YASKAWA JEPMC-GW3100-E User manual

Model: JEPMC-GW3100-E
Gateway
MECHATROLINK-III Compatible Device
Product Manual
MANUAL NO. SIEP C880781 08B
1
2
3
4
5
6
7
8
9
Introduction to the GW3100
GW3100 Specifications
Interface Specifications
GW3100 Functions
Configuration Tool
Appendices
MECHATROLINK-III
Command Specifications
Part Names and
Installation Methods
Operating Modes and
Setting Methods

Copyright © 2014 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, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject 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
About this Manual
This manual describes the GW3100 specifications, functions, and setting methods.
Read this manual carefully to ensure the correct usage of the Machine Controller system and to
apply the Machine Controller to control your manufacturing system.
Keep this manual in a safe place so that it can be referred to whenever necessary.
Using This Manual
Basic Terms
Unless otherwise specified, the following definitions are used:
Configuration Tool Used in this Manual
In this manual, screen captures of the M3M2-Gateway version 100 interface are used in the
descriptions.
Copyrights
•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.
Basic Term Meaning
M-III MECHATROLINK-III
M-II MECHATROLINK-II

iv
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates precautions or restrictions that must be observed.
Also indicates alarm displays and other precautions that will not result in machine
damage.
Indicates items for which caution is required or precautions to prevent operating mis-
takes.
Indicates operating or setting examples.
Indicates supplemental information to deepen understanding or useful information.
Indicates definitions of difficult terms or terms that have not been previously
explained in this manual.
Important
Note
Example
Information
Term

v
Safety Precautions
Safety Information
To prevent personal injury and equipment damage in advance, the following signal words are used
to indicate safety precautions in this document. The signal words are used to classify the hazards
and damage or injury that may occur if a product is used incorrectly. Information marked as shown
below is important for safety. Always read this information and heed the precautions that are pro-
vided.
DANGER
Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.
WARNING
Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.
CAUTION
Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in
fire.
NOTICE
Indicates precautions that, if not heeded, could result in property damage.

vi
Safety Precautions That Must Always Be Observed
General Precautions
Storage and Transportation Precautions
WARNING
The installation must be suitable and it must be performed only by an experienced technician.
There is a risk of electric shock or injury.
Before connecting the machine and starting operation, make sure that an emergency stop pro-
cedure has been provided and is working correctly.
There is a risk of injury.
Do not approach the machine after a momentary interruption to the power supply. When power
is restored, the system may start operation suddenly. Provide safety measures in advance to
ensure human safety when operation restarts.
There is a risk of injury.
Do not touch anything inside the Gateway Unit.
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, an accident, or damage.
Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch the cables.
There is a risk of electrical shock, operational failure of the Gateway Unit, or burning.
Do not attempt to modify the Gateway Unit in any way.
There is a risk of injury or device damage.
CAUTION
Do not store the Gateway Unit in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed the storage conditions
•Locations that are subject to ambient humidity that exceeds the storage conditions
•Locations that are subject to rapid temperature changes and condensation
•Locations that are subject to corrosive or inflammable gas
•Locations that are subject to excessive dust, dirt, salt, or metallic powder
•Locations that are subject to water, oil, or chemicals
•Locations that are subject to vibration or shock
There is a risk of fire, electrical shock, or device damage.
Hold onto the main body of the Gateway Unit when transporting it.
Holding the cables or connectors may damage them or result in injury.
Do not overload the Gateway Unit during transportation. (Follow all instructions.)
There is a risk of injury or an accident.
Never subject the Gateway Unit to an atmosphere containing halogen (fluorine, chlorine, bro-
mine, or iodine) during transportation.
There is a risk of malfunction or damage.
If disinfectants or insecticides must be used to treat packing materials such as wooden frames,
plywood, or pallets, 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 min-
utes 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 a halogen, which include chlorine, fluorine, bromine, or iodine,
can contribute to the erosion of the capacitors.

vii
Installation Precautions
Wiring Precautions
CAUTION
Do not install the Gateway Unit in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed the operating conditions
•Locations that are subject to ambient humidity that exceeds the operating conditions
•Locations that are subject to rapid temperature changes and condensation
•Locations that are subject to corrosive or inflammable gas
•Locations that are subject to excessive dust, dirt, salt, or metallic powder
•Locations that are subject to water, oil, or chemicals
•Locations that are subject to vibration or shock
There is a risk of fire, electrical shock, or device damage.
Never install the Gateway Unit in an atmosphere containing halogen (fluorine, chlorine, bromine,
or iodine).
There is a risk of malfunction or damage.
Do not step on the Gateway Unit or place heavy objects on the Gateway Unit.
There is a risk of injury or an accident.
Do not block the air exhaust ports on the Gateway Unit. Do not allow foreign objects to enter
the Gateway Unit.
There is a risk of internal element deterioration, malfunction, or fire.
Always mount the Gateway Unit in the specified orientation.
There is a risk of an accident.
Leave the specified amount of space between the Gateway Unit and other devices, and
between the interior surface of the control panel and other devices.
There is a risk of fire or malfunction.
Do not subject the Gateway Unit to strong shock.
There is a risk of an accident.
CAUTION
Check the wiring to be sure it has been performed correctly.
There is a risk of motor run-away, injury, or accidents.
Always use the specified power supply voltage.
There is a risk of fire or malfunction.
In places with poor power supply conditions, ensure that the input power is supplied within the
specified voltage range.
There is a risk of device damage.
Install breakers and other safety measures to provide protection against shorts in external wir-
ing.
There is a risk of fire.
Provide sufficient shielding when using the Gateway Unit in the following locations.
•Locations that are subject to noise, such as from static electricity
•Strong electromagnetic or magnetic fields
•Locations that are subject to radiation
•Near power lines
There is a risk of device damage.
Separate the I/O signal cables for control circuits from the power cables both inside and outside
the control panel to reduce the influence of noise from the power cables.
If the I/O signal cables and power lines are not separated properly, malfunction may occur.
Example of Separated Wiring
Power
supply
cable
I/O signal
cablesin
control circuits
Steel separator

viii
Operation Precautions
Maintenance and Inspection Precautions
Disposal Precautions
General Precautions
CAUTION
Follow the procedures and instructions in the relevant product manuals to perform normal oper-
ation and 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 injury, device damage, or burning.
CAUTION
Do not attempt to disassemble or repair the Gateway Unit.
There is a risk of electrical shock, injury, or machine damage.
Do not change wiring while power is being supplied.
There is a risk of electrical shock, injury, or machine damage.
Dispose of the Gateway Unit as general industrial waste.
The products shown in the 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 illustrations that are 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 representa-
tive or one of the offices listed on the back of this manual.

ix
Warranty
Details of Warranty
Warranty Period
The warranty period for a product that was purchased (hereinafter called the “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 above warranty period.
This warranty does not cover defects caused by the delivered product reaching the end of its ser-
vice 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.
•Improper handling, abuse, or use in unsuitable conditions or in environments not described in
product catalogs or manuals, or in any separately agreed-upon specifications
•Causes not attributable to the delivered product itself
•Modifications or repairs not performed by Yaskawa
•Use of the delivered product in a manner in which it was not originally intended
•Causes that were not foreseeable with the scientific and technological understanding at the time
of shipment from Yaskawa
•Events for which Yaskawa is not responsible, such as natural or human-made disasters
Limitations of Liability
•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.
•Yaskawa shall not be responsible for any programs (including parameter settings) or the results of
program execution of the programs provided by the user or by a third party for use with program-
mable Yaskawa products.
•The information described in product catalogs or manuals is provided for the purpose of the cus-
tomer purchasing 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.
•Yaskawa shall not be responsible for any damage arising from infringements of intellectual prop-
erty rights or other proprietary rights of third parties as a result of using the information described
in catalogs or manuals.

x
Suitability for Use
•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.
•The customer must confirm that the Yaskawa product is suitable for the systems, machines, and
equipment used by the customer.
•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 specifica-
tions, and provide safety measures to minimize hazards in the event of failure.
•Outdoor use, use involving potential chemical contamination or electrical interference, or use
in conditions or environments not described in product catalogs or manuals
•Nuclear energy control systems, combustion systems, railroad systems, aviation systems,
vehicle systems, medical equipment, amusement machines, and installations subject to sep-
arate industry or government 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
•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.
•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.
•Read and understand all use prohibitions and precautions, and operate the Yaskawa product
correctly to prevent accidental harm to third parties.
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 edi-
tions 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.

xi
Contents
About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .ix
Introduction to the GW3100
1
1.1 The GW3100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.1 What Is the GW3100? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.2 GW3100 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2 Examples of GW3100 Applications and System Configuration . . 1-4
1.2.1 GW3100 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.2 System Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.3 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.3.1 Installation and Connection Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.3.2 Functional Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.3.3 Host Controller Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Part Names and Installation Methods
2
2.1 Part Names and External Dimensions . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.3 Installation Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2 Installation Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.1 Mounting to a DIN Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.2 Mounting with Screws . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.3 Procedure to Make a 24-VDC Power Cable . . . . . . . . . . . . . . . . 2-7
GW3100 Specifications
3
3.1 Application Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Hardware Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.3 Switch Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3.1 DIP Switch (Operation Settings) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3.2 Rotary Switches (Address Setting) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.3.3 SAVE Switch (Saving to Flash Memory) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.4 Indicator Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

xii
3.5 Connector Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.5.1 MECHATROLINK-III Connector Specifications . . . . . . . . . . . . . . . . . . . . . . .3-9
3.5.2 MECHATROLINK-II Connector Specifications . . . . . . . . . . . . . . . . . . . . . . .3-9
3.5.3 USB Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10
3.5.4 Power Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10
Interface Specifications
4
4.1 MECHATROLINK-III Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.1.2 Supported Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2 MECHATROLINK-II Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5
4.2.2 Data Link Layer Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5
4.2.3 Application Layer Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5
4.3 USB Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6
GW3100 Functions
5
5.1 List of GW3100 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2 Self Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.1 Execution with a Switch Setting and Turning ON the Power Supply . . . . . . .5-3
5.2.2 Execution with the Configuration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
5.2.3 Operation Specifications for Self Configuration . . . . . . . . . . . . . . . . . . . . . .5-4
5.3 M-II-M-III Port Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.4.1 Configuration with the Configuration Tool. . . . . . . . . . . . . . . . . . . . . . . . . . .5-6
5.4.2 Configuration with M-III Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6
Operating Modes and Setting Methods
6
6.1 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.2 I/O Gateway Mode Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.2.1 Stack Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
6.2.2 Pack Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5
6.3 Transparent Mode Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7

xiii
6.4 Operating the Gateway Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.4.1 Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.4.2 Setting the Gateway Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.4.3 Saving to Flash Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.4.4 Connecting the M-II Slave Devices and Turning the Power Supply OFF
and ON Again . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.5 Setting Parameters with the Configuration Tool . . . . . . . . . . . 6-16
6.5.1 Setting the Parameters for Stack Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6.5.2 Setting the Parameters for Pack Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
6.5.3 Setting the Parameters for Transparent Mode . . . . . . . . . . . . . . . . . . . . . . 6-20
6.6 Troubleshooting Communications Errors. . . . . . . . . . . . . . . . . 6-21
6.6.1 Troubleshooting M-III Communications Errors . . . . . . . . . . . . . . . . . . . . . . 6-21
6.6.2 Troubleshooting M-II Communications Errors . . . . . . . . . . . . . . . . . . . . . . 6-21
Configuration Tool
7
7.1 Configuration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.1 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Installing and Uninstalling the Software. . . . . . . . . . . . . . . . . . . 7-3
7.2.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.2 Uninstallation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.3 Installing the USB Communications Driver . . . . . . . . . . . . . . . . 7-8
7.3.1 USB Communications Driver Installation Procedure . . . . . . . . . . . . . . . . . . 7-8
7.3.2 Disconnecting the Cable from a USB Connector . . . . . . . . . . . . . . . . . . . . 7-12
7.4 Operating the Configuration Tool . . . . . . . . . . . . . . . . . . . . . . . 7-13
7.4.1 Starting the Configuration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
7.4.2 Main Window Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
MECHATROLINK-III Command Specifications
8
8.1 Details on Common Commands. . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.1 Read Parameter Command (PRM_RD: 01 Hex) . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.2 Write Parameter Command (PRM_WR: 02 Hex). . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.3 Read ID Command (ID_RD: 03 Hex) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.4 Setup Device Command (CONFIG: 04 Hex). . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.5 Start Synchronous Communications Command (SYNC_SET: 0D Hex)
(Not Currently Supported) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.6 Establish Connection Command (CONNECT: 0E Hex) . . . . . . . . . . . . . . . . . 8-3
8.1.7 Read Non-volatile Parameter Command (PPRM_RD: 1B Hex) . . . . . . . . . . 8-4
8.1.8 Write Non-volatile Parameter Command (PPRM_WR: 1C Hex)
(Not Currently Supported) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.1.9 Read Memory Command (MEM_RD: 1D Hex) (Not Currently Supported) . . 8-4
8.1.10 Write Memory Command (MEM_WR: 1E Hex) (Not Currently Supported) . . 8-4
8.2 Details on Standard I/O Profile Commands . . . . . . . . . . . . . . . . 8-5
8.2.1 Asynchronous Data Read/Write Command (DATA_RWA: 20 Hex) . . . . . . . . 8-5
8.2.2 Synchronous Data Read/Write Command (DATA_RWS: 21 Hex) . . . . . . . . 8-12

xiv
8.3 ID_CODE List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13
8.4 Virtual Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.5 Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
8.6 Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25
8.6.1 Details in the Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25
8.6.2 Details in Operation Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25
8.6.3 Details in Run Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25
8.6.4 Alarm Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-26
8.6.5 Details in Extended Address n Communications Status (n = 0 to 3) . . . . . .8-26
8.6.6 Details in #n Communications Status (n = 0 to 8) . . . . . . . . . . . . . . . . . . . .8-27
Appendices
9
9.1 Combinations of M-II and M-III Port Communications Settings . . 9-2
9.1.1 I/O Gateway Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-2
9.1.2 Transparent Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-3
9.2 Throughput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
9.2.1 Throughput for I/O Gateway Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-4
9.2.2 Throughput for Transparent Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-5
9.3 Using the Gateway Unit with MP2000 and MP3000 Series Machine Controllers . . 9-6
9.3.1 Connectable Devices and Operating Modes. . . . . . . . . . . . . . . . . . . . . . . . .9-6
9.3.2 Setup Procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7
Index
Revision History

This chapter provides an introduction to the GW3100 and
describes it’s features and system configuration.
1.1 The GW3100 . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.1 What Is the GW3100? . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.2 GW3100 Features . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2 Examples of GW3100 Applications and System Configuration . . 1-4
1.2.1 GW3100 Applications . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.2 System Configuration Example . . . . . . . . . . . . . . 1-5
1.3 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.3.1 Installation and Connection Conditions . . . . . . . . 1-6
1.3.2 Functional Limitations . . . . . . . . . . . . . . . . . . . . . 1-6
1.3.3 Host Controller Conditions . . . . . . . . . . . . . . . . . 1-6
Introduction to the
GW3100
1

1.1 The GW3100
1.1.1 What Is the GW3100?
1-2
1.1 The GW3100
This section provides an introduction to the GW3100.
1.1.1 What Is the GW3100?
The GW3100 Gateway Unit functions as a gateway between a host controller level MECHA-
TROLINK-III communications network and a MECHATROLINK-II communications subnetwork.
All of the data exchanged between MECHATROLINK-II and MECHATROLINK-III is first saved in
internal memory in the GW3100 and then transmitted cyclically.

1.1 The GW3100
1.1.2 GW3100 Features
1-3
1
Introduction to the GW3100
1.1.2 GW3100 Features
The GW3100 is a stand-alone MECHATROLINK-III device. It provides the following features.
Communications Gateway between MECHATROLINK-II and
MECHATROLINK-III
The GW3100 allows you to connect up to eight stations of MECHATROLINK-II I/O devices to a
MECHATROLINK-III network. You can connect only one station of any of the following devices
to GW3100: MECHATROLINK-II Servo Drive, Inverter, or Stepping Motor Drive.
Easy Setup
Self-configuration enables automatic allocation of M-II port devices.
Two Operating Modes
With the GW3100, you can select between two operating modes: I/O Gateway Mode and
Transparent Mode.
I/O Gateway Mode (Mode to Connect I/O Devices)
In this mode, you can connect only Simple I/O and Intelligent I/O.
You can connect up to eight slave stations.
There are two operating modes within this mode.
•Stack Mode
The M-II command for the I/O stations is stacked on the M-III command without modification
and sent to the GW3100.
The host controller stores the M-II command on top of the M-III command without modifica-
tion.
The GW3100 separates the command as send data and sends it to the stations.
•Pack Mode
Only the output data for the I/O stations is extracted and packed into the M-III command.
The host controller stores only the output values for the stations on top of the M-III command.
The GW3100 reads the output values for the stations and stores them in commands for the
stations. Basically speaking, only data I/O commands can be used in this mode.
Transparent Mode
(Mode to Connect an I/O Device, Servo Drive, Inverter, or Stepping
Motor Drive)
In this mode, you can connect to any type of slave device, but the GW3100 is connected 1:1 to
the M-II slave station.
The GW3100 can receive only with the M-II-compatible profile and commands/responses are
passed to the other network without modification.

1.2 Examples of GW3100 Applications and System Configuration
1.2.1 GW3100 Applications
1-4
1.2 Examples of GW3100 Applications and System Configuration
This section provides examples of GW3100 applications and the system configuration.
1.2.1 GW3100 Applications
The GW3100 can be used for the following applications.
Increasing I/O Capacity
You can connect more than one I/O station to one GW3100 station to increase the I/O capacity
of the station.
Complementing the M-III Device Lineup
You can use the GW3100 to connect devices that are available only for M-II to an M-III network.
Changing to an M-III System While Using Existing M-II
Devices
When you are replacing an M-II network with an M-III network, you can use the GW3100 to
gradually replace devices while still using existing M-II devices.

1.2 Examples of GW3100 Applications and System Configuration
1.2.2 System Configuration Example
1-5
1
Introduction to the GW3100
1.2.2 System Configuration Example
This section shows a system configuration example with the GW3100.
Refer to the following section when using YASKAWA MP2000/MP3000 Machine Controller as the
host controller.
9.3.1 Connectable Devices and Operating Modes on page 9-6
JEPMC-IO2310 JEPMC-IO2310
X16
1
X16
0
YASKAWA
SAVE
RUN
RUN
ERR
ERR
LK1
LK1
LK2
LK2
CN
CN
MTX
MTX
MER
MER
CN
CN
USB
USB
1
1
ON
SPAR E
SPARE
MODE
MODE
CNFG
CNFG
INIT
INIT
ON
ON
1
CN
CN
M-
M-
III
III
2
2
CN
CN
3
3
CN
CN
M-
M-
II
II
4
4
M
ECHATROLINK
ECHATROLINK
POWER
POWER
DC
DC
24V
24V
DC
DC
0V
0V
GW3100
GW3100
X16
1
X16
0
YASKAWA
SAVE
RUN
RUN
ERR
ERR
LK1
LK1
LK2
LK2
CN
CN
MTX
MTX
MER
MER
CN
CN
USB
USB
1
1
ON
SPAR E
SPARE
MODE
MODE
CNFG
CNFG
INIT
INIT
ON
ON
1
CN
CN
M-
M-
III
III
2
2
CN
CN
3
3
CN
CN
M-
M-
II
II
4
4
M
ECHATROLINK
ECHATROLINK
POWER
POWER
DC
DC
24V
24V
DC
DC
0V
0V
GW3100
GW3100
PC
(Conguration Tool)
Servo Drive, Inverter,
or Stepping Motor Drive
(Only one station of these
can be connected.)
I/O devices
(Up to 8 stationscan be connected.)
M-II-M-III Gateway Unit
GW3100
Host controller
MECHATROLINK-III
MECHATROLINK-II MECHATROLINK-II
Transparent ModeI/O Gateway Mode
USB
Important

1.3 Precautions
1.3.1 Installation and Connection Conditions
1-6
1.3 Precautions
This section provides precautions for configuring a system using the GW3100.
1.3.1 Installation and Connection Conditions
Do not connect anything to unused MECHATROLINK-III ports. Terminating resistors are not
required.
1.3.2 Functional Limitations
•If you use the M-II-compatible profile, the minimum MECHATROLINK-III communications
cycle is 500 μs.
•You can connect a Servo Drive, Inverter, or Stepping Motor Drive only if you use the M-II-
compatible profile. If you connect any of these devices, the M-III master device must have the
functionality to use M-II-compatible commands.
•Larger command and response delays will occur when communicating through the Gateway
Unit in comparison with a direct connection to an M-III network. Make sure that the command
and response delays will not interfere with the operation of the system.
•You can connect only one station of any of the following devices to one GW3100: Servo
Drive, Inverter, or Stepping Motor Drive. Therefore, you cannot connect an I/O Device to the
same GW3100 as a Servo Drive, Inverter, or Stepping Motor Drive.
1.3.3 Host Controller Conditions
To use the GW3100, the host controller must support the following functions.
•I/O Gateway Mode: The host controller must support the M-III standard I/O profile.
•Transparent Mode: The host controller must support the M-II-compatible profile.
Note: Refer to the following section when using YASKAWA MP2000/MP3000 Machine Controller.
9.3.1
Connectable Devices and Operating Modes on page 9-6