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
1.4 Dimensions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5
2 Specifications
2.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - 7
2.2 MP2600iec Hardware Specifications - - - - - - - - - - - - - 8
3 Ordering Reference
3.1 Component Model Numbers- - - - - - - - - - - - - - - - - - - 9
3.2 Additional Model Numbers - - - - - - - - - - - - - - - - - - - 10
4 Mounting
4.1 Mounting Information- - - - - - - - - - - - - - - - - - - - - - - 11
4.2 Installation Standards - - - - - - - - - - - - - - - - - - - - - - 12
5 Inputs/Outputs
5.1 CN13 Connection Diagram - - - - - - - - - - - - - - - - - - 13
5.2 CN13 Connection Description - - - - - - - - - - - - - - - - 14
5.2 External Encoder Interface - - - - - - - - - - - - - - - - - - 15
5.3 On-Board Digital I/O - - - - - - - - - - - - - - - - - - - - - - - 16
5.4 Sigma-5 I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17
5.5 Analog I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 18
6 DIP Switches
6.1 Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - 19
7 LED Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 21
8 Battery
8.1 Battery Installation- - - - - - - - - - - - - - - - - - - - - - - - - 23

2
9 Ethernet
9.1 Connectivity Information- - - - - - - - - - - - - - - - - - - - - 25
9.2 Ethernet Connector Details- - - - - - - - - - - - - - - - - - - 25
9.3 Ethernet Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - 26
9.4 Ethernet Connection Examples- - - - - - - - - - - - - - - - 26
10 Cable Diagrams
10.1 CBK-U-MP2B-xx (Terminal Block-Controller) - - - - - 29
10.2 CFC-U-MP2B-xx (Flying Lead-Controller) - - - - - - - 30
10.3 SBK-U-VBA-xx (Terminal Block-Servo Amp) - - - - - 31
10.4 JZSP-CSI02-x-E (Flying Lead-Servo Amp) - - - - - - 32
11 Cable Shielding, Segregation & Noise Immunity - 33
12 Firmware Upgrade Procedure - - - - - - - - - - - - - - - - - 35

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 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 self-tuning, anti-vibration, and other high performance,
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

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 Dimensions
1.3.1 MP2600iec Controller
5
1.3 Dimensions
1.3.1 MP2600iec Controller
20
160
(22)
97
(20)
Dimensions in mm.

1.3 Dimensions
1.3.1 MP2600iec Controller
6

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
Operating Altitude 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.
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, and 24V position latch inputs
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/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 Component Model Numbers
9
3 Ordering Reference
3.1 Component Model Numbers
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
F 100 VAC
A 200 VAC
D 400 VAC
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.

3.2 Additional Model Numbers
10
3.2 Additional 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 (Servo Amp) 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-IECSx x denotes number of software licenses
A = 1 B = 5 C = 10
MotionWorks IEC Pro PDE-U-IECPx
OPC Server PDE-U-OPCPx x denotes number of software licenses
A = 1 B = 5 C = 10 D = 20

4.1 Mounting Information
11
4 Mounting
4.1 Mounting Information
The MP2600iec controller is pre-assembled to the Sigma-5 servo
amplifier by the factory. Do not disassemble the unit in the field.

4.2 Installation Standards
12
4.2 Installation Standards
The SERVOPACK must be installed in a fully enclosed metal control panel. Observe the standards
for mounting SERVOPACKs in control panels, including those for the mounting SERVOPACKs side
by side in one control panel as shown in the following illustration.
• SERVOPACK Mounting Orientation
Mount the SERVOPACK 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 SERVOPACKs Side by Side in a Control Panel
Leave sufficient space on each side and at the top and the bottom of each SERVOPACK. The
width on each side varies in accordance with the models of the SERVOPACKs used.
Also install cooling fans above the SERVOPACKs to disperse local pockets of warmer air around
the SERVOPACKs.
• Inside the Control Panel
The conditions inside the control panel should be the same as the environmental conditions of
the SERVOPACK. 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
SERVOPACK model
SERVOPACK Model SGDV- 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

5.1 CN13 Connection Diagram
13
5 Inputs/Outputs
5.1 CN13 Connection Diagram
L
Load
NOTE: For a more detailed circuit drawing,
see section 5.4.2.
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 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

5.2 CN13 Connection Description
14
5.2 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

5.3 External Encoder Interface
15
5.3 External Encoder Interface
Two differential (RS-422 compatible) inputs are provided for encoder
phases A and B, and one position latch input is provided for voltage
levels: 5V, 12V, or 24V.
Encoder Input Circuit
Item Specification
Number of
channels
One channel (Phase A, Phase B, Index pulse, or SSI clock)
Input circuit
Phase A & B: 5V differential input (RS-422 compatible), non-
insulated. Maximum frequency 4MHz.
Index pulse: 5V/12V/24V photo coupler input. Maximum frequency
500kHz. This signal is used for external encoder latch.
Counter modes
Quadrature, pulse and direction, up/down
Latch input
Latch on index pulse or DI_01 digital input.
Hardware latency: 5
 s or less (index pulse)
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

5.4 On-Board Digital I/O
5.4.1 Inputs
16
5.4 On-Board Digital I/O
5.4.1 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.

5.4 On-Board Digital I/O
5.4.2 Outputs
17
5.4.2 Outputs
• 8 general purpose
• Optically isolated
• 24 V @ 50 mA
• Current source or sink (connection to both emitter and collector are
provided)
Digital Output Circuit
Connection Examples of Output Circuits
• Relay Circuit Example
• Line Receiver Circuit Example
0V
Relay
5 to 24 VDC
SERVOPACK
SERVOPACK
5 to 12 VDC

5.5 Sigma-5 I/O
5.4.2 Outputs
18
5.5 Sigma-5 I/O
The Sigma-5 includes seven digital inputs and three digital outputs
that can be monitored & controlled by the MP2600iec.
SO1+ / BK+
SO1- / BK-
/SO2+
/SO2-
/SO3+
ALM+
ALM-
1
2
23
24
3
4
+24V 3.3kΩ
/SI1
/SI2
/SI3
/SI4
/SI5
6
8
10
9
11
12
/SI6
/SI0
BAT+
BAT-
13
14
15
7
/SO3-


PBO
PCO
/PBO
PAO
/PAO
/PCO
19
25
26
17
18
20
21
22
16 SG
*1
CN1
Command option
module input 3*4
Command option
module input 4*4
Command option
module input 5*4
Command option
module input 6*4
Encoder output
pulses phase A
Encoder output
pulses phase B
Encoder output
pulses phase C

General-purpose outputs
General-purpose input 0
Backup battery*2
(2.8 to 4.5 V)
Reverse run prohibited
(Prohibited when OFF)
Forward run prohibited
(Prohibited when OFF)
Servo alarm output
(OFF for an alarm)
Photocoupler output
Max. operating voltage: 30 VDC
Max. operating current: 50 mA DC
Brake output
(Brake released when ON)
Applicable line
receiver
SN75ALS175
manufactured by
Texas Instruments
or an MC3486
equivalent
Signal ground
SGDV SERVOPACK
Control power supply
for sequence signal*3