
• Modbus TCP
• Allows high-speed communications with MotionWorks IEC
• Enables communication with the application program by using a
touch panel
• Enables communication with the application program from another
controller
Combined Amplifier/Controller I/O features
• 15 digital inputs
• 11 digital outputs
• 1 analog input
• 1 analog output
• 1 external encoder (quadrature, pulse + direction, up/down)
• 1 external encoder latch
* MP2600iec is only compatible with single axis, 200V Sigma-7 amplifiers.

1.2 MP2600iec Appearance
4
1.2 MP2600iec Appearance
The following figure shows the external appearance of the MP2600iec
controller (Note: The servo amplifier is not shown).
LED (10 points)
Ethernet Port A
Ethernet Port B
DIP Switch (6 points)
CN13 Port
Analog I/O, Digital I/O
External Encoder (incremental)
3.6V Lithium Battery
(preserves retained variables,
absolute encoder offset,
and real-time clock data)

1.3 Model Number Reference
1.3.1 Sigma-5 Model Number Designation
5
1.3 Model Number Reference
1.3.1 Sigma-5 Model Number Designation
R70 A E 1 A 000 00 0 300
Series SGDV SERVOPACK
SGDV
Current
Interface Options
Design Revision Order
A, B…
Voltage
Code Specifications
E
Communication Reference
Code Specifications
F100VAC
A200VAC
D400VAC
Options (hardware)
Code Specifications
000 Base-mounted
(standard)
Options (software)
Code Specifications
00 standard
Options (parameter)
Code Specifications
0 standard
Option Module
Code Specifications
300 MP2600iec 1.5 Axis
Machine Controller
Module
Voltage Code Applicable Servomotor
Max. Capacity kW
100V
R70 0.05
R90 0.1
2R1 0.2
2R8 0.4
200V
R70* 0.05
R90* 0.1
1R6* 0.2
2R8* 0.4
3R8 0.5
5R5* 0.75
7R6 1.0
120 ♣1.5
180 2.0
200 3.0
330 5.0
470 6.0
550 7.5
590 11
780 15
400V
1R9 0.5
3R5 1.0
5R4 1.5
8R4 2.0
120 3.0
170 5.0
210 6.0
260 7.5
280 11
370 15
Motor Type
Code Specifications
1 Rotary Servomotors
5** Linear Servomotors
** Under Development
* These amplifiers can be powered with single or three-phase.
♣ SGDV-120A¡¡A008000¡¡¡, a special version of the 1.5kW
amplifier can be used for single-phase operation.

1.3 Model Number Reference
1.3.2 Sigma-7 Model Number Designation
6
1.3.2 Sigma-7 Model Number Designation
To order SERVOPACKs with the MP2600iec option, use the
following model numbers.
*1. The model number of a SERVOPACK with an Option is not hyphenated after
SGD7S.
*2. You can use these models with either a single-phase or three-phase power
supply input.
*1 2R8 A E0 A
000 300
E0
SGD7S
300
FT/EX Specification
MP2600iec single-axis control option
A 200 VAC
F 100 VAC
A: Global design revision
R70*2
R90*2
1R6*2
2R8*2
3R8
5R5*2
7R6
120
180
200
330
470
550
590
780
R70
R90
2R1
2R8
0.05 kW
0.1 kW
0.2 kW
0.4 kW
0.5 kW
0.75 kW
1.0 kW
1.5 kW
2.0 kW
3.0 kW
5.0 kW
6.0 kW
7.5 kW
11 kW
15 kW
0.05 kW
0.1 kW
0.2 kW
0.4 kW
Maximum Applicable
Motor Capacity
Voltage
Interface
Code
Code
Specification Code
000
Specification
Without options All models
Applicable
Models
Specification
Other control architecture
type
Design Revision Order
Hardware Options
Specification
Voltage Code Specification
Three-
phase,
200
VAC
Single-
phase,
100
VAC
1st+2nd+3rd digits 4th digit
5th+6th digits
7th digit
8th+9th+10th digits
Σ-7 Series
SERVOPACK
4th
digit
1st+2nd+3rd
digits
5th+6th
digits
8th+9th+10th
digits
7th
digit
11th+12th+
13th digits
11th+12th+13th digits
Code Specification

1.3 Model Number Reference
1.3.3 Accessory Model Numbers
7
1.3.3 Accessory Model Numbers
System Components
Type Model Part Number Note
Accessories/Cables
Battery JZSP-BA01 Replacement
Battery Holder Kit SGDV-OZC02A Replacement (does not include battery)
CN13 (MP2600iec)
Terminal Block
Conversion Kit CBK-U-MP2Bxx
xx denotes cable length (m)
A5 = 0.5
01 = 1
03 = 3
CN13 (MP2600iec)
(Flying Leads) CFC-U-MP2Bxx
CN1 (Servo Amp)
Terminal Block
Conversion Kit SBK-U-MP2Bxx
CN1 (ServoAmp) Cable
(Flying Leads) JZSP-CSI02-x-E x denotes cable length (m) A = 1 B = 2 C = 3
Communication
Ethernet Cable N/A Use commonly available shielded Ethernet
cable
Software
MotionWorks IEC
Express PDE-U-IESx denotes MotionWorks IEC Version C = 1 2 = 2
x denotes number of software licenses
A = 1 B = 5 C = 10
MotionWorks IEC Pro PDE-U-IEPx
OPC Server PDE-U-OPCPx x denotes number of software licenses
A = 1 B = 5 C = 10 D = 20

1.3 Model Number Reference
1.3.3 Accessory Model Numbers
8

2.1 General Specifications
7
2 Specifications
2.1 General Specifications
Item Specifications
Environmental
Conditions
Ambient Operating
Temperature 0 to 55°C
Ambient Storage
Temperature -20°C to +85°C
Ambient Operating
Humidity 90% RH or less (with no condensation)
Ambient Storage
Humidity 90% RH or less (with no condensation)
Protection Class/
Pollution Degree
Protection class: IP10, Pollution degree: 2
An environment that satisfies the following conditions.
• Free of corrosive or explosive gases
• Free of exposure to water, oil or chemicals
• Free of dust, salts or iron dust
OperatingAltitude 1,000 m above sea level or lower
Mechanical
Operating
Conditions
Vibration
Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
Others Free of static electricity, strong electromagnetic fields,
magnetic fields or exposure to radioactivity

2.2 MP2600iec Hardware Specifications
8
2.2 MP2600iec Hardware Specifications
*Allocated I/O can also be used as programmable I/O if the output functions are disabled.
Item Specification
CPU 200 MHz, 32 bit, ARM 9
Memory SDRAM 32 MB SRAM 512 kB with battery backup
Flash 4 MB flash. Code and parameter storage.
Operator interface LED 10 LEDs (red and green - operating mode,
communication and error status)
User Configuration 6x DIP switch (operating mode and communication
configuration)
User
I/O
Controller
Side
(CN13)
Network 2x 100baseTX Ethernet
Digital input 8 programmable inputs
Digital output 8 programmable outputs
Analog input 1 ch., +/- 10V, 16 bit
Analog output 1 ch., +/- 10V, 16 bit
Pulse Counter
RS-422-compatible pulse counter input (quadrature,
pulse and direction, and up/down counter modes) with
5, 12, or 24V position latch input
Servo-
Side
(CN1)
Sequence
Input Allocated*
Number of Inputs: 7
Functions: The signal allocation and positive/negative
logic can be modified. Forward run prohibited (P-OT),
reverse run prohibited (N-OT), forward torque limit (/P-
CL), reverse torque limit (/N-CL), general-purpose
input signal (/SI0 to /SI6)
Sequence
Output
Fixed Servo Alarm (ALM)
Allocated*
Number of Outputs: 3
Functions: The signal allocation and positive/negative
logic can be modified. Positioning completion (/COIN),
speed coincidence detection(/V-CMP), servomotor
rotation detection (/TGON), servo ready (/S-RDY),
torque limit detection (/CLT), speed limit detection
(VLT), brake (/BK), warning (/WARN), near (/NEAR)
Network capability OPC (Client and Server required) EtherNet/IP
Modbus/TCP
Programming standards IEC61131-3/PLCopen
Diagnostic and configuration interface Web interface
Motion control performance 1 controlled axis and one external position input at a
trajectory update rate of 1 kHz
Servo-Side Safety Functions Input /HWBB1, /HWBB2: Baseblock signal for power
module
Output EDM1: Status monitor (fixed output) of built-in safety
circuit

3.1 Mounting Information
9
3 Mechanical Installation
3.1 Mounting Information
The MP2600iec controller is pre-assembled to the Sigma-5 or Sigma-
7 servo amplifier by the factory.

3.2 Installation Standards
10
3.2 Installation Standards
The servo amplifier must be installed in a fully enclosed metal control panel. Observe the standards
for mounting servo amplifiers in control panels, including those for the mounting servo amplifiers side
by side in one control panel as shown in the following illustration.
• Servo Amplifier Mounting Orientation
Mount the servo amplifier vertically to the wall, with the fr
ont panel (the side with the panel operator
display)
facing out.
• Cooling
Refer to the following diagram and leave sufficient space for cooling by fans and natural convection.
• Mounting Servo Amplifiers Side by Side in a Control Panel
Leave sufficient space on each side and at the top and the bottom of each servo amplifier. The
width on each side varies in accordance with the models of the servo amplifiers used.
Also install cooling fans above the servo amplifiers to disperse local pockets of warmer air around
the servo amplifiers.
• Inside the Control Panel
The conditions inside the control panel should be the same as the environmental conditions of
the servo amplifier. Refer to the environmental conditions in 2.1 General Specifications
.
• During Operation
Do not touch the connectors or IO cables during operation if the panel door is open.
.
30 mm or more
40 mm or more
40 mm or more
Fan Fan
Width varies with
servo amplifier model
Servo Amplifier Model for
Sigma-5 (SGDV- ) or Sigma-7 (SGD7S- )
Side Top and bottom
Left Right
R70F, R90F, 2R1F, R70A, R90A, 1R6A, 2R8A 1 mm or more
40 mm or more
2R8F, 3R8A, 5R5A, 7R6A 1 mm or more 10 mm or more
120A, 180A, 200A, 330A, 470A, 550A, 590A, 780A,
1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D, 210D, 260D,
280D, 370D
10 mm or more

3.3 Dimensions
3.3.1 MP2600iec Controller
11
3.3 Dimensions
3.3.1 MP2600iec Controller
20
160
(22)
97
(20)
Dimensions in mm.
20

3.3 Dimensions
3.3.1 MP2600iec Controller
12
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4.1 CN13 Connection Diagram
13
4 Inputs/Outputs
4.1 CN13 Connection Diagram
L
Load
NOTE: For a more detailed circuit drawing, see section 4.4.2.
* DO_07 can also be used as a high speed output when
configured via parameter 1050
External Fuse
(installed by
customer)
FG
1
L
External Device
-10 +10V
V
-10 +10V
FG
External Device
Pulse
Generator
FG
External Input
Signal
26
2
27
4
5
29
30
6
31
10
34
9
35
13
38
14
15
16
17
39
40
41
42
AO
AO_GND
AI
AI_GND
PA+
PA-
PB+
PB-
GND
GND
PILC(24V)
PILC(12V)
PILC(5V)
PIL
DICOM
DICOM
DI_00
DI_01
DI_02
DI_03
DI_04
DI_05
DI_06
DI_07
+
-
+15
V
-15V
+
-
+15
V
-15V
+5V
Analog
Output
Analog
Input
Encoder
Interface
Z-phase
Latch Input
Digital
Input
Digital
Output
Polyswitch Device:
A self-resetting
fuse if excessive
current is drawn
from the output
FG Connector Shell)
CN13
Latch Input
21
11
DO_00+
DO_00-
46
36
DO_01+
DO_01-
22
12
DO_02+
DO_02-
47
37
DO_03+
DO_03-
23
18
DO_04+
DO_04-
48
43
DO_05+
DO_05-
24
19
DO_06+
DO_06-
49
44
* DO_07+
* DO_07-
7 + Battery
32 - Battery
Connect a positive voltage to pin 10, 34, or 9 based on signal level
L+24VDC
0V
L+24VDC
0V
L+24VDC
0V
L+24VDC
0V
L+24VDC
0V
L+24VDC
0V
L+24VDC
0V
L+24VDC
0V

4.2 CN13 Connection Description
14
4.2 CN13 Connection Description
Numerical Alphabetical
CN 13 Pin Code Description
1 AO Analog Output
2 AI Analog Input
3 n/c no connection
4 PA+ Encoder A phase +
5 PA- Encoder A phase -
6 GND Encoder ground
7 BAT + SRAM Positive Battery input
8 n/c no connection
9PILC
PC+ / External Encoder Latch +5V
10 PILC PC+ / External Encoder Latch +24V
11 DO_00- Digital Output 0 -
12 DO_02- Digital Output 2 -
13 DICOM Digital Input Common
14 DI_00 Digital Input 0
15 DI_02 Digital Input 2
16 DI_04 Digital Input 4
17 DI_06 Digital Input 6
18 DO_04- Digital Output 4 -
19 DO_06- Digital Output 6 -
20 n/c no connection
21 DO_00+ Digital Output 0 +
22 DO_02+ Digital Output 2 +
23 DO_04+ Digital Output 4 +
24 DO_06+ Digital Output 6 +
25 n/c no connection
26 AO_GND Analog Output Ground
27 AI_GND Analog Input Ground
28 n/c no connection
29 PB+ Encoder B phase +
30 PB- Encoder B phase -
31 GND Encoder ground
32 BAT - SRAM Negative Battery input
33 n/c no connection
34 PILC
PC+ / External Encoder Latch +12V
35 PIL PC- / External Encoder Latch
36 DO_01- Digital Output 1 -
37 DO_03- Digital Output 3 -
38 DICOM Digital Input Common
39 DI_01 Digital Input 1
40 DI_03 Digital Input 3
41 DI_05 Digital Input 5
42 DI_07 Digital Input 7
43 DO_05- Digital Output 5 -
44 DO_07- Digital Output 7 -
45 n/c no connection
46 DO_01+ Digital Output 1 +
47 DO_03+ Digital Output 3 +
48 DO_05+ Digital Output 5 +
49 DO_07+ Digital Output 7 +
50 n/c no connection
Description Code CN 13 Pin
Analog Input AI 2
Analog Input Ground AI_GND 27
Analog Output AO 1
Analog Output Ground AO_GND 26
Digital Input 0 DI_00 14
Digital Input 1 DI_01 39
Digital Input 2 DI_02 15
Digital Input 3 DI_03 40
Digital Input 4 DI_04 16
Digital Input 5 DI_05 41
Digital Input 6 DI_06 17
Digital Input 7 DI_07 42
Digital Input Common DICOM 13
Digital Input Common DICOM 38
Digital Output 0 - DO_00- 11
Digital Output 0 + DO_00+ 21
Digital Output 1 - DO_01- 36
Digital Output 1 + DO_01+ 46
Digital Output 2 - DO_02- 12
Digital Output 2 + DO_02+ 22
Digital Output 3 - DO_03- 37
Digital Output 3 + DO_03+ 47
Digital Output 4 - DO_04- 18
Digital Output 4 + DO_04+ 23
Digital Output 5 - DO_05- 43
Digital Output 5 + DO_05+ 48
Digital Output 6 - DO_06- 19
Digital Output 6 + DO_06+ 24
Digital Output 7 - DO_07- 44
Digital Output 7 + DO_07+ 49
Encoder A phase - PA- 5
Encoder A phase + PA+ 4
Encoder B phase - PB- 30
Encoder B phase + PB+ 29
Encoder ground GND 6
Encoder ground GND 31
no connection n/c 3
no connection n/c 8
no connection n/c 20
no connection n/c 25
no connection n/c 28
no connection n/c 33
no connection n/c 45
no connection n/c 50
PC- / External Encoder Latch PIL 35
PC+ / External Encoder Latch+12V PILC 34
PC+ / External Encoder Latch +24V PILC 10
PC+ / External Encoder Latch +5V PILC 9
SRAM Negative Battery input BAT - 32
SRAM Positive Battery input BAT + 7
Note: DO_07 can also be used as a high speed output when configured via parameter 1050. See the PLCopen Plus
Axis Parameters for more details.

4.3 External Encoder Interface
15
4.3 External Encoder Interface
Two RS-422 compatible inputs are provided for encoder phasesA and
B. One position latch input which supports a 5V, 12V, or 24V digital input
signal is provided.
Encoder Input Circuit (PILC refers to positive input side of sensor)
Item Specification
Number of
channels
One channel (Phase A, Phase B, Index pulse)
Input circuit
PhaseA & B: 5V differential input (RS-422 compatible), non-insulated.
Maximum frequency 4MHz.
Index pulse: 5V/12V/24V photo coupler input. Maximum frequency
500kHz (pre-quadrature. This signal is used for external encoder latch.
Counter modes
Quadrature, pulse and direction, up/down
PIL Latch input
Hardware latency: 5  s or less, sinking input
DI_01 Latch Input
Hardware latency: 600  s or less, sinking input
R
4
5
+5V
0V
Phase A
Pulse generator
R
29
30
+5V
0V
Phase B
6
PB+
PB-
PA+
PA-
GND
35 PIL
R
9PILC(5V)
34
10
R
R
+5V
R
GND
31
PILC(12V)
PILC(24V)
CN13 Connector

4.4 Controller Digital I/O
4.4.1 Inputs
16
4.4 Controller Digital I/O
4.4.1 Inputs
• 8 general purpose
• Optically isolated
• 24 V @ 5 mA
• Entire bank is configurable as either current sinking or sourcing via
connection of common
Digital Input Circuit
To configure all controller inputs as sinking, wire +24VDC to pins 13
and 38. To configure all controller inputs as sourcing, wire 0VDC to
pins 13 and 38. Refer to diagram in Section 5.1.