Machine Controller MP900/MP2000 Series

Distributed I/O Module

USER'S MANUAL
MECHATROLINK System

System Overview 1
I/O Allocations 2
YASKAWA
JEPMC-IO35
0 Distributed I/O Module 3
Other I/O Modules 4
Reversible Counter Module
with Preset Function 5
Pulse Output Module 6
PLC Module 7
MECHATROLINK-II Repeater 8
Connections 9

App

MANUAL NO. SIE-C887-5.1H

Copyright © 2000 YASKAWA ELECTRIC CORPORATION

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

Please read this manual to ensure correct usage of the MECHATROLINK system. Keep this manual in a safe
place for future reference.
■ Basic Terms

Unless otherwise specified, the following definitions are used:

• MECHATROLINK : Generic term for Motion Network MECHATROLINK-I and MECHATROLINK-II

• M-I : MECHATROLINK-I
• M-II : MECHATROLINK-II
• PC : Programmable Logic Controller
• MPE720: The Programming Device Software or a Programming Device (i.e., a personal computer)
running the Programming Device Software

■ Manual Configuration
Read the chapters of this manual as required by the purpose.

Selecting Studying Designing Installation Trial Maintenance

Models and Specifications the System and Wiring Operation and
Chapter
Peripheral and Ratings Inspection
Devices
Chapter 1
Applicable − Applicable Applicable Applicable −
System Overview
Chapter 2
− − Applicable Applicable Applicable −
I/O Allocations
Chapter 3
Applicable Applicable Applicable Applicable Applicable Applicable
Distributed I/O Modules
Chapter 4
Applicable Applicable Applicable Applicable Applicable Applicable
Other I/O Modules
Chapter 5
Reversible Counter Applicable Applicable Applicable Applicable Applicable Applicable
Module with Preset
Function
Chapter 6
Applicable Applicable Applicable Applicable Applicable Applicable
Pulse Output Module
Chapter 7
Applicable Applicable Applicable Applicable Applicable Applicable
PLC Module
Chapter 8
MECHATROLINK-II Applicable Applicable Applicable Applicable Applicable Applicable
Repeater
Chapter 9
− − Applicable Applicable Applicable Applicable
Connections
Appendices − − Applicable Applicable − −

iii
 ■ Visual Aids
The following aids are used to indicate certain types of information for easier reference.

IMPORTANT Indicates important information that should be memorized.

INFO Indicates supplemental information.

EXAMPLE Indicates application examples.

Describes technical terms that are difficult to understand, or appear in the text without an explana-
TERMS
tion being given.

■ 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:

• S-ON　 =　/S-ON
• P-CON =　/P-CON

iv
■ Related Manuals
Refer to the following related manuals as required.
Thoroughly check the specifications, restrictions, and other conditions of the product before attempting to use it.

Manual Name Manual Number Contents

Machine Controller MP900 Series SIEZ-C887-1.2 Describes the instructions used in MP900/
User's Manual MP2000 ladder programming.
Ladder Programming
Machine Controller MP900/MP2000 SIEP C880700 05 Describes how to install and operate the
Series User’s Manual: MPE720 MP900/MP2000 Series programming sys-
Software for Programming Device tem (MPE720).
Machine Controller MP920 SIEZ-C887-2.5 Describes the functions, specifications, and
User's Manual application methods of the MP920 Motion
Motion Module Modules (SVA-01, SVB-01, and PO-01).
Machine Controller MP910 SIEZ-C887-3.1 Describes the design and maintenance of the
User's Manual MP910 Machine Controller.
Design and Maintenance
Machine Controller MP920 SIEZ-C887-2.1 Describes the design and maintenance of the
User's Manual MP920 Machine Controller.
Design and Maintenance
Machine Controller MP930 SIEZ-C887-1.1 Describes the design and maintenance of the
User's Manual MP930 Machine Controller.
Design and Maintenance
Machine Controller MP940 SIEZ-C887-4.1 Describes the design and maintenance of the
User's Manual MP940 Machine Controller.
Design and Maintenance
Machine Controller MP2100 SIEP C880700 01 Describes the design and maintenance of the
User's Manual MP2100 Machine Controller.
Design and Maintenance
Machine Controller MP2300 SIEP C880700 03 Describes the design and maintenance of the
Basic Module MP2300 Basic Module.
User’s Manual
FDS System Installation Manual SIE-C873-16.4 Describes transmission line wiring methods.

v
 Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided
in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment
and systems.

Indicates precautions that, if not heeded, could possibly result in loss of life or serious
WARNING injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor
CAUTION injury, damage to the product, or faulty operation.

vi
Safety Precautions

The following precautions are for checking products on delivery, storage, transportation, installation, wiring,
operation, maintenance, inspection, and disposal. These precautions are important and must be observed.

WARNING
• Before starting operation in combination with the machine, 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 MECHATROLINK devices.
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 can cause damage to the machine or even
accidents resulting in injury or death.
• Do not remove the front cover, cables, connector, or options while power is being supplied.
There is a risk of electrical shock.
• Do not allow installation, disassembly, or repairs to be performed by anyone other than specified
personnel.
There is a risk of electrical shock or injury.
• 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 Machine Controller.
• Do not attempt to modify the Machine Controller 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 machine may start operation suddenly. Provide suitable safety measures to
protect people when operation restarts.
There is a risk of injury.

vii
 ■ Storage and Transportation

CAUTION
• Do not store or install the Machine Controller 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 Machine Controller 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.

■ Installation

CAUTION
• Never use the Machine Controller 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 Machine Controller or place heavy objects on the Machine Controller.
There is a risk of injury.
• Do not block the air exhaust port or allow foreign objects to enter the Machine Controller.
There is a risk of element deterioration inside, an accident, or fire.
• Always mount the Machine Controller in the specified orientation.
There is a risk of an accident.
• Do not subject the Machine Controller to strong shock.
There is a risk of an accident.
• Always install the Module in the specified orientation.
There is a risk of Module falling, damage, or malfunction.
• The ambient temperature is limited depending on the Module installation orientation. Use the Module
under the restricted conditions.
There is a risk of an accident or malfunction.

viii
■ Wiring

CAUTION
• 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 measures to provide protection against shorts in external wiring.
There is a risk of fire.
• Provide sufficient shielding when using the Machine Controller in the following locations.
There is a risk of device damage.
• Noise, such as from static electricity
• Strong electromagnetic or magnetic fields
• Radiation
• Near power lines
• When connecting the battery, connect the polarity correctly.
There is a risk of battery damage or explosion.
• Built-in fuses do not protect the output elements. Connect a fuse appropriate for the load
specifications in series with the load.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-
circuit or overload.
• The customer must not replace the built-in fuses.
There is a risk of output module accident or malfunction. Also any failures caused by ignoring this caution will
invalidate the guarantee. Yaskawa replaces built-in fuses.
• When the external input pulse signal is 24 VDC, do not connect anything to “PHAn+” or “PHBn+”
terminal.
There is a risk of input circuit damage.
• When the external input pulse signal is 12 VDC, connect a resistor of 22 kΩ (1/4w) between “PHAn”
and “PHA+” terminals and between “PHBn” and “PHB+” terminals.
There is a risk of input circuit damage.
• When the external input pulse signal is 5 VDC, connect a resistor of 330Ω (1/4w) between “PHAn”
and “PHA+” terminals and between “PHBn” and “PHB+” terminals.
There is a risk of input circuit damage.
• When the external input pulse signal is of differential output voltage, do not connect anything to
“PHAn” and “PHBn” terminals.
There is a risk of input circuit damage.
• To connect an induction load, connect the fly-wheel diode in parallel to the induction load to reduce
surge voltage.
There is a risk of output circuit damage.
• Each Module is not protected against lightning surge. Do not employ overhead wiring.
There is a risk of device damage due to lightning.

ix
 ■ Operations

CAUTION
• Connect a fuse appropriate for the load specifications in series with the load.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-
circuit or overload.
• Do not change the DIP switch settings while a Digital I/O Module is operating.
New settings on the Digital I/O Module’s DIP switch become effective as soon as they are changed. Change
the DIP switch settings only when the Module’s main external power supply (24 VDC) is OFF. Changing the
Module’s DIP switch settings during operation may cause the Module to malfunction.

■ Selecting, Separating, and Laying External Cables

CAUTION
• Consider the following items when selecting the I/O signal lines (external cables) to connect the
MECHATROLINK device 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.

Example
外部配線の分離例of Separated External Cables
Steel separator
鉄板製のセパレータ

Power General Digital

ディジタル
I/O
circuit
動力回路の control
一般制御回路 cir- signal
入出力信号
cables
ケーブル cuit cables
のケーブル cables
ケーブル

■ Maintenance and Inspection

CAUTION
• Do not attempt to disassemble the MECHATROLINK device.
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 Machine Controller, restart operation only after transferring the programs and
parameters from the old Machine Controller to the new Machine Controller.
There is a risk of device damage.

■ Disposal

CAUTION
• Dispose of the Machine Controller as general industrial waste.

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

xi
 Warranty

(1) Details of Warranty

■ Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year
from the time of delivery to the location specified by the customer or 18 months from the time of shipment
from the Yaskawa factory, whichever is sooner.
■ Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product
reaching the end of its service life and replacement of parts that require replacement or that have a limited
service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cat-
alogs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship-
ment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters

(2) Limitations of Liability

1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of pro-
gram execution of the programs provided by the user or by a third party for use with programmable
Yaskawa products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer pur-
chasing the appropriate product for the intended application. The use thereof does not guarantee that there
are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties,
nor does it construe a license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property
rights or other proprietary rights of third parties as a result of using the information described in catalogs
or manuals.

xii
(3) Suitability for Use
1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that
apply if the Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equip-
ment used by the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the
application is acceptable, use the product with extra allowance in ratings and specifications, and provide
safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in
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 separate 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
4. Never use the product for an application involving serious risk to life or property without first ensuring
that the system is designed to secure the required level of safety with risk warnings and redundancy, and
that the Yaskawa product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for
reference. Check the functionality and safety of the actual devices and equipment to be used before using
the product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to
prevent accidental harm to third parties.

(4) Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be
changed at any time based on improvements and other reasons. The next editions of the revised catalogs or
manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm
the actual specifications before purchasing a product.

xiii
 CONTENTS
Using this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xii

1 System Overview
1.1 MECHATROLINK System Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 MECHATROLINK System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.2 MECHATROLINK System Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.3 MECHATROLINK Transmission Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.4 Maximum Number of Connectable Slaves- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3
1.1.5 System Configuration Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3

1.2 MECHATROLINK System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.1 MECHATROLINK-compatible Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-5
1.2.2 System Configuration Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-7

2 I/O Allocations
2.1 MECHATROLINK Master Module Definitions - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Module Configuration Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2
2.1.2 Master Module Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-3
2.1.3 Setting the Leading and End I/O Register Numbers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-4
2.1.4 Usable Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-5

2.2 Allocating I/O to MECHATROLINK Slave Modules- - - - - - - - - - - - - - - - - - - - - - 2-6

2.2.1 MECHATROLINK Definitions Window- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-6
2.2.2 Setting Transmission Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-7
2.2.3 I/O Map - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.2.4 Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.2.5 I/O Register Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13

3 Distributed I/O Module

3.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3
3.1.2 Mounting Orientation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-4

3.2 Relay Contact 8-point Output Module (120DRA83030/IO2950) - - - - - - - - - - - - - 3-7

3.2.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-7
3.2.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.2.4 Connection Example- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.5 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13

xiv
3.3 100-VAC 8-point Input Module (120DAI53330) - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
3.3.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.3.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.3.5 I/O Allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19

3.4 200-VAC 8-point Input Module (120DAI73330) - - - - - - - - - - - - - - - - - - - - - - - 3-20

3.4.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20
3.4.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
3.4.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
3.4.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
3.4.5 I/O Allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-25

3.5 100/200-VAC 8-point Output Module (120DAO83330) - - - - - - - - - - - - - - - - - - 3-26

3.5.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26
3.5.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-29
3.5.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30
3.5.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-31
3.5.5 I/O Allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32

3.6 24-VDC 8-point I/O Module (IO2920) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33

3.6.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33
3.6.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35
3.6.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-37
3.6.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38
3.6.5 I/O Allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39

3.7 24-VDC 16-point Input Module (120DDI34330/IO2900) - - - - - - - - - - - - - - - - - 3-40

3.7.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40
3.7.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43
3.7.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-44
3.7.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-44
3.7.5 I/O Allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45

3.8 24-VDC 16-point Output Module (120DDO34340/IO2910) - - - - - - - - - - - - - - - 3-46

3.8.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46
3.8.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-49
3.8.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
3.8.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
3.8.5 I/O Allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-52

3.9 Analog Input Module (±10 V, 4 CH) (120AVI02030/AN2900) - - - - - - - - - - - - - - 3-53

3.9.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
3.9.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-56
3.9.3 Input Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-57
3.9.4 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-58
3.9.5 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-59
3.9.6 I/O Allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-61

xv
 3.10 Analog Output Module (±10 V, 2 CH) (120AVO01030/AN2910)- - - - - - - - - - - 3-62
3.10.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-62
3.10.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-65
3.10.3 Output Characteristics- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-66
3.10.4 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-67
3.10.5 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-67
3.10.6 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68

4 Other I/O Modules

4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330)- - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-6
4.1.3 System Connection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9

4.2 Wildcard I/O Modules (†††††I/O) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19

5 Reversible Counter Module with Preset Function

5.1 Summary of Module Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 High-speed Pulse Counting Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-2
5.1.2 Notch Signal Output Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-3
5.1.3 Current Value Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-5

5.2 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
5.3.1 Example of System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
5.3.2 Interface with the Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12

5.4 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13

5.4.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.4.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14

5.5 External I/O Signals and Connection Examples - - - - - - - - - - - - - - - - - - - - - - - 5-24

5.5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
5.5.2 Connection Examples of External I/O Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
5.5.3 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32
5.5.4 Output Coils - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
5.5.5 Output Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
5.5.6 Input Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.5.7 Input Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.5.8 Monitoring Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.6 Precautions on Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42

5.6.1 External Pulse Input Circuit (Phase-A Pulse, Phase-B Pulse) - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.6.2 External Input Circuit (External Latch and External Current Value Reset Functions) - - - - - - - 5-44
5.6.3 External Output Circuit (External Notch Output)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47

xvi
 5.7 Module Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-49
5.7.1 Operation Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-49
5.7.2 Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54

6 Pulse Output Module

6.1 Summary of Module Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.1 Example of System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.2 Interface with the Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.4 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

6.4.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.4.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11

6.5 External I/O Signals and Connection Examples - - - - - - - - - - - - - - - - - - - - - - - 6-17

6.6 References - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.6.1 I/O Allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.6.2 Output Coils - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.6.3 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
6.6.4 Output Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.6.5 Input Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25
6.6.6 Input Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
6.6.7 Monitoring Data- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26

6.7 Module Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31

6.7.1 Operation Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
6.7.2 Positioning Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
6.7.3 Jog Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37
6.7.4 Zero Point Return - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-40

7 PLC Module
7.1 MP940- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.2 Specifications and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5

8 MECHATROLINK-II Repeater
8.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.2 External View and Components - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.3.1 System Configuration Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5

8.4 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6

8.5 Application - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
8.5.1 Restrictions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
8.5.2 Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10

xvii
 9 Connections
9.1 Connections between MECHATROLINK Devices - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 MECHATROLINK Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.1.2 MECHATROLINK Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-5
9.1.3 Connection Example- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10

9.2 External Wiring- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17

9.2.1 Wiring in a Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
9.2.2 Indoor Wiring Between Panels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
9.2.3 Outdoor Wiring Between Panels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
9.2.4 Grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
9.2.5 Grounding Control Panels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21

Appendix A Dimension Diagrams of the Modules

A.1 I/O Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.1 64-point I/O Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.2 Relay Contact 8-point Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.3 100-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
A.1.4 200-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
A.1.5 100/200-VAC 8-point Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
A.1.6 24-VDC 8-point I/O Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
A.1.7 24-VDC 16-point Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
A.1.8 24-VDC 16-point Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
A.1.9 Analog Input Module (±10 V, 4 Channels) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-6
A.1.10 Analog Output Module (±10 V, 2 Channels)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-6

A.2 Reversible Counter Module with Preset Function - - - - - - - - - - - - - - - - - - - - - - A-7

A.3 Pulse Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-8
A.4 MECHATROLINK-II Repeater - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-9

Appendix B MECHATROLINK Simple I/O Communications Commands

B.1 Simple I/O Communications Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2
B.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2
B.1.2 Modules that Support Simple I/O Communications Commands - - - - - - - - - - - - - - - - - - - - - B-2

B.2 Applicable Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-3

B.3 Data Link Layer Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-4
B.3.1 MDS Command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-4
B.3.2 CDRW Command- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-6

Appendix C MECHATROLINK Intelligent I/O Communications Commands

C.1 Intelligent I/O Communications Commands - - - - - - - - - - - - - - - - - - - - - - - - - - C-2
C.1.1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2
C.1.2 Modules that Support Intelligent I/O Communications Commands - - - - - - - - - - - - - - - - - - - C-2

C.2 Applicable Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-3

xviii
 C.3 Application Layer Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-4
C.3.1 No Operation: NOP (00H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-4
C.3.2 Read ID Command (ID_RD: 03H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-6
C.3.3 Read Alarm/Warning Command (ALM_RD: 05H)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-7
C.3.4 MECHATROLINK Connection Command: CONNECT (0EH)- - - - - - - - - - - - - - - - - - - - - - - - C-8
C.3.5 DISCONNECTION Command: DISCONNECT (0FH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-9
C.3.6 Read/Write I/O Data Command: DATA_RWA (50H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-10

Appendix D Supplemental Information

D.1 Using Simple I/O and Intelligent I/O Together - - - - - - - - - - - - - - - - - - - - - - - - -D-2
D.1.1 Master Station State Transition Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-2
D.1.2 Event Matrices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-3
D.1.3 ID of Intelligent I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-4

Index

Revision History

xix
 1
System Overview

This section provides an overview of the MECHATROLINK system.

1.1 MECHATROLINK System Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 MECHATROLINK System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 MECHATROLINK System Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 MECHATROLINK Transmission Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.4 Maximum Number of Connectable Slaves - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.1.5 System Configuration Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.2 MECHATROLINK System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.1 MECHATROLINK-compatible Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.2.2 System Configuration Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

System Overview
1

1-1
 1 System Overview
1.1.1 MECHATROLINK System

1.1 MECHATROLINK System Overview

This section provides an overview of the MECHATROLINK system and its features.

1.1.1 MECHATROLINK System

A basic MECHATROLINK system is composed of one MECHATROLINK Master Module and one or more
MECHATROLINK slave Modules, which are MECHATROLINK-compatible devices.
The main characteristics of the MECHATROLINK system configuration are listed below:
• A MECHATROLINK system is a motion network that controls several SERVOPACKs and provides dis-
tributed control over I/O Modules.
• A MECHATROLINK system’s network uses the Master/Slave format.

1.1.2 MECHATROLINK System Features

The MECHATROLINK system features are listed below:
• The MECHATROLINK system now provides high-speed refreshing rates comparable to local I/O. With
some Modules in the MP Series, the refreshing rate is selectable, which determines the maximum number
of Modules that can be connected.
• MECHATROLINK Modules can be connected with a single twisted-pair cable. This configuration pro-
vides remote I/O with less wiring, so a simple and low-cost system can be configured.
• For better fault tolerance, the Master can detect when an error has occurred in a Slave. Also, Slaves other
than Servo Modules are equipped with an automatic disconnection/automatic restart function.
There are two protocols of MECHATROLINK transmission as explained below: MECHATROLINK-I (M-I) and
MECHATROLINK-II (M-II)

1.1.3 MECHATROLINK Transmission Specifications

The following table shows the MECHATROLINK transmission specifications.
M-I Specifications M-II Specifications
Item
(MP900 Series) (MP2000 Series)
Transmission Method M-I M-I M-II
Transmission path form Bus type Bus type Bus type
Transmission path Electric bus Electric bus Electric bus
Transmission distance 50 m 50 m 50 m
Min. distance between stations 0.3 m 0.3 m 0.5 m
Transmission speed 4 Mbps 4 Mbps 10 Mbps
Communication cycle 2 ms 2 ms 0.5 ms/1 ms/1.5 ms/2 ms *1
Maximum number of connected
stations
14 stations 14 stations 21 stations *2
Transmission control method Cyclic method Cyclic method Cyclic method
Access control method 1:N 1:N 2 : N *3
Transmission mode Control transmission Control transmission Control transmission
Error control CRC check CRC check CRC check
* 1. The applicable communication cycles differ depending on the specifications of Master Module. Refer to the
user’s manual of the Master Module for the applicable communication cycles.
* 2. 16 stations when no REP2000 is connected. Refer to Chapter 8 MECHATROLINK-II Repeater for REP2000.
* 3. When SigmaWin is used. If not, 1: N.

TERMS Automatic disconnection:

If an error is detected in communication between the Master and a Slave, the affected Slave will be removed from the net-
work and communication will continue with the unaffected Slaves.
Automatic restart:
The Master will resume communication automatically when it determines that the affected Slave is responding regularly
and has resumed normal operation.

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 1.1 MECHATROLINK System Overview

1.1.4 Maximum Number of Connectable Slaves

The following table shows the maximum number of slave stations that can be connected to the MP-series
Machine Controller.
(1) MECHATROLINK Transmission Settings and Maximum Number of Slave Stations

MECHATROLINK Transmission Settings

Master Device Maximum Number
(Series Name) Transmission Communication of Slave Stations
Method
Speed Cycle
MP900 M-I 4 Mbps 2 ms 14
M-I 4 Mbps 2 ms 14
M-II 0.5 ms 6
10 Mbps
(17-byte mode) 1 ms 15
MP2000 0.5 ms 4
M-II 1 ms 9
10 Mbps
(32-byte mode) 1.5 ms 15
2 ms 21
Refer to 2.2.2 Setting Transmission Parameters for the setting method of MECHATROLINK transmission.

(2) Transmission Distance and Maximum Number of Slave Stations

Master Device Transmission Transmission Distance Maximum Number

(Series Name) Method (Total Length of Network) of Slave Stations
MP900 M-I 50 m 14
M-I 50 m 14
MP2000 30 m 16 (21)
M-II
50 m 15 (21)
Note: A REP2000 is required to connect more than 17 stations to the MP2000-series Machine Controller for the M-
II communications.

System Overview
• When a MP900-series Machine Controller uses only Remote I/O Modules as slave device, up to 29 slave
IMPORTANT
devices can be connected by setting the MECHATROLINK communication cycle to 4 ms. However, with
MP930, do not set the communication cycle to any value other than 2 ms.
• Up to 16 servo axes can be connected to the MP2000-series Machine Controller.

1
1.1.5 System Configuration Precautions
(1) Number of Slave Stations
In the M-II, the number of slaves varies depending on the settings for “SigmaWin” (use/not use) and “Number of
retry to slaves.”
SigmaWin Use/Not use: 0 (Use)
• For MECHATROLINK-II (17-byte mode) with the communication cycle set to 1 ms
Number of slave stations = 15 − (Number of retry to slaves + SigmaWin)
• For MECHATROLINK-II (32-byte mode) with the communication cycle set to 1 ms
Number of slave stations = 9 − (Number of retry to slaves + SigmaWin)
• For MECHATROLINK-II (32-byte mode) with the communication cycle set to 2 ms
Number of slave stations = 21 − (Number of retry to slaves + SigmaWin)
The maximum number of servo axes is 16.

(2) MECHATROLINK Transmission Settings

Set the same MECHATROLINK transmission settings both for the master and the slaves.
If M-I and M-II devices are used together, use the M-I settings.

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 1 System Overview
1.1.5 System Configuration Precautions

(3) Connection Cables

Use the standard cables.
For details on the standard cables, refer to 9.1.2 MECHATROLINK Cables.
Refer to Chapter 9 Connections to select the cable according to the devices to be used.

(4) Terminator (Terminating Resistor)

Attach a terminator (terminating resistor) on each end of the system.
Some Machine Controllers incorporate terminators as follows.
Machine Controller
(MECHATROLINK Terminator Details
Master Module)
A terminator is required when the Module is at the
MP910
end of the system.
A terminator is required when the Module is at the
MP920（SVB-01）
end of the system.
A terminator is not required because one is built into
MP930
the Module.
A terminator is required when the Module is at the
MP940
end of the system.
A terminator is not required because one is built into
MP2100
the Module.
A terminator is not required because one is built into
MP2300
the Module.
MP2200/MP2300 A terminator is required when the Module is at the
(SVB-01) end of the system.

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 1.2 MECHATROLINK System Configuration

1.2 MECHATROLINK System Configuration

This section describes MECHATROLINK-compatible devices and precautions.

1.2.1 MECHATROLINK-compatible Devices

The following lists the MECHATROLINK-compatible devices.
(1) Master Devices
MECHATROLINK MECHATROLINK Transmission
Machine Controller Model
Master Module M-I M-II
MC101 Board (ISA) JEPMC-MC100 Applicable N/A
MP910
MC151 Board (C-PCI) JEPMC-MC150 Applicable N/A
MP920 SVB-01 Module JEPMC-MC210 Applicable N/A
JEPMC-MC350
MP930 MP930 Module Applicable N/A
JEPMC-MC360
MP940 MP940M Module JEPMC-MC400 Applicable N/A
MP2100 MC2100 Board JAPMC-MC2100 Applicable Applicable
MP2300 Basic Module JEPMC-MP2300 Applicable Applicable
MP2310 MP2310 Module JEPMC-MP2310 Applicable Applicable
MP2300S MP2300S Module JEPMC-MP2300S Applicable Applicable
MP2400 MP2400 Module JEPMC-MP2400 Applicable Applicable
MP2200/MP2300 SVB-01 Module JAPMC-MC2310 Applicable Applicable

(2) Slave Devices

MP2000
Classifi- Series
Device Name Model MP910 MP920 MP930 MP940
cation
M-I M-II

System Overview
MECHATROLINK-compati- SGD-†††N
Applicable Applicable Applicable N/A Applicable N/A
ble AC SERVOPACK SGDB-††AN
SGDH SERVOPACK
SGDH-†††E
NS100 MECHATROLINK Applicable Applicable Applicable N/A Applicable N/A
SERVO- Interface Module JUSP-NS100
PACK
SGDH SERVOPACK
SGDH-†††E
NS115 M-II N/A N/A N/A N/A Applicable Applicable
JUSP-NS115
Interface Module 1
SGDS SERVOPACK SGDS-†††1†† N/A N/A N/A N/A Applicable Applicable

1-5
 1 System Overview
1.2.1 MECHATROLINK-compatible Devices

(cont’d)
MP2000
Classifi- Series
Device Name Model MP910 MP920 MP930 MP940
cation
M-I M-II
JAMSC-
Relay Contact Module Applicable Applicable Applicable Applicable Applicable N/A
120DRA83030
Wide-voltage, 8-point output
JAMSC-IO2950-E N/A N/A N/A N/A Applicable Applicable
AC Input Module JAMSC-
Applicable Applicable Applicable Applicable Applicable N/A
100 VAC, 8-point input 120DAI53330
AC Input Module JAMSC-
Applicable Applicable Applicable Applicable Applicable N/A
200 VAC, 8-point input 120DAI73330
AC Output Module JAMSC-
Applicable Applicable Applicable Applicable Applicable N/A
100/200 VAC, 8-point output 120DAO83330
DC I/O Module
24 VDC, 8-point input, 8-point JAMSC-IO2920-E N/A N/A N/A N/A Applicable Applicable
output (sinking or sourcing)
JAMSC-
DC Input Module Applicable Applicable Applicable Applicable Applicable N/A
120DDI34330
Distrib- 24 VDC, 16-point input
JAMSC-IO2900-E N/A N/A N/A N/A Applicable Applicable
uted I/O
Module JAMSC-
DC Output Module Applicable Applicable Applicable Applicable Applicable N/A
120DDO34340
24 VDC, 16-point output
JAMSC-IO2910-E N/A N/A N/A N/A Applicable Applicable
A/D Module
JAMSC-
Analog input Applicable Applicable Applicable Applicable Applicable N/A
120AVI02030
-10 to 10 V, 4 channels
A/D Module
Analog input JEPMC-AN2900 N/A N/A N/A N/A Applicable Applicable
-10 to 10 V, 4 channels
D/A Module
JAMSC-
Analog output Applicable Applicable Applicable Applicable Applicable N/A
120AVO01030
-10 to 10 V, 2 channels
D/A Module
Analog output JEPMC-AN2910 N/A N/A N/A N/A Applicable Applicable
-10 to 10 V, 2 channels
64-point I/O Module
24 VDC, 64-point input, JEPMC-IO350 Applicable Applicable Applicable Applicable Applicable N/A
64-point output (sinking)
64-point I/O Module
I/O
24 VDC, 64-point input, JEPMC-IO2310 N/A N/A N/A N/A Applicable Applicable
Module
64-point output (sinking)
64-point I/O Module
24 VDC, 64-point input, JEPMC-IC2330 N/A N/A N/A N/A Applicable Applicable
64-point output (sourcing)
Counter Module JAMSC-
Applicable Applicable Applicable N/A Applicable N/A
Counter Reversible counter, 2 channels 120EHC21140
Module Counter Module
JEPMC-PL2900 N/A N/A N/A N/A Applicable Applicable
Reversible counter, 2 channels
Pulse Output Module JAMSC-
Pulse Applicable Applicable Applicable N/A Applicable N/A
Pulse output, 2 channels 120MMB20230
Output
Module Pulse Output Module
JEPMC-PL2910 N/A N/A N/A N/A Applicable Applicable
Pulse output, 2 channels

PLC Module, MP940 JEPMC-MC400 Applicable Applicable Applicable Applicable Applicable N/A

Others Motion Module, SVB-01 JAPMC-MC2310 N/A N/A N/A N/A Applicable Applicable

Machine Vision System,

JEVSA-YV250 N/A N/A N/A N/A Applicable Applicable
MYVIS YV250

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 1.2 MECHATROLINK System Configuration

1.2.2 System Configuration Example

The system configuration example is shown in the following diagram.

0 1 2 3 4 5 6 7 8 Slot number
SVB- SVB- SVB-
PS-03 MP920
01 01 01
CPU-01
Rack 1 (CPU Rack)

MB-01

To other remote I/O

To other remote I/O

RIO

MECHATROLINK T
transmission line
(twisted-pair cable)

24-V external power supply

RIO

MECHATROLINK
Slave Modules

System Overview
24-V external power supply

1CN SERVOPACK
R

T y SGD-†††N
y SGDB-†††N
U

W
2CN
y SGDH+NS100 1
W

• SVB-01: MECHATROLINK Master Module • MB-01: Mounting Base

• RIO: Distributed I/O Module • PS-03: AC Input Power Supply Module
• T: Terminator • CPU-01: CPU Module

Fig 1.1 MECHATROLINK Network System Configuration Example

1-7
 2
I/O Allocations

This section explains how to allocate the I/O registers used to control MECHATROLINK Mod-
ules and exchange data.

2.1 MECHATROLINK Master Module Definitions - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Module Configuration Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Master Module Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.1.3 Setting the Leading and End I/O Register Numbers - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.1.4 Usable Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.2 Allocating I/O to MECHATROLINK Slave Modules - - - - - - - - - - - - - - - - - - 2-6

2.2.1 MECHATROLINK Definitions Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.2.2 Setting Transmission Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.2.3 I/O Map - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.2.4 Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.2.5 I/O Register Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13

I/O Allocations
2

2-1
 2 I/O Allocations
2.1.1 Module Configuration Window

2.1 MECHATROLINK Master Module Definitions

This section explains the MECHATROLINK Master Module definitions.
Before allocating I/O registers in the MECHATROLINK Module, the MECHATROLINK Master Module must
be set by the module configuration definitions with the MPE720 Software. When the module configuration defi-
nitions are changed in online, turn the Master Module power supply OFF and then ON. For details on the Module
configuration definitions, refer to the Machine Controller MP900/MP2000 Series MPE720 Software for Pro-
gramming Device User’s Manual (SIEPC88070005).

2.1.1 Module Configuration Window

(1) MP900 Series
Open the Module configuration window for the MP900-series Machine Controllers.
Set the “Module,” “I/O Start Register,” and “I/O End Register.” Default values are set for the other items. In
the following example, an SVB-01 Module is allocated in slot number 02 of an MP920.

Slot number

Setting items
Set values

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 2.1 MECHATROLINK Master Module Definitions

(2) MP2000 Series

Open the Module configuration window for the MP2000-series Machine Controllers.
Set the “I/O Start Register” and “I/O End Register” in “SVB” of the sub-slot section. The following example
shows the Module configuration definitions of an MP2100.

Main slot section

Sub-slot section

2.1.2 Master Module Settings

Define the Machine Controller Module in the column for slot number 00.
Define MECHATROLINK Master Modules in open slots numbered 01 or higher.
Machine MECHATROLINK
Remarks
Controller Master Module
Select “SVB-01” from the pull-down menu in
MP910 SVB-01
the Module row for slot number 03.

I/O Allocations
Select “SVB-01” from the pull-down menu in
MP920 SVB-01
the Module row for an open slot.
MP930 MC350-NET Set automatically.
Select “MLINK(C)” from the pull-down
MP940 MLINK（C）
menu in the Module row for slot number 06.
MP2100 SVB This is set automatically. 2
MP2300 SVB This is set automatically.
MP2200/ Select “SVB-01” from the pull-down menu in
SVB-01
MP2300 the Module row for an open slot.

2-3
 2 I/O Allocations
2.1.3 Setting the Leading and End I/O Register Numbers

2.1.3 Setting the Leading and End I/O Register Numbers

Set the continuous range of I/O register numbers allocated to the MECHATROLINK Slave Module that will be
connected. The following lists the sizes of the I/O registers that must be allocated to each MECHATROLINK
Slave Modules.
Required Size of I/O
Module Name Model
Registers (Words)
Inputs Outputs
SGD-†††N SGD-†††N − −
SGDB-††AN SGDB-††AN − −
SGDH-†††E SGDH-†††E
− −
SERVOPACK JUSP-NS100 JUSP-NS100
SGDH-†††E SGDH-†††E
− −
JUSP-NS115 JUSP-NS115
SGDS-†††1†† SGDS-†††1†† − −
Relay contact 8-point JAMSC-120DRA83030
− 1
Output Module /JAMSC-IO2950-E
100-VAC 8-point
JAMSC-120DAI53330 1 −
Input Module
200-VAC 8-point
JAMSC-120DAI73330 1 −
Input Module
100/200 VAC 8-point
JAMSC-120DAO83330 − 1
Output Module
Distributed I/O 24-VDC 8-point
JAMSC-IO2920-E 1 –
Modules I/O Module
24-VDC 16-point JAMSC-120DDI34330
1 −
Input Module /JAMSC-IO2900-E
24-VDC 16-point JAMSC-120DDO34340
− 1
Output Module /JAMSC-IO2910-E
Analog Input Module JAMSC-120AVI02030
7 2
(±10 V, 4CH) /JEPMC-AN2900
Analog Output JAMSC-120AVO01030
2 4
Module (±10 V, 2CH) /JEPMC-AN2910
JEPMC-IO350 4 4
64-point I/O Module JEPMC-IO2310 4 4
I/O Modules
JEPMC-IO2330 4 4
Wildcard I/O Module †††††I/O Any Any
Reversible Counter JAMSC-120EHC21140 7 8
Counter Modules
with Preset Function JEPMC-PL2900 7 8
Pulse Output JAMSC-120MMB20230 8 8
Pulse MC Module
Modules JEPMC-PL2910 8 8
MP940 JEPMC-MC400 8 8
Others SVB-01 JAPMC-MC2310 8 8
YV250 JEVSA-YV250 8 8

2-4
 2.1 MECHATROLINK Master Module Definitions

2.1.4 Usable Registers

The following shows the I/O register numbers that can be allocated to refer to the I/O data.
The I/O register numbers differ depending on the Machine Controller model.
Allocation Machine Controller
Register MP910 MP920 MP930 MP940 MP2100 MP2300 MP2200
Input Register IW0000 to IW0000 to IW0000 to IW0000 to IW0000 to IW0000 to IW0000 to
Number IW13FF IW13FF IW07FF IW07FF IW13FF IW13FF IW7FFF
Output Regis- OW0000 to OW0000 to OW0000 to OW0000 to OW0000 to OW0000 to OW0000 to
ter Number OW13FF OW13FF OW07FF OW07FF OW13FF OW13FF OW7FFF
Note: I/O register numbers allocated to different modules must not overlap.
And, input register numbers and output register numbers must not overlap.

I/O Allocations
2

2-5
 2 I/O Allocations
2.2.1 MECHATROLINK Definitions Window

2.2 Allocating I/O to MECHATROLINK Slave Modules

After completing the MECHATROLINK Master Module’s settings, allocate I/O registers of each MECHA-
TROLINK Slave Module that will be connected to the MECHATROLINK network in the MPE720’s MECHA-
TROLINK definitions window.
When the I/O allocation is changed in online, turn OFF and then ON the Master Module power supply.

2.2.1 MECHATROLINK Definitions Window

(1) Opening the MECHATROLINK Definitions Window
Open the MECHATROLINK definitions window first. The procedure depends upon the MECHATROLINK
Master Module being used.
(a) MP910, MP920
Double-click the “MECHATROLINK” in the “Details” row for the slot in which the SVB-01 Module is
defined in the Module configuration window.

(b) MP930, MP940

Double-click the slot number in the top row of the column in which the MECHATROLINK is defined in the
Module configuration window.

(c) MP2000-series
Double-click the “MECHATROLINK” in the “Details” row for the slot in which the SVB Module is defined
in the sub-slot section of the Module configuration window.

(2) Configuration Information

The MECHATROLINK definitions window’s configuration information is displayed below the window title.
This information mirrors the information set in the Module configuration window.
Configuration Information Contents
PT# Displays the logical port number being used when online.
CPU# Displays the CPU number logged in when online.
Rack number Displays the rack number where the Master Module is defined.
Slot number Displays the slot number where the Master Module is defined.
Circuit number Displays the circuit number of the MECHATROLINK.
Register range Displays the range of I/O registers.

(3) Tab Pages

Four tab pages are used when allocating resources to each MECHATROLINK Module.
Tab Page Function
Transmission Parameters Sets the basic MECHATROLINK transmission parameters.
I/O Assignment Allocates I/O registers to MECHATROLINK Modules.
I/O Map Displays a detailed I/O map.
Status Displays the transmission status when online.

2-6
 2.2 Allocating I/O to MECHATROLINK Slave Modules

2.2.2 Setting Transmission Parameters

(1) “Transmission Parameters” Tab Page
Click the MECHATROLINK definitions window’s Transmission Parameters Tab Page. The Transmission
Parameters Tab Page will be displayed when the MECHATROLINK definitions window is opened.
(a) MP900 Series

Parameter Function Default Setting

Master/Slave Set whether the Machine Controller is used as a master or slave. Master
When the Machine Controller is the master, the station address is
Own Station Address fixed at 0. When it is a slave, set the station address between 1 and 0
14.
Set the error recovery method used when sending MEMOBUS
Message Trust Level commands. Set the required message reliability level. (See table 0
below.)
Open the pull-down menu to display the various combinations of
the number of slaves, communication speed, and communication
Max. Slave ST Number 14
period settings.
Select the desired combination.
Scan Specify High or Low. Low

Level Function
0 Sends the command once and waits indefinitely for a response from the destination.
1 Sends the command once and resends the command if a response is not received within 8 seconds.

I/O Allocations
Transmits each word of the command twice in succession and waits indefinitely for a response from
2 the destination. This method provides high quality transmissions, but cuts the transmission efficiency
in half.

2-7
 2 I/O Allocations
2.2.2 Setting Transmission Parameters

(b) MP2000 Series

Parameter Function Default

Communication MECHATROLINK-II
Sets the MECHATROLINK communication method.
Type (32 Byte Mode)
Master/Slave Sets whether the Machine Controller is used as a master or slave. Master
My Station Address When the Machine Controller is the master, the station address is
(Local Station fixed at 0. When it is a slave, set the station address between 1 and 0
Address) 14.
Displays the transmission speed.
Transmission
Transmission speed is displayed when the communication method 10 Mbps
Speed
is set to M-II.
Displays the number of transmission bytes.
Transmission Byte The number of transmission bytes is displayed when the commu- 31 Byte
nication method is set to M-II.
Communication
Sets the communication cycle. 1 msec
Cycle
Message Set the error recovery method used when sending MEMOBUS
0
Confidence Level * commands. Set the required message reliability level.
Sets whether SigmaWin is to be used or not.
SigmaWin Can be set only when M-II is selected for the communication Not use
method.
Number of retry to Sets the number of retry stations. Can be set only when M-II is
1
slaves selected.
Displays the maximum number of slave stations. The maximum
Number of slaves number of slave stations depends on the communication method 8
or communication cycle.
* Displayed only for M-I.

2-8
 2.2 Allocating I/O to MECHATROLINK Slave Modules

(2) I/O Allocation

Click the MECHATROLINK definitions window’s I/O Assignment Tab Page.

Parameter Function
ST# Displays the station number. Up to 14 stations can be set.
Sets the model of MECHATROLINK Module connected at the station. Select
TYPE
the module from the drop-down list.
A check mark disables the input registers.
D
(Input Register Enabled
Enable/Disable)
Disabled
Sets the leading input register number and the number of registers (size). The
number of registers is set automatically. The register ranges specified for differ-
INPUT, SIZE ent stations must not overlap. The register numbers can be set within the range
specified by the leading and end I/O register numbers set in the Module configu-
ration definitions.
D
(Output Register A check mark disables the output registers.
Enable/Disable)
Sets the leading output register number and the number of registers (size). The
number of registers is set automatically. The register ranges specified for differ-
OUTPUT, SIZE ent stations must not overlap. The register numbers can be set within the range
specified by the leading and end I/O register numbers set in the Module configu-

I/O Allocations
ration definitions.
Sets the scan used for I/O servicing. Corresponds to the scan setting in the
SCAN
Transmission Parameters Tab Page.
Station name A comment up to 32-characters long can be input for each station.
(Comment)

2-9
 2 I/O Allocations
2.2.2 Setting Transmission Parameters

The following settings can be made for the TYPE, SIZE, and SCAN parameters. The settings marked with a “-”
are set automatically by the system and cannot be set by the user.
SIZE
TYPE SCAN
INPUT OUTPUT
SGD-†††N − − High
SGDB-†††N − − High
SGDH-†††E+NS100 − − High
SGDH-†††E+NS115 − − High
SGDS-†††1†† − − High
120DRA83030 − 1 High/Low
120DAI53330 1 − High/Low
120DAI73330 1 − High/Low
120DAO83330 − 1 High/Low
120DDI34330 1 − High/Low
120DDO34340 − 1 High/Low
120AVI02030 7 2 High/Low
JEPMC-AN2900 7 2 High/Low
120AVO01030 2 4 High/Low
JEPMC-AN2910 2 4 High/Low
JEPMC-IO350 4 4 High/Low
JEPMC-IO2310 4 4 High/Low
JEPMC-IO2330 4 4 High/Low
†††††I/O Any Any High/Low
120EHC21140 7 8 High/Low
JEPMC-PL2900 7 8 High/Low
120MMB20230 8 8 High/Low
JEPMC-PL2910 8 8 High/Low
MP940 8 8 High/Low
SVB-01 8 8 High/Low
YV250 8 8 High/Low

INFO Observe the following precautions when setting the I/O register number ranges:
• Input register numbers and output register numbers must not overlap.
• I/O register numbers allocated to different stations must not overlap.

2-10
 2.2 Allocating I/O to MECHATROLINK Slave Modules

2.2.3 I/O Map

Click the MECHATROLINK definitions window’s I/O Map Tab Page.
The I/O Map Tab shows the scan setting (High or Low) of the I/O registers allocated to each station and allows
the user to change these settings. The settings are abbreviated HI, HO, LI, and LO

Button Function
HI Allocates a high-speed scan input.
HO Allocates a high-speed scan output.
LI Allocates a low-speed scan input.
LO Allocates a low-speed scan output.
DEL Deletes the allocation.

• With the MP940, scan allocations are not allowed from the I/O Map.
INFO
All allocations correspond to the scan settings in the Transmission Parameters Tab Page.
• With the MP930, the I/O Map cannot be changed.
• The scan setting can be changed in the I/O Map (e.g., LI to HI), but the I/O setting (e.g., LO to LI) cannot be changed.

I/O Allocations
2

2-11
 2 I/O Allocations
2.2.4 Status

2.2.4 Status
Click the MECHATROLINK definitions window’s Status Tab Page. The data currently being transmitted by
MECHATROLINK will be displayed

This tab page just displays the status; the set values cannot be changed in this window. The functions of the
parameters in the Status Tab are identical to those of the I/O Assignment Tab. The only difference is the addition
of the “STS” column.
• STS
In online mode, the MECHATROLINK transmission status is displayed in hexadecimal. The following dia-
gram shows the meaning of each bit. Nothing will be displayed in the STS column when offline.

F EDCB A 9 8 7 6 5 4 3 2 1 0

Reserved by system

Spare

Transmission error in high-speed scan

Transmission error in low-speed scan

Spare

Normal transmission

2-12
 2.2 Allocating I/O to MECHATROLINK Slave Modules

2.2.5 I/O Register Configuration

A continuous range of I/O registers was allocated to each MECHATROLINK Module.
(1) 120DRA83030/IO2950 (Relay contact 8-point Output Module)

Command Response
OWxxxx High-/low-speed IWxxxx None High-/low-speed
control data control data
(1 word) (1 word)

(2) 120DAI53330 (8-point Input Module)

Command Response
None IWxxxx High-/low-speed
control data
(1 word)

(3) 120DAI73330 (8-point Input Module)

Command Response
None IWxxxx High-/low-speed
control data
(1 word)

(4) 120DAO83330 (8-point Output Module)

）

Command Response
OWxxxx High-/low-speed None
control data
(1 word)

(5) IO2920 (8-point I/O Module)

I/O Allocations
）

Command Response
OWxxxx High-/low-speed IWxxxx High-/low-speed
control data control data
(1 word) (1 word)

2
(6) 120DDI34330/IO2900 (16-point Input Module)

Command Response
None IWxxxx High-/low-speed
control data
(1 word)

(7) 120DDO34340/IO2910 (16-point Output Module)

）

Command Response
OWxxxx High-/low-speed None
control data
(1 word)

2-13
 2 I/O Allocations
2.2.5 I/O Register Configuration

(8) †††††I/O (Wildcard I/O Module)

Command Response
OWxxxx High-/low- speed IWxxxx High-/low- speed
control data control data
OWxxxx+1 (8 words)
IWxxxx+1 (8 words)
OWxxxx+2 IWxxxx+2
OWxxxx+3 IWxxxx+3
OWxxxx+4 IWxxxx+4
OWxxxx+5 IWxxxx+5
OWxxxx+6 IWxxxx+6
OWxxxx+7 IWxxxx+7

(9) 120AVI02030/AN2900 (Analog Input Module)

Command Response
(Reserved by High-/low- High-/low- speed
OWxxxx speed IWxxxx control data
system) control data (7 words)
OWxxxx+1 Not used (2 words) IWxxxx+1
IWxxxx+2 CH1 analog input value
IWxxxx+3 CH2 analog input value
IWxxxx+4 CH3 analog input value
IWxxxx+5 CH4 analog input value
IWxxxx+6 Status

(10) 120AVO01030/AN2910 (Analog Output Module)

Command Response
OWxxxx (Reserved by system) High-/low- IWxxxx High-/low-
speed speed
OWxxxx+1 Not used control data IWxxxx+1 control data
OWxxxx+2 CH1 analog output value (4 words) (2 words)
OWxxxx+3 CH2 analog output value

(11) IO350/IO2310/IO2330 (64-point I/O Module)

Command Response
OWxxxx High-/low- speed IWxxxx High-/low- speed
control data control data
OWxxxx+1 (4 words) IWxxxx+1 (4 words)
OWxxxx+2 IWxxxx+2
OWxxxx+3 IWxxxx+3

2-14
 2.2 Allocating I/O to MECHATROLINK Slave Modules

(12) 120EHC21140/PL2900 (Counter Module with Preset)

Command Response
Scan High-/low- High-/low-
OWxxxx speed IWxxxx speed
counter control data control data
OWxxxx+1 Not used (8 words) IWxxxx+1 (7 words)
OWxxxx+2 Output coil IWxxxx+2 Input relay
OWxxxx+3 Output coil IWxxxx+3 Input register
OWxxxx+4 Output register IWxxxx+4 Input register
OWxxxx+5 Output register IWxxxx+5 Input register
OWxxxx+6 Output register IWxxxx+6 Input register
OWxxxx+7 Output register

(13) 120MMB20230/PL2910 (Pulse MC Module)

Command Response
Scan High-/low- High-/low-
OWxxxx speed IWxxxx speed
counter control data control data
OWxxxx+1 Not used (8 words) IWxxxx+1 (8 words)
OWxxxx+2 Output coil IWxxxx+2 Input relay
OWxxxx+3 Output coil IWxxxx+3 Input register
OWxxxx+4 Output register IWxxxx+4 Input register
OWxxxx+5 Output register IWxxxx+5 Input register
OWxxxx+6 Output register IWxxxx+6 Input register
OWxxxx+7 Output register IWxxxx+7 Input register

IMPORTANT The Counter Module with Preset and Pulse Output Module have the first 2 words reserved by the system, so
the settings are required to output. For details, refer to Chapter 5 Reversible Counter Module with Preset Func-
tion and Chapter 6 Pulse Output Module.

I/O Allocations
2

2-15
 2 I/O Allocations
2.2.5 I/O Register Configuration

(14) MP940 (Machine Controller)

Command Response
OWxxxx High-/low- speed IWxxxx High-/low- speed
control data control data
OWxxxx+1 (8 words) IWxxxx+1 (8 words)
OWxxxx+2 IWxxxx+2
OWxxxx+3 IWxxxx+3
OWxxxx+4 IWxxxx+4
OWxxxx+5 IWxxxx+5
OWxxxx+6 IWxxxx+6
OWxxxx+7 IWxxxx+7

(15) MP2200/MPP2300 SVB-01 (Motion Module)

Command Response
OWxxxx High-/low- speed IWxxxx High-/low- speed
control data control data
OWxxxx+1 (8 words) IWxxxx+1 (8 words)
OWxxxx+2 IWxxxx+2
OWxxxx+3 IWxxxx+3
OWxxxx+4 IWxxxx+4
OWxxxx+5 IWxxxx+5
OWxxxx+6 IWxxxx+6
OWxxxx+7 IWxxxx+7

(16) MYVIS YV250 (Machine Vision System)

Command Response
OWxxxx High-/low- speed IWxxxx High-/low- speed
control data control data
OWxxxx+1 (8 words) IWxxxx+1 (8 words)
OWxxxx+2 IWxxxx+2
OWxxxx+3 IWxxxx+3
OWxxxx+4 IWxxxx+4
OWxxxx+5 IWxxxx+5
OWxxxx+6 IWxxxx+6
OWxxxx+7 IWxxxx+7

IMPORTANT I/O registers are allocated in 1-word units, but there are Modules that require only 1 byte. Output Modules use
the higher-place byte and Input Modules use the lower-place byte, as shown below.
• Output Modules
The higher-place byte is used and the contents of the lower-place byte are undefined.
F 8 7
Higher-place byte Lower-place byte

Bits OBxxxx8 to OBxxxxF are valid.

• Input Modules
The lower-place byte is used and the contents of the higher-place byte are undefined.
F 8 7
Higher-place byte Lower-place byte

Bits IBxxxx0 to IBxxxx7 are valid.

2-16
 3
Distributed I/O Module

This section provides an overview of the Distributed I/O Modules.

3.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.2 Mounting Orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4

3.2 Relay Contact 8-point Output Module (120DRA83030/IO2950) - - - - - - - - - 3-7

3.2.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.2.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.2.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.5 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13

3.3 100-VAC 8-point Input Module (120DAI53330) - - - - - - - - - - - - - - - - - - - 3-14

3.3.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17

Distributed I/O Module

3.3.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.3.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.3.5 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19

3.4 200-VAC 8-point Input Module (120DAI73330) - - - - - - - - - - - - - - - - - - - 3-20

3.4.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20
3.4.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
3.4.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
3.4.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
3.4.5 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-25 3
3.5 100/200-VAC 8-point Output Module (120DAO83330) - - - - - - - - - - - - - - 3-26
3.5.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26
3.5.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-29
3.5.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30
3.5.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-31
3.5.5 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32

3.6 24-VDC 8-point I/O Module (IO2920) - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33

3.6.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33
3.6.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35
3.6.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-37
3.6.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38
3.6.5 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39

3-1
 3 Distributed I/O Module

3.7 24-VDC 16-point Input Module (120DDI34330/IO2900) - - - - - - - - - - - - - 3-40

3.7.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-40
3.7.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-43
3.7.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-44
3.7.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-44
3.7.5 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-45

3.8 24-VDC 16-point Output Module (120DDO34340/IO2910) - - - - - - - - - - - 3-46

3.8.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-46
3.8.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-49
3.8.3 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-50
3.8.4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-51
3.8.5 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-52

3.9 Analog Input Module (±10 V, 4 CH) (120AVI02030/AN2900) - - - - - - - - - - 3-53

3.9.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-53
3.9.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-56
3.9.3 Input Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-57
3.9.4 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-58
3.9.5 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-59
3.9.6 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-61

3.10 Analog Output Module (±10 V, 2 CH) (120AVO01030/AN2910) - - - - - - - 3-62

3.10.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-62
3.10.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-65
3.10.3 Output Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-66
3.10.4 Circuit Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-67
3.10.5 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-67
3.10.6 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-68

3-2
 3.1 General Specifications

3.1 General Specifications

This section describes the general specifications and installation methods for Distributed I/O Modules.

3.1.1 General Specifications

The specifications of Distributed I/O Modules are shown below.
Item Specifications
Rated Voltage 24 VDC (insulating DC/DC converter)
Main External Allowable Voltage Range 20.4 to 26.4 VDC
Power Supply Allowable Ripple Not to exceed +10% or -15%
Current Consumption Listed in each Distributed I/O Module's performance specifications.
500 VAC for 1 minute between the I/O terminals and power supply
Dielectric Strength terminals
Insulated with a DC/DC converter.
50 MΩ min. (at room temperature and humidity) for 500 VDC insula-
Insulation Resistance tion resistance between the I/O terminals and power supply terminals
Insulated with a DC/DC converter.
0 to 60°C
Ambient Operating Tem-
The max. temperature depends on the Module’s mounting direction.
perature
Refer to 3.1.2 Mounting Orientation for details.
Storage Temperature -25 to 85°C
Environmental Operating Humidity 30% to 95% (with no condensation)
Conditions
Storage Humidity 5% to 95% (with no condensation)
Pollution Level Pollution level 1 according to JIS B 3501
Corrosive Gas No corrosive gas
Operating Altitude Less than 2,000 m above sea level
10 to 57 Hz with half-amplitude of 0.075 mm
57 to 150 Hz at fixed acceleration of 9.8 m/s2
Vibration Resistance 10 sweeps for 8 minutes each in X, Y, and Z directions (sweep period:
Mechanical 1 octave/min)
Operating
(conforming to JIS B 3502)

Distributed I/O Module

Conditions
Peak acceleration of 147 m/s2 twice for 11 ms in X, Y, and Z direc-
Shock Resistance tions
(conforming to JIS B 3502)
Electrical
Impulse noise: ±1,000 V
Operating Noise Resistance
Fast transient burst noise: Level 3 (1,000 V)
Conditions
Ground (to less than 0.1Ω) the FG terminal of the AC input to the
Ground
main external power supply (24 VDC).
Individual unit mounting 3
The Modules can be mounted in three directions, although the max.
Installation Configuration
operating temperature will be lower with some mounting directions.
Requirements Refer to 3.1.2 Mounting Orientation for details.
Cooling Method Natural cooling
Mass Listed in each Distributed I/O Module’s performance specifications.
Dimensions Listed in each Distributed I/O Module’s performance specifications.

3-3
 3 Distributed I/O Module
3.1.2 Mounting Orientation

3.1.2 Mounting Orientation

CAUTION
• Always install the Module in the specified orientation.
There is a risk of Module falling, damage, or malfunction.
• The ambient operating temperature will be limited with some mounting orientations.
Failure to observe this caution may result in failures and malfunctions of the Module.

PROHIBITED
• The mounting orientations shown in the following diagrams are prohibited. Be sure to mount the Module in
the correct orientation.
The Module may fall, fail, or malfunction if it is not installed in the proper orientation.

Steel
mounting Steel mounting
plate plate

Steel mounting plate

3-4
 3.1 General Specifications

The Distributed I/O Module can be mounted in three directions. The max. ambient operating temperature will be
lower with some mounting directions.
The following diagrams show the allowed mounting orientations and the corresponding ambient operating tem-
perature ranges.
(1) Mounting Orientation 1
The ambient operating temperature range is 0 to 60°C when the Module is mounted in the following orientation

Steel mounting plate

(2) Mounting Orientation 2

The ambient operating temperature range is 0 to 55°C when the Module is mounted in the following orientation.

Distributed I/O Module

Steel mounting
plate

3-5
 3 Distributed I/O Module
3.1.2 Mounting Orientation

(3) Mounting Orientation 3

The ambient operating temperature range is 0 °C to 55 °C when the Module is mounted in the following orienta-
tion.

Steel mounting plate

Steel mounting plate

3-6
 3.2 Relay Contact 8-point Output Module (120DRA83030/IO2950)

3.2 Relay Contact 8-point Output Module (120DRA83030/IO2950)

3.2.1 External Appearance and Configuration
The following diagram shows the Relay Contact 8-point Output Module’s external parts.

LED indicators
DIP switch Module mounting holes (for
M4 screws) for back mounting
Front cover Module description
(120DRA83030/IO2950)

MECHATROLINK
port

Terminal block mounting

screws (two M3.5 screws)

Terminal
cover Module mounting holes (for M4
screws) for bottom mounting

Detachable terminal block

External connector terminals

(M3, Phillips-head)
Insertable label
for signal terminals

Distributed I/O Module

(1) LED Indicators

RUN　TX 1 2 3 4 5 6 7 8

Indicator Indicator
Meaning When Lit
Name Color
3
RUN Green The external power is being supplied normally.
TX Green Sending data.
The corresponding indicator is lit when that input signal is
1 to 8 Green
ON.

3-7
 3 Distributed I/O Module
3.2.1 External Appearance and Configuration

(2) DIP Switch

Before using the Relay Contact 8-point Output Module, the settings for the DIP switch on the front of the Module
must be made.
(a) DIP Switch Functions
The DIP switch consists of eight pins. The pins are numbered 1 to 8, as shown in the following diagram.
Each pin is turned to ON when it is moved to the upper position.

SW

ON
1 2 3 4 5 6 7 8

ON
The setting of each pin becomes effective as soon as the DIP switch is changed.
The following table shows the functions that correspond to the settings for each pin.
• 120DRA83030
Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave Address 1: ON
1 to 5
OFF Settings. 2 to 5: OFF
ON Set the baud rate to 1 Mbps.
6 OFF
OFF Set the baud rate to 4 Mbps.
With a Digital Output Module, the user can select the status of output data
ON when communication is stopped. This setting retains the status of the outputs OFF
that existed before communication stopped.
7
With a Digital Output Module, the user can select the status of output data
OFF when communication is stopped. This setting turns OFF all outputs when OFF
communication stops.
ON
8 Reserved for future use. Leave pin 8 in the OFF position. OFF
OFF

• IO2950
Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave Address 1: ON
1 to 5
OFF Settings. 2 to 5: OFF
ON Set the communication type to 32 Bytes.
6 OFF
OFF Set the communication type to 17 Bytes.
The user can select the status of output data when communication is stopped.
ON This setting retains the status of the outputs that existed before communication
7 stopped. OFF
The user can select the status of output data when communication is stopped.
OFF
This setting turns OFF all outputs when communication stops.
ON Set the baud rate to 10 Mbps.
8 OFF
OFF Set the baud rate to 4 Mbps.

3-8
 3.2 Relay Contact 8-point Output Module (120DRA83030/IO2950)

(b) Slave Address Settings

Set the slave address with pins 1 to 5 on the DIP switch on the front of the Distributed I/O Module.
Refer to the following table, and set the slave addresses as required.

Pin No.
Slave Address
1 2 3 4 5
0 0 0 0 0 Not used
1 0 0 0 0 1
0 1 0 0 0 2
1 1 0 0 0 3
0 0 1 0 0 4
1 0 1 0 0 5
0 1 1 0 0 6
1 1 1 0 0 7
0 0 0 1 0 8
1 0 0 1 0 9
0 1 0 1 0 10
1 1 0 1 0 11
0 0 1 1 0 12
1 0 1 1 0 13
0 1 1 1 0 14
1 1 1 1 0 15
0 0 0 0 1 16
1 0 0 0 1 17
0 1 0 0 1 18
1 1 0 0 1 19
0 0 1 0 1 20
1 0 1 0 1 21
0 1 1 0 1 22

Distributed I/O Module

1 1 1 0 1 23
0 0 0 1 1 24
1 0 0 1 1 25
0 1 0 1 1 26
1 1 0 1 1 27
0 0 1 1 1 28
1 0 1 1 1 29
0 1 1 1 1 30
1 1 1 1 1 Not used 3

• The maximum number of slave stations depends on the method used for MECHATROLINK communica-
IMPORTANT
tion. Confirm the number of slave stations, and set the number of stations to a value that is equal to or less
than the number of stations available.
• Do not duplicate a slave address within one communication circuit. Distributed I/O modules with duplicate
slave addresses will not communicate correctly with each other or other devices.
• A new slave address set with pins 1 to 5 becomes effective as soon as the DIP switch is changed.

3-9
 3 Distributed I/O Module
3.2.2 Performance Specifications

3.2.2 Performance Specifications

The performance specifications of Relay Contact 8-point Output Module are shown below.
Specifications
Item
120DRA83030 IO2950
Name Relay Contact 8-point Output Module
Model Description V_RELAY-8P IO2950
Model Number JAMSC-120DRA83030 JAMSC-IO2950-E
200 VAC, 1 A, resistive load
Rated Voltage/Current
24 VDC, 1 A, resistive load
AC load: 750 VA
Maximum Switching Power
DC load: 90 W
Maximum Switching Voltage 264 VAC, 125 VDC
Minimum Switching Voltage/
100 mVDC, 0.1 mA Approx. 10 mA
Current
Contact Contact Resistance 100 mΩ max.
Specifica- 30 VDC, 5 A, Resistive load:
tions 70,000 operations min.
30 VDC, 5 A, Resistive load:
100,000 operations min. 30 VDC, 2 A, Resistive load:
300,000 operations min.
Electrical Contact Life
250 VAC, 5 A, Resistive load:
250 VAC, 3 A, Resistive load: 70,000 operations min.
150,000 operations min. 250 VAC, 2 A, Resistive load:
300,000 operations min.
Mechanical Contact Life 20,000,000 operations min.
OFF to ON: 10 ms max.
Output Delay Times
ON to OFF: 15 ms max.
Output Type Relay contact outputs
External Connections Removable terminal block with M3 screw terminals
Output Protection Unprotected outputs (according to JIS B 3502)
Built-in Fuse None
Surge Suppression None
Other Output Protection None
Number of Outputs 8 points
One LED indicator for each output; lit when output is ON. Status saved in inter-
Output Signal Indication
nal logic.
External power supply normal: RUN indicator lit.
Status Indication
Data being transmitted: TX indicator lit.
Isolation Method Relay
Output Cir- Dielectric Strength 1,500 VAC for 1 minute between output terminals and internal circuits
cuit Isolation 100 MΩ min. at 500 VDC between output terminals and internal circuits
Insulation Resistance
(at room temperature and humidity)
100/200 VAC or 24 VDC supplied to 100/200 VAC or 24 VDC supplied to
drive loads drive loads
External Power Supply Main external power supply: 24 VDC Main external power supply: 24 VDC
(20.4 to 26.4 VDC), (20.4 to 26.4 VDC),
100 mA when all outputs are ON 90 mA when all outputs are ON
The maximum ambient operating temperature is limited with some mounting
Derating Conditions
directions. Refer to 3.1.2 Mounting Orientation for details.
Maximum Heating Value 2.64 W 2.24 W
Terminal block: Not permitted
Hot Swapping
Communication connector: Permitted
Mass Approx. 300 g
Dimensions (mm) 152 × 44 × 71.8 (W × H × D)

3-10
 3.2 Relay Contact 8-point Output Module (120DRA83030/IO2950)

3.2.3 Circuit Configuration

CAUTION
• Connect a fuse appropriate for the load specifications in series with the load. The Relay Contact 8-point Out-
put Module is not equipped with a built-in fuse.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.
The following illustration shows the circuit configuration.

+5V

Output signal indicator

Internal circuits
Relay Output 1A Load
From 3 L
driver
Output 1B
4

100/200 VAC
+ -
- +

12/24 VDC

Output 8A Load
17 L

Output 8B
18

100/200 VAC
+ -
- +

12/24 VDC

0V
+5V 22
Insulating
DC/DC

Distributed I/O Module

converter +24V + -
23
24 VDC
0V external main
power supply

3-11
 3 Distributed I/O Module
3.2.4 Connection Example

3.2.4 Connection Example

CAUTION
• Connect a fuse appropriate for the load specifications in series with the load. The Relay Contact 8-point Out-
put Module is not equipped with a built-in fuse.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.
The following illustration shows the circuit configuration.

Not used. 1

Not used. 2

Fuse Load
Output 1A 3 L

100/200 VAC
Output 1B 4

Output 2A 5 L
100/200 VAC
Output 2B 6

Output 3A 7 L
100/200 VAC
Output 3B 8

Output 4A 9 L
100/200 VAC
Output 4B 10

Output 5A 11 L
+ -
12/24 VDC
Output 5B 12

Output 6A 13 L
+ -
12/24 VDC
Output 6B 14

Output 7A 15 L
+ -
12/24 VDC
Output 7B 16

Output 8A 17 L
+ -
12/24 VDC
Output 8B 18

Not used. 19

Not used. 20

Not used. 21

0V 22

+24V 23
+ -
Main External 24 VDC
Power Supply

Note: Terminals 2, 19, 20, and 21 are not used.

Do not connect anything to terminal 1.

• Use crimp terminals that fit M3 screws for terminal block wiring.
IMPORTANT
• Use wire with the following gauge when connecting wire to the terminal block.
20 AWG (0.5 mm2) to 16 AWG (1.25 mm2)
For the common wire, use wire with 16 AWG (1.25 mm2) or more.

3-12
 3.2 Relay Contact 8-point Output Module (120DRA83030/IO2950)

3.2.5 I/O Allocations

The leading register number of the I/O registers used by the Relay Contact 8-point Output Module is set in the I/
O Assignment Tab Page in the MECHATROLINK definitions window.
Refer to Chapter 2 I/O Allocations for details on allocating I/O to MECHATROLINK Modules.
The following example shows how 8 output coils are allocated from OW0010.

Output Module's
Output register output number
Terminal numbers
address
3 4
OB00108 Output 1
5 6
OB00109 Output 2
7 8
OB0010A Output 3
9 10
OB0010B Output 4
OW0010 Output signals
11 12
OB0010C Output 5
13 14
OB0010D Output 6
15 16
OB0010E Output 7
17 18
OB0010F Output 8

OB00100 to OB00107 are not used.

Note: The bits that are actually output are the most significant 8 bits of the set output register.

Distributed I/O Module

3-13
 3 Distributed I/O Module
3.3.1 External Appearance and Configuration

3.3 100-VAC 8-point Input Module (120DAI53330)

CAUTION
• Do not change the DIP switch settings while a Digital I/O Module is operating.
New settings on the Digital I/O Module’s DIP switch become effective as soon as they are changed. Change the DIP
switch settings only when the Module’s main external power supply (24 VDC) is OFF. Changing the Module’s DIP
switch settings during operation may cause the Module to malfunction.

3.3.1 External Appearance and Configuration

The following diagram shows the 100-VAC 8-point Input Module’s external parts.
LED indicators
Module mounting holes (for
DIP switch M4 screws) for back mounting
Front cover
Module description
(120DAI53330)

MECHATROLINK
port

Terminal block mounting

screws (two M3.5 screws)

Terminal Module mounting holes (for M4

cover screws) for bottom mounting

Detachable terminal block

External connector terminals

Insertable label (M3, Phillips-head)
for signal terminals

(1) LED Indicators

RUN　TX 1 2 3 4 5 6 7 8

Indicator Indicator
Meaning When Lit
Name Color
RUN Green The external power is being supplied normally.
TX Green Sending data.
The corresponding indicator is lit when that input signal is
1 to 8 Green
ON.

3-14
 3.3 100-VAC 8-point Input Module (120DAI53330)

(2) DIP Switch

Before using the 100 VAC 8-point Input Module, the settings for the DIP switch on the front of the Module must
be made.
(a) DIP Switch Functions
The DIP switch consists of eight pins. The pins are numbered 1 to 8, as shown in the following diagram.
Each pin is turned to ON when it is moved to the upper position.

SW

ON
1 2 3 4 5 6 7 8

ON
The setting of each pin becomes effective as soon the DIP switch it is changed.
The following table shows the functions that correspond to the settings for each pin.

Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave Address 1: ON
1 to 5
OFF Settings. 2 to 5: OFF
ON Set the baud rate to 1 Mbps.
6 OFF
OFF Set the baud rate to 4 Mbps.
ON
7 If the Digital Input Module is used, leave pin 7 in the OFF position. OFF
OFF
ON
8 Reserved for future use. Leave pin 8 in the OFF position. OFF
OFF

Distributed I/O Module

3-15
 3 Distributed I/O Module
3.3.1 External Appearance and Configuration

(b) Slave Address Settings

Set the slave address with pins 1 to 5 on the DIP switch on the front of the Distributed I/O Module.
Refer to the following table, and set the slave addresses as required.

Pin No.
Slave Address
1 2 3 4 5
0 0 0 0 0 Not used
1 0 0 0 0 1
0 1 0 0 0 2
1 1 0 0 0 3
0 0 1 0 0 4
1 0 1 0 0 5
0 1 1 0 0 6
1 1 1 0 0 7
0 0 0 1 0 8
1 0 0 1 0 9
0 1 0 1 0 10
1 1 0 1 0 11
0 0 1 1 0 12
1 0 1 1 0 13
0 1 1 1 0 14
1 1 1 1 0 15
0 0 0 0 1 16
1 0 0 0 1 17
0 1 0 0 1 18
1 1 0 0 1 19
0 0 1 0 1 20
1 0 1 0 1 21
0 1 1 0 1 22
1 1 1 0 1 23
0 0 0 1 1 24
1 0 0 1 1 25
0 1 0 1 1 26
1 1 0 1 1 27
0 0 1 1 1 28
1 0 1 1 1 29
0 1 1 1 1 30
1 1 1 1 1 Not used

• The maximum number of slave stations depends on the method used for MECHATROLINK communica-
IMPORTANT
tion. Confirm the number of slave stations, and set the number of stations to a value that is equal to or less
than the number of stations available.
• Do not duplicate a slave address within one communication circuit. Distributed I/O modules with duplicate
slave addresses will not communicate correctly with each other or other devices.
• A new slave address set with pins 1 to 5 becomes effective as soon as the DIP switch is changed.

3-16
 3.3 100-VAC 8-point Input Module (120DAI53330)

3.3.2 Performance Specifications

The performance specifications of 100-VAC 8-point Input Module are shown below.

Item Specifications
Name 100-VAC 8-point Input Module
Model Description V_AC100IN-8P
Model Number JAMSC-120DAI53330
Rated Voltage 100 VAC
Maximum Allowable Voltage 132 VAC
Rated Frequency 50 or 60Hz
Allowable Frequency Range 47 to 63 Hz
Inrush Current 160 mA
Rated Current 7 mA (100 VAC, 50Hz)
14.3 kΩ (50 Hz)
Input Impedance
12.5 kΩ (60 Hz)
ON voltage range: 74 to 132 VAC
Standard Operating Ranges
OFF voltage range: 30 VAC max.
Input Type AC type 2 (according to JIS B 3501)
OFF to ON: 20 ms max.
Input Delay Times
ON to OFF: 35 ms max.
Number of Commons 1
Number of Inputs per Common 8 points/common
External Connections Removable terminal block with 23 M3 screw terminals
Number of Inputs 8 points
One LED indicator for each input; lit when input is ON. Status saved in
Input Signal Indication
internal logic.
External power supply normal: RUN in indicator lit.
Status Indication
Data being transmitted: TX indicator lit.
Isolation Method Photocoupler
Input Circuit Dielectric Strength 1,500 VAC for 1 minute between input terminals and internal circuits

Distributed I/O Module

Isolation 100 MΩ min. at 500 VDC between input terminals and internal circuits
Insulation Resistance
(at room temperature and humidity)
Input signal power supply: 100 VAC
External power supply Main external power supply:
24 VDC (20.4 to 26.4 VDC), 80 mA max. when all inputs are ON
The maximum ambient operating temperature is limited with some
Derating Conditions
mounting directions. Refer to 3.1.2 Mounting Orientation for details.
Maximum Heating Value 1.92 W

Hot Swapping
Terminal block: Not permitted 3
Communication connector: Permitted
Mass Approx. 300 g
Dimensions (mm) 152 × 44 × 71.8 (W × H × D)

3-17
 3 Distributed I/O Module
3.3.3 Circuit Configuration

3.3.3 Circuit Configuration

The following illustration shows the circuit configuration for the 100-VAC 8-point Input Module.

+5V Input signal

Input 1 indicator
3

Internal circuits
Input 8
Photocoupler
17
Common 1 To
CPU
18
100 VAC
0V
22 +5V
Insulating
DC/DC
- + +24V converter
23
24 VDC
0V

3.3.4 Connection Example

The following illustration shows an example of terminal connections for the 100-VAC 8-point Input Module.
1 Not used.

2 Not used.

3 Input 1

4 Common

5 Input 2

6 Common

7 Input 3

8 Common

9 Input 4

10 Common

11 Input 5

12 Common

13 Input 6

14 Common

15 Input 7

16 Common

17 Input 8

18 Common
100 VAC 19 Not used.

20 Not used.

21 Not used.

22 0V
- + 23 24V
24 VDC
Note: 1. Terminals 4, 6, 8, 10, 12, 14, 16, and 18 are connected internally.
2. Terminals 2, 19, 20, and 21 are not used.
3. Do not connect anything to terminal 1.

• Use crimp terminals that fit M3 screws for terminal block wiring.
IMPORTANT
• Use wire with the following gauge when connecting wire to the terminal block.
20 AWG (0.5 mm2) to 16 AWG (1.25 mm2)

3-18
 3.3 100-VAC 8-point Input Module (120DAI53330)

3.3.5 I/O Allocations

The leading register number of the I/O registers used by the 100-VAC 8-point Input Module is set in the I/O
Assignment Tab in the MECHATROLINK definitions window.
Refer to Chapter 2 I/O Allocations for details on allocating I/O to MECHATROLINK Modules.
The following example shows how 8 input relays are allocated from IW0010.

Terminal Input Module’s input Input register

numbers numbers addresses
3 Input 1 IB00100
5 Input 2 IB00101
7
Input 3 IB00102
9 Input 4
Input
IB00103
IW0010
signals 11
Input 5 IB00104
13
Input 6 IB00105
15
Input 7 IB00106 IB00108 to
17 IB0010F are
Input 8 IB00107
not used.

Distributed I/O Module

3-19
 3 Distributed I/O Module
3.4.1 External Appearance and Configuration

3.4 200-VAC 8-point Input Module (120DAI73330)

3.4.1 External Appearance and Configuration
The following diagram shows the 200-VAC 8-point Input Module’s external parts.
LED indicators
Module mounting holes (for
DIP switch M4 screws) for back mounting
Front cover
Module description
(120DAI73330)

MECHATROLINK
port

Terminal block
mounting screws
(two M3.5 screws)

Terminal
cover Module mounting holes (for
M4 screws) for bottom mounting

Detachable terminal block

External connector terminals

Insertable label (M3, Phillips-head)
for signal terminals

(1) LED Indicators

RUN　TX 1 2 3 4 5 6 7 8

Indicator Indicator
Meaning When Lit
Name Color
RUN Green The external power is being supplied normally.
TX Green Sending data.
The corresponding indicator is lit when that input signal is
1 to 8 Green
ON.

3-20
 3.4 200-VAC 8-point Input Module (120DAI73330)

(2) DIP Switch

Before using the 200 VAC 8-point Input Module, the settings for the DIP switch on the front of the Module must
be made.
(a) DIP Switch Functions
The DIP switch consists of eight pins. The pins are numbered 1 to 8, as shown in the following diagram.
Each pin is turned to ON when it is moved to the upper position.

SW

ON
1 2 3 4 5 6 7 8

ON
The setting of each pin becomes effective as soon as the DIP switch is changed.
The following table shows the functions that correspond to the settings for each pin.

Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave Address 1: ON
1 to 5
OFF Settings. 2 to 5: OFF
ON Set the baud rate to 1 Mbps.
6 OFF
OFF Set the baud rate to 4 Mbps.
ON
7 If the Digital Input Module is used, leave pin 7 in the OFF position. OFF
OFF
ON
8 Reserved for future use. Leave pin 8 in the OFF position. OFF
OFF

Distributed I/O Module

3-21
 3 Distributed I/O Module
3.4.1 External Appearance and Configuration

(b) Slave Address Settings

Set the slave address with pins 1 to 5 on the DIP switch on the front of the Distributed I/O Module.
Refer to the following table, and set the slave addresses as required.

Pin No.
Slave Address
1 2 3 4 5
0 0 0 0 0 Not used
1 0 0 0 0 1
0 1 0 0 0 2
1 1 0 0 0 3
0 0 1 0 0 4
1 0 1 0 0 5
0 1 1 0 0 6
1 1 1 0 0 7
0 0 0 1 0 8
1 0 0 1 0 9
0 1 0 1 0 10
1 1 0 1 0 11
0 0 1 1 0 12
1 0 1 1 0 13
0 1 1 1 0 14
1 1 1 1 0 15
0 0 0 0 1 16
1 0 0 0 1 17
0 1 0 0 1 18
1 1 0 0 1 19
0 0 1 0 1 20
1 0 1 0 1 21
0 1 1 0 1 22
1 1 1 0 1 23
0 0 0 1 1 24
1 0 0 1 1 25
0 1 0 1 1 26
1 1 0 1 1 27
0 0 1 1 1 28
1 0 1 1 1 29
0 1 1 1 1 30
1 1 1 1 1 Not used

• The maximum number of slave stations depends on the method used for MECHATROLINK communica-
IMPORTANT
tion. Confirm the number of slave stations, and set the number of stations to a value that is equal to or less
than the number of stations available.
• Do not duplicate a slave address within one communication circuit. Distributed I/O modules with duplicate
slave addresses will not communicate correctly with each other or other devices.
• A new slave address set with pins 1 to 5 becomes effective as soon as the DIP switch is changed.

3-22
 3.4 200-VAC 8-point Input Module (120DAI73330)

3.4.2 Performance Specifications

The performance specifications of 200-VAC 8-point Input Module are shown below.
Item Specifications
Name 200-VAC 8-point Input Module
Model Description V_AC200IN-8P
Model Number JAMSC-120DAI73330
Rated Voltage 200 VAC
Maximum Allowable Voltage 264 VAC
Rated Frequency 50 or 60Hz
Allowable Frequency Range 47 to 63 Hz
Inrush Current 320 mA
Rated Current 7 mA (200 VAC, 50Hz)
28.6 kΩ (50 Hz)
Input Impedance
23.1 kΩ (60 Hz)
ON voltage range: 159 to 264 VAC
Standard Operating Ranges
OFF voltage range: 40 VAC max.
Input Type AC type 2 (according to JIS B 3501)
OFF to ON: 20 ms max.
Input Delay Times
ON to OFF: 35 ms max.
Number of Commons 1
Number of Inputs per Common 8 points/common
External Connections Removable terminal block with 23 M3 screw terminals
Number of Inputs 8 points
One LED Indicator for each input; lit when input is ON. Status saved in
Input Signal Indication
internal logic.
External power supply normal: RUN indicator lit.
Status Indication
Data being transmitted: TX indicator lit.
Isolation Method Photocoupler
Input Circuit Dielectric Strength 1,500 VAC for 1 minute between input terminals and internal circuits
Isolation 100 MΩ min. at 500 VDC between input terminals and internal circuits
Insulation Resistance

Distributed I/O Module

(at room temperature and humidity)
Input signal power supply: 200 VAC
External Power Supply Main external power supply:
24 VDC (20.4 to 26.4 VDC), 80 mA max. when all inputs are ON
The maximum ambient operating temperature is limited with some mount-
Derating Conditions
ing directions. Refer to 3.1.2 Mounting Orientation for details.
1.92 W
Maximum Heating Value

Hot Swapping
Terminal block: Not permitted 3
Communication connector: Permitted
Mass Approx. 300 g
Dimensions (mm) 152 × 44 × 71.8 (W × H × D)

3.4.3 Circuit Configuration

The following illustration shows the circuit configuration for the 200-VAC 8-point Input Module.
+5V

Input 1 Input signal

3 Indicator
Internal circuits

Input 8 Photocoupler
17

Common 1 To
CPU
18

200 VAC
0V
22 +5V
Insulating
DC/DC
- + +24V converter
23
24 VDC
0V

3-23
 3 Distributed I/O Module
3.4.4 Connection Example

3.4.4 Connection Example

The following illustration shows an example of terminal connections for the 200-VAC 8-point Input Module.
1 Not used.

2 Not used.

3 Input 1

4 Common

5 Input 2

6 Common

7 Input 3

8 Common

9 Input 4

10 Common

11 Input 5

12 Common

13 Input 6

14 Common

15 Input 7

16 Common

17 Input 8

18 Common
200 VAC 19 Not used.

20 Not used.

21 Not used.

22 0V
- + 23 24V
24 VDC

Note: 1. Terminals 4, 6, 8, 10, 12, 14, 16, and 18 are connected internally.
2. Terminals 2, 19, 20, and 21 are not used.
3. Do not connect anything to terminal 1.

• Use crimp terminals that fit M3 screws for terminal block wiring.
IMPORTANT
• Use wire with the following gauge when connecting wire to the terminal block.
20 AWG (0.5 mm2) to 16 AWG (1.25 mm2)

3-24
 3.4 200-VAC 8-point Input Module (120DAI73330)

3.4.5 I/O Allocations

The leading register number of the I/O registers used by the 200-VAC 8-point Input Module is set in the I/O
Assignment Tab in the MECHATROLINK definitions window.
Refer to Chapter 2 I/O Allocations for details on allocating I/O to MECHATROLINK Modules.
The following example shows how 8 input relays are allocated from IW0010.

Terminal
Input Module’s input Input register
numbers numbers addresses
3
Input 1 IB00100
5
Input 2 IB00101
7
Input 3 IB00102
9
Input Input 4 IB00103
signals IW0010
11
Input 5 IB00104
13
Input 6 IB00105
15
Input 7 IB00106
17
Input 8 IB00107
IB00108 to
IB0010F are
not used.

Distributed I/O Module

3-25
 3 Distributed I/O Module
3.5.1 External Appearance and Configuration

3.5 100/200-VAC 8-point Output Module (120DAO83330)

3.5.1 External Appearance and Configuration
The following diagram shows the 100/200-VAC 8-point Output Module’s external parts.
LED indicators
Module mounting holes (for M4
DIP switch screws) for back mounting
Front cover
Module description
(120DAO83330)

MECHATROLINK
port

Terminal block mounting

screws (two M3.5 screws)

Terminal Module mounting holes (for

cover M4 screws) for bottom

Detachable terminal block

External connector terminals

Insertable label (M3, Phillips-head)
for signal terminals

(1) LED Indicators

RUN　TX　ERR 1 2 3 4 5 6 7 8

Indicator Indicator
Meaning When Lit
Name Color
RUN Green The external power is being supplied normally.
TX Green Sending data.
ERR Red Blown fuse or disconnected load power supply
The corresponding indicator is lit when that output signal
1 to 8 Green
is ON.

3-26
 3.5 100/200-VAC 8-point Output Module (120DAO83330)

(2) DIP Switch

Before using the 100/200 VAC 8-point Output Module, the settings for the DIP switch on the front of the Module
must be made.
(a) DIP Switch Functions
The DIP switch consists of eight pins. The pins are numbered 1 to 8, as shown in the following diagram.
Each pin is turned to ON when it is moved to the upper position.

SW

ON
1 2 3 4 5 6 7 8

ON
The setting of each pin becomes effective as soon as the DIP switch is changed.
The following table shows the functions that correspond to the settings for each pin.

Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave Address 1: ON
1 to 5
OFF Settings. 2 to 5: OFF
ON Set the baud rate to 1 Mbps.
6 OFF
OFF Set the baud rate to 4 Mbps.
With a Digital Output Module, the user can select the status of output data
ON when communication is stopped. This setting retains the status of the outputs OFF
that existed before communication stopped.
7
With a Digital Output Module, the user can select the status of output data
OFF when communication is stopped. This setting turns OFF all outputs when OFF
communication stops.
ON
8 Reserved for future use. Leave pin 8 in the OFF position. OFF
OFF

Distributed I/O Module

3-27
 3 Distributed I/O Module
3.5.1 External Appearance and Configuration

(b) Slave Address Settings

Set the slave address with pins 1 to 5 on the DIP switch on the front of the Distributed I/O Module.
Refer to the following table, and set the slave addresses as required.

Pin No.
Slave Address
1 2 3 4 5
0 0 0 0 0 Not used
1 0 0 0 0 1
0 1 0 0 0 2
1 1 0 0 0 3
0 0 1 0 0 4
1 0 1 0 0 5
0 1 1 0 0 6
1 1 1 0 0 7
0 0 0 1 0 8
1 0 0 1 0 9
0 1 0 1 0 10
1 1 0 1 0 11
0 0 1 1 0 12
1 0 1 1 0 13
0 1 1 1 0 14
1 1 1 1 0 15
0 0 0 0 1 16
1 0 0 0 1 17
0 1 0 0 1 18
1 1 0 0 1 19
0 0 1 0 1 20
1 0 1 0 1 21
0 1 1 0 1 22
1 1 1 0 1 23
0 0 0 1 1 24
1 0 0 1 1 25
0 1 0 1 1 26
1 1 0 1 1 27
0 0 1 1 1 28
1 0 1 1 1 29
0 1 1 1 1 30
1 1 1 1 1 Not used

• The maximum number of slave stations depends on the method used for MECHATROLINK communica-
IMPORTANT
tion. Confirm the number of slave stations, and set the number of stations to a value that is equal to or less
than the number of stations available.
• Do not duplicate a slave address within one communication circuit. Distributed I/O modules with duplicate
slave addresses will not communicate correctly with each other or other devices.
• A new slave address set with pins 1 to 5 becomes effective as soon as the DIP switch is changed.

3-28
 3.5 100/200-VAC 8-point Output Module (120DAO83330)

3.5.2 Performance Specifications

The performance specifications of 100/200-VAC 8-point Output Module are shown below.
Item Specifications
Name 100/200-VAC 8-point Output Module
Model Description V_ACOUT-8P
Model Number JAMSC-120DAO83330
Rated Voltage 100/200 VAC
Allowable Voltage Range 80 to 264 VAC
Rated Frequency 50 or 60 Hz
Allowable Frequency Range 47 to 63 Hz
Maximum Load Current 0.6 Arms/point, 2.4 A/common
Output Voltage Drop 1.0 V rms
OFF to ON: 10 ms max.
Output Delay Times
ON to OFF: 1/2 cycle + 5 ms max.
Leakage Current when OFF 2 mA max. at 240 VAC, 50 Hz
Minimum Switching Voltage/Current 10 mA rms
Output Type Triac outputs
Number of Commons 1
External Connections Removable terminal block with M3 screw terminals
Output Protection Type Unprotected outputs (according to JIS B 3501)
One 3-A fuse (1 fuse/common)
Built-in Fuse
(Opening time: 1 second max. at 200% of rated current)
Surge Suppression Varistor
Other Output Protection None
Number of Outputs 8 points
Output Signal Indication One LED indicator for each output; lit when output is ON. Status saved in internal logic.
External power supply normal: RUN indicator lit.
Status Indication Data being transmitted: TX indicator lit.
Blown fuse or load power supply disconnected: ERR indicator lit.
Isolation Method Phototriac

Distributed I/O Module

Output Circuit Dielectric Strength 1,500 VAC for 1 minute between output terminals and internal circuits.
Isolation 100 MΩ min. at 500 VDC between input terminals and internal circuits
Insulation Resistance
(at room temperature and humidity)
100/200 VAC supplied to drive loads
External Power Supply Main external power supply:
24 VDC (20.4 to 26.4 VDC), 100 mA when all outputs are ON
The maximum ambient operating temperature is limited with some mounting directions.
Derating Conditions
Refer to 3.1.2 Mounting Orientation for details.
Maximum Heating Value 2.4 W 3
Terminal block: Not permitted
Hot Swapping
Communication connector: Permitted
Mass Approx. 300 g
Dimensions (mm) 152 × 44 × 71.8 (W × H × D)

3-29
 3 Distributed I/O Module
3.5.3 Circuit Configuration

3.5.3 Circuit Configuration

CAUTION
• Built-in fuse do not protect the output elements. Connect a fuse appropriate for the load specifications in
series with the load.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.
• The customer must not replace the built-in fuse.
There is a risk of output module accident or malfunction. Also any failures caused by ignoring this caution will invali-
date the guarantee. Yaskawa replaces built-in fuse.

The following illustration shows the circuit configuration for the 100/200-VAC 8-point Output Module.
Output 1 Load
3 L
+5V
Common
Output signal 4
indicator
Internal circuits

Output 8
17 L

From CPU Common

18

Fuse 100/200 VAC

20
+5V Blown fuse/
Disconnected
power supply
indicator
Blown fuse
detection Common
19
circuit
100/200 VAC
0V
+5V 22
Insulating
DC/DC +24V + -
converter 23
24 VDC
0V External main
power supply

Communication with the master will stop when the load power supply is OFF or the fuse blows.
IMPORTANT

3-30
 3.5 100/200-VAC 8-point Output Module (120DAO83330)

3.5.4 Connection Example

CAUTION
• Built-in fuse do not protect the output elements. Connect a fuse appropriate for the load specifications in
series with the load.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.

The following illustration shows an example of terminal connections for the 100/200-VAC 8-point Output Mod-
ule.

Not used. 1

Not used. 2

Fuse Load
Output 1 3 L

Output 2 5 L

Output 3 7 L

Output 4 9 L

10

Output 5 11 L

12

Output 6 13 L

14

Distributed I/O Module

Output 7 15 L

16

Output 8 17 L

18

Common 19

ACIN 20

100/200 VAC
Not used. 21
3
0V 22

24V 23
+ -
24 VDC

Note: 1. Terminals 4, 6, 8, 10, 12, 14, 16, 18, and 19 are connected internally.
2. Terminals 2 and 21 are not used.
3. Do not connect anything to terminal 1.

• Use crimp terminals that fit M3 screws for terminal block wiring.
IMPORTANT
• Use wire with the following gauge when connecting wire to the terminal block.
20 AWG (0.5 mm2) to 16 AWG (1.25 mm2)
For the common wire, use wire with 16 AWG (1.25 mm2) or more.

3-31
 3 Distributed I/O Module
3.5.5 I/O Allocations

3.5.5 I/O Allocations

The leading register number of the I/O registers used by the 100/200-VAC 8-point Output Module is set in the I/
O Assignment Tab in the MECHATROLINK definitions window.
Refer to Chapter 2 I/O Allocations for details on allocating I/O to MECHATROLINK Modules.
The following example shows how 8 output coils are allocated from OW0010.

    ! %#"

  "#$ "#$

  
   

 

 

 
    " 
  
 
  
 
  
 
  

  
 " &

Note: The bits that are actually output are the most significant 8 bits of the set output register.

3-32
 3.6 24-VDC 8-point I/O Module (IO2920)

3.6 24-VDC 8-point I/O Module (IO2920)

3.6.1 External Appearance and Configuration
LED indicators
Module mounting holes (for M4
DIP switch screws) for back mounting

Front cover
Module description
(IO2920)

MECHATROLINK
port

+1


Terminal block mounting

screws (two M3.5 screws)

Terminal Module mounting holes (for M4

cover screws) for bottom mounting

Detachable terminal block

External connector terminals

(M3, Phillips-head)
Insertable label
for signal terminals

Distributed I/O Module

(1) LED Indicators

IN OUT
RUN TX ERR 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8

Indicator Indicator
Meaning When Lit
Name Color

RUN Green
The external power is being supplied nor- 3
mally.
TX Green Sending data.
ERR Red Blown fuse.
The corresponding indicator is lit when that
IN 1 to 8 Green
input signal is ON.
The corresponding indicator is lit when that
OUT 1 to 8 Green
output signal is ON.

3-33
 3 Distributed I/O Module
3.6.1 External Appearance and Configuration

(2) DIP Switch

Before using the 24-VDC 8-point I/O Module, the settings for the DIP switch on the front of the Module must be
made.
(a) DIP Switch Functions
The DIP switch consists of eight pins. The pins are numbered 1 to 8, as shown in the following diagram.
Each pin is turned to ON when it is moved to the upper position.

SW

ON
1 2 3 4 5 6 7 8

ON
The setting of each pin becomes effective as soon as the DIP switch is changed. The following table shows
the functions that correspond to the settings for each pin.
Pin No. Setting Function Factory Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave Address 1: ON
1 to 5
OFF Settings. 2 to 5: OFF
ON Set the communication type to 32 Bytes.
6 OFF
OFF Set the communication type to 17 Bytes.
The user can select the status of output data when communication is stopped.
ON This setting retains the status of the outputs that existed before communication
7 stopped. OFF
The user can select the status of output data when communication is stopped.
OFF
This setting turns OFF all outputs when communication stops.
ON Set the baud rate to 10 Mbps.
8 OFF
OFF Set the baud rate to 4 Mbps.

(b) Slave Address Settings

Set the slave address with pins 1 to 5 on the DIP switch on the front of the Distributed I/O Module.
Refer to the following table, and set the slave addresses as required.
Pin No. Pin No.
Slave Address Slave Address
1 2 3 4 5 1 2 3 4 5
0 0 0 0 0 Not used 0 0 0 0 1 16
1 0 0 0 0 1 1 0 0 0 1 17
0 1 0 0 0 2 0 1 0 0 1 18
1 1 0 0 0 3 1 1 0 0 1 19
0 0 1 0 0 4 0 0 1 0 1 20
1 0 1 0 0 5 1 0 1 0 1 21
0 1 1 0 0 6 0 1 1 0 1 22
1 1 1 0 0 7 1 1 1 0 1 23
0 0 0 1 0 8 0 0 0 1 1 24
1 0 0 1 0 9 1 0 0 1 1 25
0 1 0 1 0 10 0 1 0 1 1 26
1 1 0 1 0 11 1 1 0 1 1 27
0 0 1 1 0 12 0 0 1 1 1 28
1 0 1 1 0 13 1 0 1 1 1 29
0 1 1 1 0 14 0 1 1 1 1 30
1 1 1 1 0 15 1 1 1 1 1 Not used

3-34
 3.6 24-VDC 8-point I/O Module (IO2920)

• The maximum number of slave stations depends on the method used for MECHATROLINK communica-
IMPORTANT
tion. Confirm the number of slave stations, and set the number of stations to a value that is equal to or less
than the number of stations available.
• Do not duplicate a slave address within one communication circuit. Distributed I/O modules with duplicate
slave addresses will not communicate correctly with each other or other devices.
• A new slave address set with pins 1 to 5 becomes effective as soon as the DIP switch is changed.

3.6.2 Performance Specifications

The performance specifications of 24-VDC 8-point I/O Module are shown below.

Item Specifications
Name 24-VDC 8-point I/O Module
Model Description IO2920
Model Number JAMSC-IO2920-E
Rated Voltage 12 or 24 VDC
Maximum Allowable Voltage 10.2 to 30.0 VDC
Input Format Sinking or sourcing
12 VDC: 2.5 mA
Rated Current
24 VDC: 5.0 mA
Input Impedance 4.8 kΩ
Standard Operating Minimum ON voltage: 9 VDC
Ranges Maximum OFF voltage: 5 VDC
Input 12 VDC: Not compliant with JIS B 3502 standards
Input Type
Specifications 24 VDC: DC type 2 (according to JIS B 3502)
OFF to ON: 5 ms max.
Input Delay Times
ON to OFF: 5 ms max.
Number of Commons 1
Number of Inputs per
8 points/common
Common

Distributed I/O Module

Number of Inputs 8 points
Output Format Sinking
Maximum Load Current 0.3 A/point
Output Voltage Drop 1.5 V max. (0.3 A)
OFF to ON: 1 ms max.
Output Delay Times
ON to OFF: 1 ms max.
Leakage Current when
1 mA max. at 24 VDC
OFF
Output Type Transistor outputs
3
Output
Number of Commons 1
Specifications
Number of Outputs per
8 points/common
Common
Output Protection Type Unprotected outputs (according to JIS B 3502)
One 3.5-A fuses (1 fuse/common)
Built-in Fuse
(Opening time: 5 seconds max. at 200% of rated current)
Surge Suppression None
Other Output Protection None
Number of Outputs 8 points
One LED indicator for each output or input; lit when output or input is ON.
I/O Signal Indication
Status saved in internal logic.
External power supply normal: RUN indicator lit.
Status Indication Data being transmitted: TX indicator lit.
Blown fuse: ERR indicator lit.

3-35
 3 Distributed I/O Module
3.6.2 Performance Specifications

(cont’d)
Item Specifications
Isolation Method Photocoupler
Circuit Dielectric Strength 1,500 VAC for 1 minute between I/O terminals and internal circuits.
Isolation 100 MΩ min. at 500 VDC between I/O terminals and internal circuits
Insulation Resistance
(at room temperature and humidity).
I/O signal power supply: 12 or 24 VDC
External Power Supply
Main external power supply: 24 VDC (20.4 to 26.4 VDC), 90 mA max.
The maximum ambient operating temperature is limited with some mounting
Derating Conditions
directions*.
Maximum Heating Value 6.72 W
External Connections Removable terminal block with 23 M3 screw terminals
Terminal block: Not permitted
Hot Swapping
Communication connector: Permitted
Mass Approx. 300 g
Dimensions (mm) 152 × 44 × 71.8 (W × H × D)
* Refer to 3.1.2 Mounting Orientation for details.

3-36
 3.6 24-VDC 8-point I/O Module (IO2920)

3.6.3 Circuit Configuration

CAUTION
• Built-in fuse do not protect the output elements. Connect a fuse appropriate for the load specifications in
series with the load.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.

The following illustration shows the circuit configuration for the 24-VDC 8-point I/O Module.

Input 1
Input signal indicator
2

Input 8
9

Common (+, –)

11

Internal circuits
+ –

12/24 VDC Output signal indicator

Load Output 1
㧸 12

Output 8
㧸 19

Distributed I/O Module

Common (–)
Fuse
20

Blown fuse indicator

Common (+) Blown fuse
21 detection circuit

0V
22 +5 V
Insulating
– +
+24 V DC/DC 3
23 converter

24 VDC 0V
External main
power supply

Communication with the master will stop if the fuse blows.

IMPORTANT

3-37
 3 Distributed I/O Module
3.6.4 Connection Example

3.6.4 Connection Example

CAUTION
• Built-in fuse do not protect the output elements. Connect a fuse appropriate for the load specifications in
series with the load.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.

The following illustration shows an example of terminal connections for the 24-VDC 8-point I/O Module.

1 Not used.
2 Input 1
3 Input 2
4 Input 3
5 Input 4
6 Input 5
7 Input 6
8 Input 7
9 Input 8
10 Not used.
+ – 11 Common
– +
12/24 VDC Fuse
Load
㧸 12 Output 1
㧸 13 Output 2
㧸 14 Output 3
㧸 15 Output 4
㧸 16 Output 5
㧸 17 Output 6
㧸 18 Output 7
㧸 19 Output 8
+ – 20 Common (–)
12/24 VDC 21 Common (+)

22 0V
– + 23 +24 V
24 VDC External main
power supply

Note: 1. Terminal 10 is not used.

2. Do not connect anything to terminal 1.

• Use crimp terminals that fit M3 screws for terminal block wiring.
IMPORTANT
• Use wire with the following gauge when connecting wire to the terminal block.
24 AWG (0.2 mm2) to 18 AWG (0.9 mm2)
• The polarity of the external input signal power supply can be connected in either direction.

3-38
 3.6 24-VDC 8-point I/O Module (IO2920)

3.6.5 I/O Allocations

The leading register number of the I/O registers used by the 24-VDC 8-point I/O Module is set in the I/O Assign-
ment Tab Page in the MECHATROLINK definitions window.
Refer to Chapter 2 I/O Allocations for details on allocating I/O to MECHATROLINK Modules.
The following example shows how 8 output coils are allocated from OW0011 and 8 input relays are allocated
from IW0010.

I/O Module’s
I/O register I/O numbers Terminal
addresses numbers
2
IB00100 Input 1
3
IB00101 Input 2
4
IB00102 Input 3
5 Input
IB00103 Input 4
IW0010 6 signals
IB00104 Input 5
7
IB00105 Input 6
8
IB00106 Input 7
9
IB00107 Input 8
12
OB00118 Output 1
13
OB00119 Output 2
14
OB0011A Output 3
15
OB0011B Output 4 Output
OW0011 16 signals
OB0011C Output 5
17
OB0011D Output 6
18
OB0011E Output 7
19
OB0011F Output 8

Distributed I/O Module

IB00108 to IB0010F and OB00110 to OB00117 are not used.

Note: Although 16-bit words are individually allocated to the I/O register, only the most significant eight
bits of the register are output, and least significant eight bits of the register are input.

3-39
 3 Distributed I/O Module
3.7.1 External Appearance and Configuration

3.7 24-VDC 16-point Input Module (120DDI34330/IO2900)

3.7.1 External Appearance and Configuration
The following diagram shows the 24-VDC 16-point Input Module’s external parts.
LED indicators
Module description
DIP switch (120DDI34300/IO2900)
Front cover Module mounting holes (for M4
screws) for back mounting

MECHATROLINK
port

Terminal block mounting

screws (two M3.5 screws)

Terminal
cover Module mounting holes
(for M4 screws) for bottom
mounting

Detachable terminal block

External connector terminals

(M3, Phillips-head)
Insertable label
for signal terminals

(1) LED Indicators

RUN　TX 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

Indicator Indicator
Meaning When Lit
Name Color
RUN Green The external power is being supplied normally.
TX Green Sending data.
1 to 16 Green The corresponding indicator is lit when that input signal is ON.

3-40
 3.7 24-VDC 16-point Input Module (120DDI34330/IO2900)

(2) DIP Switch

Before using the 24 VDC 16-point Input Module, the settings for the DIP switch on the front of the Module must
be made.
(a) DIP Switch Functions
The DIP switch consists of eight pins. The pins are numbered 1 to 8, as shown in the following diagram.
Each pin is turned to ON when it is moved to the upper position.

SW

ON
1 2 3 4 5 6 7 8

ON
The setting of each pin becomes effective as soon as the DIP switch is changed.
The following table shows the functions that correspond to the settings for each pin.
• 120DDI34330
Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave Address 1: ON
1 to 5
OFF Settings. 2 to 5: OFF
ON Set the baud rate to 1 Mbps.
6 OFF
OFF Set the baud rate to 4 Mbps.
ON
7 If the Digital Input Modules is used, leave pin 7 in the OFF position. OFF
OFF
ON
8 Reserved for future use. Leave pin 8 in the OFF position. OFF
OFF

• IO2900
Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave Address 1: ON
1 to 5

Distributed I/O Module

OFF Settings. 2 to 5: OFF
ON Set the communication data length to 32 bytes.
6 OFF
OFF Set the communication data length to 17 bytes.
ON
7 If the Digital Input Modules is used, leave pin 7 in the OFF position. OFF
OFF
ON Set the baud rate to 10 Mbps.
8 OFF
OFF Set the baud rate to 4 Mbps.

3-41
 3 Distributed I/O Module
3.7.1 External Appearance and Configuration

(b) Slave Address Settings

Set the slave address with pins 1 to 5 on the DIP switch on the front of the Distributed I/O Module.
Refer to the following table, and set the slave addresses as required.

Pin No.
Slave Address
1 2 3 4 5
0 0 0 0 0 Not used
1 0 0 0 0 1
0 1 0 0 0 2
1 1 0 0 0 3
0 0 1 0 0 4
1 0 1 0 0 5
0 1 1 0 0 6
1 1 1 0 0 7
0 0 0 1 0 8
1 0 0 1 0 9
0 1 0 1 0 10
1 1 0 1 0 11
0 0 1 1 0 12
1 0 1 1 0 13
0 1 1 1 0 14
1 1 1 1 0 15
0 0 0 0 1 16
1 0 0 0 1 17
0 1 0 0 1 18
1 1 0 0 1 19
0 0 1 0 1 20
1 0 1 0 1 21
0 1 1 0 1 22
1 1 1 0 1 23
0 0 0 1 1 24
1 0 0 1 1 25
0 1 0 1 1 26
1 1 0 1 1 27
0 0 1 1 1 28
1 0 1 1 1 29
0 1 1 1 1 30
1 1 1 1 1 Not used

• The maximum number of slave stations depends on the method used for MECHATROLINK communica-
IMPORTANT
tion. Confirm the number of slave stations, and set the number of stations to a value that is equal to or less
than the number of stations available.
• Do not duplicate a slave address within one communication circuit. Distributed I/O modules with duplicate
slave addresses will not communicate correctly with each other or other devices.
• A new slave address set with pins 1 to 5 becomes effective as soon as the DIP switch is changed.

3-42
 3.7 24-VDC 16-point Input Module (120DDI34330/IO2900)

3.7.2 Performance Specifications

The performance specifications of 24-VDC 16-point Input Module are shown below.
When 12-VDC power is used, the Module does not comply with JIS B3501.
Item Specifications
Operating Voltage 12 VDC 24 VDC
Name 24-VDC 16-point Input Module
Model Description V_DC24VIN-16P/IO2900
Model Number JAMSC-120DDI34300/JAMSC-IO2900-E
Rated Voltage 12 or 24 VDC
Maximum Allowable Voltage 30 VDC
Input Format Sinking or sourcing
Rated Current 2.5 mA 5 mA
Input Impedance 4.8 kΩ
Minimum ON voltage: 9 VDC
Standard Operating Ranges
Maximum OFF voltage: 5 VDC
Not compliant with JIS B 3501
Input Type DC type 2 (according to JIS B 3501)
standards
OFF to ON: 5 ms max.
Input Delay Times
ON to OFF: 5 ms max.
Number of Commons 2
Number of Inputs per Common 8 points/common
External Connections Removable terminal block with 23 M3 screw terminals
Number of Inputs 16 points
One LED indicator for each input; lit when input is ON. Status saved in
Input Signal Indication
internal logic.
External power supply normal: RUN indicator lit.
Status Indication
Data being transmitted: TX indicator lit.
Isolation Method Photocoupler
Input Circuit Dielectric Strength 1,500 VAC for 1 minute between input terminals and internal circuits
Isolation 100 MΩ min. at 500 VDC between input terminals and internal circuits

Distributed I/O Module

Insulation Resistance
(at room temperature and humidity)
Input signal power supply: 12 VDC Input signal power supply: 24 VDC
External Power Supply Main external power supply:
24 VDC (20.4 to 26.4 VDC), 90 mA max. when all inputs are ON
The maximum ambient operating temperature is limited with some mount-
Derating Conditions
ing directions. Refer to 3.1.2 Mounting Orientation for details.
Maximum Heating Value 2.16 W
Terminal block: Not permitted
Hot Swapping
Communication connector: Permitted 3
Mass Approx. 300 g
Dimensions (mm) 152 × 44 × 71.8 (W × H × D)

3-43
 3 Distributed I/O Module
3.7.3 Circuit Configuration

3.7.3 Circuit Configuration

The following illustration shows the circuit configuration for the 24-VDC 16-point Input Module.
+5V
Input 1 Input signal
2 indicator

Internal circuits
Input 8 Photocoupler
9

Common 1 To CPU
+ -
11
- +

12/24 VDC

Input 9
12

Input 16
19

Common 2
+ -
21
- +

12/24 VDC

0V
22 +5V
Insulating
DC/DC
- + +24V converter
23
24 VDC
0V

3.7.4 Connection Example

The following illustration shows an example of terminal connections for the 24-VDC 16-point Input Module.
1 Not used.
2 Input 1

3 Input 2

4 Input 3

5 Input 4

6 Input 5

7 Input 6

8 Input 7

9 Input 8

10 Not used.
+ – 11 Common 1
– +
12/24 VDC
12 Input 9

13 Input 10

14 Input 11

15 Input 12

16 Input 13

17 Input 14

18 Input 15

19 Input 16

20 Not used.
+ - Common 2
- + 21

12/24 VDC 22 0V
- + 23 24V
24 VDC
Note: 1. Terminals 10 and 20 are not used.
2. Do not connect anything to terminal 1.

3-44
 3.7 24-VDC 16-point Input Module (120DDI34330/IO2900)

• Use crimp terminals that fit M3 screws for terminal block wiring.
IMPORTANT
• Use wire with the following guage when connecting wire to the terminal block.
24 AWG (0.2 mm2) to 18 AWG (0.9 mm2)
• The polarity of the external signal power supply can be connected in either direction.

3.7.5 I/O Allocations

The leading register number of the I/O registers used by the 24-VDC 16-point Input Module is set in the I/O
Assignment Tab in the MECHATROLINK definitions window.
Refer to Chapter 2 I/O Allocations for details on allocating I/O to MECHATROLINK Modules.
The following example shows how 16 input relays are allocated from IW0010.

Terminal Input Module’s input Input register

numbers numbers addresses
2 Input 1 IB00100
3 Input 2 IB00101
4
Input 3 IB00102
5
Input 4 IB00103
6
Input 5 IB00104
7 Input 6 IB00105
8
Input 7 IB00106
9
Input 8 IB00107
Input IW0010
12
signals Input 9 IB00108
13
Input 10 IB00109
14
Inputt 11
1 IB0010A

Distributed I/O Module

15
Input 12 IB0010B
16
Input 13 IB0010C
17
Input 14 IB0010D
18
Input 15 IB0010E
19
Input 16 IB0010F

3-45
 3 Distributed I/O Module
3.8.1 External Appearance and Configuration

3.8 24-VDC 16-point Output Module (120DDO34340/IO2910)

3.8.1 External Appearance and Configuration
The following diagram shows the 24-VDC 16-point Output Module’s external parts.
LED indicators Module description
(120DDO34340/IO2910)
DIP switch
Front cover
Module mounting holes (for M4
screws) for back mounting

MECHATROLINK
port

Terminal block mounting

screws (two M3.5 screws)

Terminal Module mounting holes (for

cover M4 screws) for bottom

Detachable terminal

External connector terminals

(M3, Phillips-head)
Insertable label
for signal terminals

(1) LED Indicators

RUN　TX　ERR 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

Indicator Indicator
Meaning When Lit
Name Color
RUN Green The external power is being supplied normally.
TX Green Sending data.
ERR Red Blown fuse or disconnected load power supply
1 to 16 Green The corresponding indicator is lit when that input signal is ON.

3-46
 3.8 24-VDC 16-point Output Module (120DDO34340/IO2910)

(2) DIP Switch

Before using the 24 VDC 16-point Output Module, the settings for the DIP switch on the front of the Module
must be made.
(a) DIP Switch Functions
The DIP switch consists of eight pins. The pins are numbered 1 to 8, as shown in the following diagram.
Each pin is turned to ON when it is moved to the upper position.

SW

ON
1 2 3 4 5 6 7 8

ON
The setting of each pin becomes effective as soon as the DIP switch is changed.
The following table shows the functions that correspond to the settings for each pin.
• 120DDO34340
Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave Address 1: ON
1 to 5
OFF Settings. 2 to 5: OFF
ON Set the baud rate to 1 Mbps.
6 OFF
OFF Set the baud rate to 4 Mbps.
With a Digital Output Module, the user can select the status of output data
ON when communication is stopped. This setting retains the status of the outputs OFF
that existed before communication stopped.
7
With a Digital Output Module, the user can select the status of output data
OFF when communication is stopped. This setting turns OFF all outputs when OFF
communication stops.
ON
8 Reserved for future use. Leave pin 8 in the OFF position. OFF
OFF

• IO2910

Distributed I/O Module

Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave Address 1: ON
1 to 5
OFF Settings. 2 to 5: OFF
ON Set the communication data length to 32 bytes.
6 OFF
OFF Set the communication data length to 17 bytes.
With a Digital Output Module, the user can select the status of output data
ON when communication is stopped. This setting retains the status of the outputs OFF
that existed before communication stopped. 3
7
With a Digital Output Module, the user can select the status of output data
OFF when communication is stopped. This setting turns OFF all outputs when OFF
communication stops.
ON Set the baud rate to 10 Mbps.
8 OFF
OFF Set the baud rate to 4 Mbps.

3-47
 3 Distributed I/O Module
3.8.1 External Appearance and Configuration

(b) Slave Address Settings

Set the slave address with pins 1 to 5 on the DIP switch on the front of the Distributed I/O Module.
Refer to the following table, and set the slave addresses as required.

Pin No.
Slave Address
1 2 3 4 5
0 0 0 0 0 Not used
1 0 0 0 0 1
0 1 0 0 0 2
1 1 0 0 0 3
0 0 1 0 0 4
1 0 1 0 0 5
0 1 1 0 0 6
1 1 1 0 0 7
0 0 0 1 0 8
1 0 0 1 0 9
0 1 0 1 0 10
1 1 0 1 0 11
0 0 1 1 0 12
1 0 1 1 0 13
0 1 1 1 0 14
1 1 1 1 0 15
0 0 0 0 1 16
1 0 0 0 1 17
0 1 0 0 1 18
1 1 0 0 1 19
0 0 1 0 1 20
1 0 1 0 1 21
0 1 1 0 1 22
1 1 1 0 1 23
0 0 0 1 1 24
1 0 0 1 1 25
0 1 0 1 1 26
1 1 0 1 1 27
0 0 1 1 1 28
1 0 1 1 1 29
0 1 1 1 1 30
1 1 1 1 1 Not used

• The maximum number of slave stations depends on the method used for MECHATROLINK communica-
IMPORTANT
tion. Confirm the number of slave stations, and set the number of stations to a value that is equal to or less
than the number of stations available.
• Do not duplicate a slave address within one communication circuit. Distributed I/O modules with duplicate
slave addresses will not communicate correctly with each other or other devices.
• A new slave address set with pins 1 to 5 becomes effective as soon as the DIP switch is changed.

3-48
 3.8 24-VDC 16-point Output Module (120DDO34340/IO2910)

3.8.2 Performance Specifications

The performance specifications of 24-VDC 16-point Output Module are shown below.
Item Specifications
Name 24-VDC 16-point Output Module (Sinking)
Model Description V_DC24OUT-16P/IO2910
Model Number JAMSC-120DDO34340/JAMSC-IO2910-E
Rated Voltage 12/24 VDC
Allowable Voltage Range 10.2 to 30.0 VDC
Output Format Sinking
Maximum Load Current 0.3 A/output
Output Voltage Drop 1.5 V max. (0.3 A)
OFF to ON: 1 ms max.
Output Delay Times
ON to OFF: 1 ms max.
Leakage Current when OFF 1 mA max. at 24 VDC
Output Type Transistor outputs
Number of Commons 2
Number of Outputs per Common 8 points/common
External Connections Removable terminal block with 23 M3 screw terminals
Output Protection Type Unprotected outputs (according to JIS B 3501)
Two 3.5-A fuses (1 fuse/common)
Built-in Fuse
(Opening time: 5 seconds max. at 200% of rated current)
Surge Suppression None
Other Output Protection None
Number of Outputs 16 points
One LED indicator for each output; lit when output is ON. Status saved in
Output Signal Indication
internal logic.
External power supply normal: RUN indicator lit.
Status Indication Data being transmitted: TX indicator lit.
Blown fuse or load power supply disconnected: ERR indicator lit.
Isolation Method Photocoupler

Distributed I/O Module

Output Circuit Dielectric Strength 1,500 VAC for 1 minute between output terminals and internal circuits.
Isolation 100 MΩ min. at 500 VDC between input terminals and internal circuits
Insulation Resistance
(at room temperature and humidity)
12/24 VDC supplied to drive loads
External Power Supply Main external power supply:
24 VDC (20.4 to 26.4 VDC), 110 mA when all outputs are ON
The maximum ambient operating temperature is limited with some mount-
Derating Conditions
ing directions. Refer to 3.1.2 Mounting Orientation for details.
Maximum Heating Value 2.64 W 3
Terminal block: Not permitted
Hot Swapping
Communication connector: Permitted
Mass Approx. 300 g
Dimensions (mm) 152 × 44 × 71.8 (W × H × D)

3-49
 3 Distributed I/O Module
3.8.3 Circuit Configuration

3.8.3 Circuit Configuration

CAUTION
• Built-in fuse do not protect the output elements. Connect a fuse appropriate for the load specifications in
series with the load.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.
The following illustration shows the circuit configuration for the 24-VDC 16-point Output Module.

+5V
Output 1 Load
2 L
Output signal indicator
Internal circuits

Photocoupler
From Output 8
CPU 9 L

+5V Blown fuse/ Fuse Common 1 (-)

- +
disconnection 10
power supply indicator 12/24 VDC
Blown fuse
detection
circuit 11
Output 9 Load
12 L

Output 16 Load
19 L
Common 2 (-)
- +
20
12/24 VDC
Common 2 (+)
21

0V
+5V 22
Insulating
DC/DC
converter +24V + -
23
24 VDC
0V External main
power supply

IMPORTANT Communication with the master will stop when the load power supply is OFF or the fuse blows.

3-50
 3.8 24-VDC 16-point Output Module (120DDO34340/IO2910)

3.8.4 Connection Example

CAUTION
• Built-in fuse do not protect the output elements. Connect a fuse appropriate for the load specifications in
series with the load.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.
The following illustration shows an example of terminal connections for the 24-VDC 16-point Output Module.
Not used. 1

Fuse Load
Output 1 2 L

Output 2 3 L

Ouptut 3 4 L

Output 4 5 L

Output 5 6 L

Output 6 7 L

Output 7 8 L

Output 8 9 L

Common 1 (-) 10
- +
24 VDC
Common 1 (+) 11

Fuse Load
Output 9 12 L

Output 10 13 L

Output 11 14 L

Output 12 15 L

Output 13 16 L

Distributed I/O Module

Output 14 17 L

Output 15 18 L

Output 16 19 L

Common 2 (-) 20
- +
24 VDC
Common 2 (+) 21

0V 22

24V 23
+ -
3
24 VDC

Note: Do not connect anything to terminal 1.

• Use crimp terminals that fit M3 screws for terminal block wiring.
IMPORTANT
• Use wire with the following gauge when connecting wire to the terminal block.
24 AWG (0.2 mm2) to 18 AWG (0.9 mm2)

3-51
 3 Distributed I/O Module
3.8.5 I/O Allocations

3.8.5 I/O Allocations

The leading register number of the I/O registers used by the 24-VDC 16-point Output Module is set in the I/O
Assignment Tab in the MECHATROLINK definitions window.
Refer to Chapter 2 I/O Allocations for details on allocating I/O to MECHATROLINK Modules.
The following example shows how 16 output coils are allocated from OW0010.
Output Module's
Output register output numbers Terminal
address numbers
2
OB00100 Output 1
3
OB00101 Output 2
4
OB00102 Output 3
5
OB00103 Output 4
6
OB00104 Output 5
7
OB00105 Output 6
8
OB00106 Output 7
9
OB00107 Output 8 Output
OW0010
12 signals
OB00108 Output 9
13
OB00109 Output 10
14
OB0010A Output 11
15
OB0010B Output 12
16
OB0010C Output 13
17
OB0010D Output 14
18
OB0010E Output 15
19
OB0010F Output 16

3-52
 3.9 Analog Input Module (±10 V, 4 CH) (120AVI02030/AN2900)

3.9 Analog Input Module (±10 V, 4 CH) (120AVI02030/AN2900)

3.9.1 External Appearance and Configuration
The following diagram shows the Analog Input Module’s external parts.
LED indicators
Module mounting holes (for M4
DIP switch screws) for back mounting

Front cover Module description

(120AVI02030 or AN2900)

MECHATROLINK
port

Terminal block mounting

screws (two M3.5 screws)

Terminal Module mounting holes (for

cover M4 screws) for bottom

Detachable terminal

External connector terminals

Insertable label (M3, Phillips-head)
for signal terminals

Distributed I/O Module

(1) LED Indicators

RDY TX RX ERR FLT CH1 CH2 CH3 CH4

Indicator Indicator
Meaning When Lit or Flashing
Name Color
Green Lit The Module is operating normally. 3
RDY The transmission cable is disconnected or the
Flashing Module is waiting for communication with the
master.
TX Green Lit Sending data.
RX Green Lit Receiving data.
ERR Red Lit A communication error occurred.
Lit Offset/gain setting error
FLT Red
Flashing Self-diagnostic error
Each LED indicates that the input is out-of-
range for that channel.
CH1 to CH4 Green Lit Out-of-range inputs are as follows:
+10.02 V < Channel input signal
Channel input signal < -10.02 V

3-53
 3 Distributed I/O Module
3.9.1 External Appearance and Configuration

(2) DIP Switch

Before using the Analog Input Module, the settings for the DIP switch on the front of the Module must be made.
(a) DIP Switch Functions
The DIP switch consists of eight pins. The pins are numbered 1 to 8, as shown in the following diagram.
Each pin is turned to ON when it is moved to the upper position.

SW

ON
1 2 3 4 5 6 7 8

ON
The following shows the function of each switch.
Any switches other than pin 7 becomes effective when each switch is changed.
• 120AVI02030
Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave 1: ON
1 to 5
OFF Address Settings. 2 to 5: OFF
ON Set the baud rate to 1 Mbps.
6 OFF
OFF Set the baud rate to 4 Mbps.
ON Software filter (average 5 times) is set to “enabled.”
7 OFF
OFF Software filter is set to “disabled.”
ON
8 Reserved for future use. Leave pin 8 in the OFF position. OFF
OFF

• AN2900
Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave 1: ON
1 to 5
OFF Address Settings. 2 to 5: OFF
If SW8 turns ON, set the communication data length to 32 bytes.
ON
If SW8 turns OFF, set SW6 to OFF.
6 OFF
When SW8 turns ON, set the communication data length to 17 bytes.
OFF
When SW8 turns OFF, set SW6 to OFF.
ON Software filter (average 5 times) is set to “Enabled.”
7 OFF
OFF Software filter is set to “Disabled.”
ON Set the baud rate to 10 Mbps.
8 ON
OFF Set the baud rate to 4 Mbps.

• If the external power supply (24 VDC) is turned ON, pin 7 becomes effective.
IMPORTANT
To change the setting, turn the external power supply (24 VDC) OFF and then ON again.
• The software filter sends the value obtained by averaging three input signals out of five input signals read
by the Analog Input module, excluding the maximum and minimum values.
• The AN2900 does not operate at 1-Mbps baud rate.

3-54
 3.9 Analog Input Module (±10 V, 4 CH) (120AVI02030/AN2900)

(b) Slave Address Settings

Set the slave address with pins 1 to 5 on the DIP switch on the front of the Distributed I/O Module.
Refer to the following table, and set the slave addresses as required.

Pin No.
Slave Address
1 2 3 4 5
0 0 0 0 0 Not used
1 0 0 0 0 1
0 1 0 0 0 2
1 1 0 0 0 3
0 0 1 0 0 4
1 0 1 0 0 5
0 1 1 0 0 6
1 1 1 0 0 7
0 0 0 1 0 8
1 0 0 1 0 9
0 1 0 1 0 10
1 1 0 1 0 11
0 0 1 1 0 12
1 0 1 1 0 13
0 1 1 1 0 14
1 1 1 1 0 15
0 0 0 0 1 16
1 0 0 0 1 17
0 1 0 0 1 18
1 1 0 0 1 19
0 0 1 0 1 20
1 0 1 0 1 21
0 1 1 0 1 22

Distributed I/O Module

1 1 1 0 1 23
0 0 0 1 1 24
1 0 0 1 1 25
0 1 0 1 1 26
1 1 0 1 1 27
0 0 1 1 1 28
1 0 1 1 1 29
0 1 1 1 1 30
1 1 1 1 1 Not used 3

• The maximum number of slave stations depends on the method used for MECHATROLINK communica-
IMPORTANT
tion. Confirm the number of slave stations, and set the number of stations to a value that is equal to or less
than the number of stations available.
• Do not duplicate a slave address within one communication circuit. Distributed I/O modules with duplicate
slave addresses will not communicate correctly with each other or other devices.
• A new slave address set with pins 1 to 5 becomes effective as soon as the DIP switch is changed.

3-55
 3 Distributed I/O Module
3.9.2 Performance Specifications

3.9.2 Performance Specifications

The performance specifications of Analog Input Module (±10 V, 4 CH) are shown below.
Item Specifications
Name Analog Input Module (±10 V, 4 CH)
Model Description V_AD-VOL-4CH/AN2900
Model Number JAMSC-120AVI02030/JEPMC-AN2900
Input Signal Range -10 to 10V
Special Inputs None
Number of Input Channels 4 channels, isolated as a group
Input Impedance 1 MΩ min.
Maximum Allowable Overload -20 to 20 V
Digital Resolution 16 bits
Data Format Binary (2s complement) -32,000 to 32,000
±0.5% F.S. (at 25°C)
Error
±1.0% F.S. (at 0 to 60°C)
Input Delay Time 4 ms max.
Sampling Interval Input data is refreshed every communication cycle.
Input Filter Characteristics Software filter
Number of Allocated Words 5 words/Module
Maintenance/Diagnostic Functions Watchdog timer
External Connections Removable terminal block with 23 M3 screw terminals
RDY (green) Lit Normal Module status
Flashing Transmission cable disconnected or waiting for
communication from the master
TX (green) Lit Sending data.
RX (green) Lit Receiving data.
ERR (red) Lit Communication error
Status Indication
FLT (red) Lit Error in offset/gain settings
Flashing Error detected in self-diagnostics
CH1 to CH4 Lit The input at the corresponding channel is out-of-
range.
(An input is out-of-range when it is below -10.02
V or above +10.02 V.)
Photocoupler
Isolation Method
(There is no isolation between input channels.)
Input Circuit
Dielectric Strength 1,500 VAC for 1 minute between input terminals and internal circuits
Isolation
100 MΩ min. at 500 VDC between input terminals and internal circuits (at
Insulation Resistance
room temperature and humidity)
Main external power supply:
External Power Supply
24 VDC (20.4 to 26.4 VDC), 150 mA max.
The maximum ambient operating temperature is limited with some mounting
Derating Conditions
directions. Refer to 3.1.2 Mounting Orientation for details.
Maximum Heating Value 2.88 W
Terminal block: Not permitted
Hot Swapping
Communication connector: Permitted
Mass Approx. 300 g
Dimensions (mm) 161 × 44 × 79 (W × H × D)

3-56
 3.9 Analog Input Module (±10 V, 4 CH) (120AVI02030/AN2900)

3.9.3 Input Characteristics

The following table shows the Module's input characteristics for the Analog Input Module.
Input Voltage (V) Input Register Value (Decimal)
≤ -10.00 -32,000
-10.00 -32,000
-5.00 -16,000
0.00 0
5.00 16,000
10.00 32,000
≥ 10.00 32,000

32000
Input register
value (decimal)
16000

-10 -5

5 10
Analog input
-16000 value (V)

-32000

INFO If the input value is below -10.00 V, the value in the input register will remain at -32,000. If the input value is above 10.00
V, the value in the input register will remain at 32,000.

Distributed I/O Module

3-57
 3 Distributed I/O Module
3.9.4 Circuit Configuration

3.9.4 Circuit Configuration

The following illustration shows the circuit configuration for the Analog Input Module.

Differential signal source Multiplexer

DH1+
5
+
V

V
- DH1-
7

-10 to 10V Shield 1

8

Differential signal source

DH2+
9
+
V
+5V

V Status
- DH2-
11 display
Photocoupler
-10 to 10V Shield 2
12 A/D
con-
Single-ended signal source verter
DH3+
13 Internal
+ circuits
V
-
DH3-
15

-10 to 10V Shield 3

16

Single-ended signal source

DH4+
17
+
V
-
DH4-
19 +15V Insulating
-10 to 10V -15V DC/DC
Shield 4
20 converter
0.01mF
A-FG
2 0 V(Analog)

0V
22

- + +24V
23
24 VDC

3-58
 3.9 Analog Input Module (±10 V, 4 CH) (120AVI02030/AN2900)

3.9.5 Connection Example

The following illustration shows an example of terminal connections for the Analog Input Module.

1 Not used./FG
2 A-FG
Ground
3 Not used.
Differential Signal Source
Shielded twisted-
4 Not used.
External device
pair cable

+
5 CH1 V+
V
6 Not used.
V
-
7 CH1 V-
-10 to 10V
Shielded twisted-
8 Shield 1
External device
pair cable

+
9 CH2 V+
V
10 Not used.
V
-
11 CH2 V-
-10 to 10V
12 Shield 2
Single-ended Signal Source
Shielded twisted-
External device
pair cable
13 CH3 V+
+
V 14 Not used.
-
15 CH3 V-
-10 to10 V
Shielded twisted- 16 Shield 3
External device
pair cable
17 CH4 V+
+
V 18 Not used.
-
19 CH4 V-
-10 to 10V
20 Shield 4
21 Not used.
22 0V
– +

Distributed I/O Module

23 24 VDC
24 VDC

Note: 1. Terminals 3, 4, 6, 10, 14, 18, and 21 are not used.

2. Use terminal 1 as follows:
For 120AVI02030: Do not connect.
For AN2900: Be sure to ground since it is an FG terminal.

3-59
 3 Distributed I/O Module
3.9.5 Connection Example

• Isolation between Input Channels

IMPORTANT
There is no isolation provided between the input circuit channels.
If isolation between channels is required, use a commercial isolation amplifier for each channel.
• Recommended Wire
Use shielded two-conductor twisted-pair cable with 20 AWG (0.5 mm2) to 16 AWG (1.25 mm2) wire to
connect to the terminal block.
• Connecting Differential Signal Sources
• Connect the positive side of a differential signal to the Module's "+" terminal.
• Connect the negative side of a differential signal to the Module's "-" terminal.
• At the Module end, connect the shield of the cable to the shield terminal of the Module.
• At the signal source end, connect the shield of the cable to the 0 V of the differential signal source. An
improper connection will make the input signal unstable and cause malfunction.
• Connecting Single-ended Signal Sources
• Connect the positive side of the single-ended signal to the Module's "+" terminal.
• Connect the negative side of the single-ended signal to the Module's "-" terminal.
• Connect the shield of the cable to the shield terminal of the Module and short the shield terminal to the "-"
terminal.
An improper connection will make input signal unstable and cause malfunction.
• Unused Input Circuits
For an unused input circuit, short its "+" terminal to its "-" terminal and also short one of these terminals to
its shield terminal.
An improper connection will make input signal unstable and cause malfunction.
• A-FG Terminal
Depending upon the ambient noise, better performance may be possible by grounding the A-FG terminal.
• Crimp Terminals
Use crimp terminals that fit M3 screws for terminal block wiring.

3-60
 3.9 Analog Input Module (±10 V, 4 CH) (120AVI02030/AN2900)

3.9.6 I/O Allocations

The leading register numbers of the I/O registers used by the Analog Input Module are set in the I/O Assignment
Tab in the MECHATROLINK definitions window.
Refer to Chapter 2 I/O Allocations for details on allocating I/O to MECHATROLINK Modules.
The following example shows the allocation of the 7 words of input registers and 2 words of output registers used
by the Analog Input Module.
(1) Output Registers (2 words)

Output Register No. Contents

OWxxxx Reserved for the system
OWxxxx+1 Not used.

Registers reserved for the system must not be overwritten from the ladder program or other means. The Mod-
IMPORTANT
ule will not operate normally if registers are overwritten.

(2) Input Registers (7 words)

Input Register No. Contents

IWxxxx Reserved for the system
IWxxxx+1 Reserved for the system
IWxxxx+2 Analog input value of CH1 (-32,000 to 32,000)
IWxxxx+3 Analog input value of CH2 (-32,000 to 32,000)
IWxxxx+4 Analog input value of CH3 (-32,000 to 32,000)
IWxxxx+5 Analog input value of CH4 (-32,000 to 32,000)
IWxxxx+6 Input signal status

(3) Input Signal Status

The Analog Input Module produces an error signal when an input signal is outside of the input signal range.

Distributed I/O Module

Input Register No. Bit Contents
0 ON (1) when the CH1 input signal is below -10.02 V or above 10.02 V.
1 ON (1) when the CH2 input signal is below -10.02 V or above 10.02 V.
IWxxxx+6 2 ON (1) when the CH3 input signal is below -10.02 V or above 10.02 V.
3 ON (1) when the CH4 input signal is below -10.02 V or above 10.02 V.
4 to F Not used.

3-61
 3 Distributed I/O Module
3.10.1 External Appearance and Configuration

3.10 Analog Output Module (±10 V, 2 CH) (120AVO01030/AN2910)

3.10.1 External Appearance and Configuration
The following diagram shows the Analog Output Module’s external parts.
Module mounting holes (for M4
LED indicators screws) for back mounting
DIP switch
Module description
Front cover (120AVO01030 or AN2910)

MECHATROLINK
port

Terminal block mounting

screws (two M3.5 screws)

Terminal Module mounting holes (for

cover M4 screws) for bottom

Detachable terminal

External connector terminals

Insertable label (M3, Phillips-head)
for signal terminals

(1) LED Indicators

RDY TX RX ERR FLT

Indicator Indicator
Meaning When Lit or Flashing
Name Color
Lit The Module is operating normally.
RDY Green The transmission cable is disconnected or the Module is
Flashing
waiting for communication with the master.
TX Green Lit Sending data.
RX Green Lit Receiving data.
ERR Red Lit A communication error occurred.
Lit Offset/gain setting error
FLT Red
Flashing Self-diagnostic error

3-62
 3.10 Analog Output Module (±10 V, 2 CH) (120AVO01030/AN2910)

(2) DIP Switch

Before using the Analog Output Module, the settings for the DIP switch on the front of the Module must be
made.
(a) DIP Switch Functions
The DIP switch consists of eight pins. The pins are numbered 1 to 8, as shown in the following diagram.
Each pin is turned to ON when it is moved to the upper position.

SW

ON
1 2 3 4 5 6 7 8

ON
The setting of each pin becomes effective as soon as the DIP switch is changed.
The following table shows the functions that correspond to the settings for each pin.
• 120AVO01030
Factory
Pin No. Setting Function
Setting
ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave 1: ON
1 to 5
OFF Address Settings. 2 to 5: OFF
ON Set the baud rate to 1 Mbps.
6 OFF
OFF Set the baud rate to 4 Mbps.
The output when communication stops is set to “data immediately before
ON
7 stop.” OFF
OFF The output when communication stops is set to “0.”
ON
8 Reserved for future use. Leave pin 8 in the OFF position. OFF
OFF

• AN2910
Factory
Pin No. Setting Function
Setting

Distributed I/O Module

ON Set the slave address of pins 1 through 5. For details, refer to (b) Slave 1: ON
1 to 5
OFF Address Settings. 2 to 5: OFF
When SW8 turns ON, set the communication data length to 32 bytes.
ON
When SW8 turns OFF, set SW6 to OFF.
6 OFF
When SW8 turns ON, set the communication data length to 17 bytes.
OFF
When SW8 turns OFF, set SW6 to OFF.
The output when communication stops is set to “data immediately before
ON
7 stop.” OFF
OFF The output when communication stops is set to “0.” 3
ON Set the baud rate to 10 Mbps.
8 ON
OFF Set the baud rate to 4 Mbps.

• AN2910 do not operate at 1-Mbps baud rate.

IMPORTANT
• If AN2910 is used at 10 Mbps, set the MECHATROLINK communications cycle to 1 ms or more.
For details on the settings of the MECHATROLINK communications cycle, refer to 2.2.2 Setting Transmis-
sion Parameters.

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 3 Distributed I/O Module
3.10.1 External Appearance and Configuration

(b) Slave Address Settings

Set the slave address with pins 1 to 5 on the DIP switch on the front of the Distributed I/O Module.
Refer to the following table, and set the slave addresses as required.

Pin No.
Slave Address
1 2 3 4 5
0 0 0 0 0 Not used
1 0 0 0 0 1
0 1 0 0 0 2
1 1 0 0 0 3
0 0 1 0 0 4
1 0 1 0 0 5
0 1 1 0 0 6
1 1 1 0 0 7
0 0 0 1 0 8
1 0 0 1 0 9
0 1 0 1 0 10
1 1 0 1 0 11
0 0 1 1 0 12
1 0 1 1 0 13
0 1 1 1 0 14
1 1 1 1 0 15
0 0 0 0 1 16
1 0 0 0 1 17
0 1 0 0 1 18
1 1 0 0 1 19
0 0 1 0 1 20
1 0 1 0 1 21
0 1 1 0 1 22
1 1 1 0 1 23
0 0 0 1 1 24
1 0 0 1 1 25
0 1 0 1 1 26
1 1 0 1 1 27
0 0 1 1 1 28
1 0 1 1 1 29
0 1 1 1 1 30
1 1 1 1 1 Not used

• The maximum number of slave stations depends on the method used for MECHATROLINK communica-
IMPORTANT
tion. Confirm the number of slave stations, and set the number of stations to a value that is equal to or less
than the number of stations available.
• Do not duplicate a slave address within one communication circuit. Distributed I/O modules with duplicate
slave addresses will not communicate correctly with each other or other devices.
• A new slave address set with pins 1 to 5 becomes effective as soon as the DIP switch is changed.

3-64
 3.10 Analog Output Module (±10 V, 2 CH) (120AVO01030/AN2910)

3.10.2 Performance Specifications

The performance specifications of Analog Output Module (±10 V, 2 CH) are shown below.
Item Specifications
Name Analog Output Module (±10 V, 2 CH)
Model Description V_DA-VOL-2CH/AN2910
Model Number JAMSC-120AVO01030/JEPMC-AN2910
Input Signal Range -10 to 10V
Number of Output Channels 2 channels
Maximum Allowable Load
±5 mA (2 kΩ)
Current
Digital Resolution 16 bits
Data Format Binary (2s complement) -32,000 to 32,000
±0.2% F.S. (at 25°C)
Error
±0.5% F.S. (at 0 to 60°C)
Output Delay Time 1 ms
Number of Allocated Words 2 words/Module
Maintenance/Diagnostic
Watchdog timer
Functions
Mode selected with the DIP switch (SW7):
Output Status when Master
SW7 OFF: Clear outputs. (Output 0 V)
Stops
SW7 ON: Retain prior output status.
External Connections Removable terminal block with M3 screw terminals
RDY (green) Lit Normal Module status
Flashing Transmission cable disconnected or waiting
for communication from the master
TX (green) Lit Sending data.
Status Indication
RX (green) Lit Receiving data.
ERR (red) Lit Communication error
FLT (red) Lit Error in offset/gain settings
Flashing Error detected in self-diagnostics
Isolation Photocoupler

Distributed I/O Module

Method (There is no isolation between channels.)
Output Circuit Dielectric
1,500 VAC for 1 minute between output terminals and internal circuits
Isolation Strength
Insulation 100 MΩ min. at 500 VDC between input terminals and internal circuits (at room
Resistance temperature and humidity)
Main external power supply:
External Power Supply
24 VDC (20.4 to 26.4 VDC), 180 mA max.
The maximum ambient operating temperature is limited with some mounting direc-
Derating Conditions
tions. Refer to 3.1.2 Mounting Orientation for details.
3
Maximum Heating Value 2.88 W
Terminal block: Not permitted
Hot Swapping
Communication connector: Permitted
Mass Approx. 300 g
Dimensions (mm) 161 × 44 × 79 (W × H × D)

3-65
 3 Distributed I/O Module
3.10.3 Output Characteristics

3.10.3 Output Characteristics

The following table shows the output characteristics for the Analog Output Module.
Output register value (decimal) Output voltage (V)
≤ -32,000 -10.00
-32,000 -10.00
-16,000 -5.00
0 0.00
16,000 5.00
32,000 10.00
≥ 32,000 10.00

Analog output 10
value (V)

-32000 -16000

16000 32000
Output register
-5 value (decimal)

-10

INFO The analog output value will remain at -10.00 V even if the output register value falls below -32,000. The analog output
value will remain at 10.00 V even if the output register value rises above 32,000.

3-66
 3.10 Analog Output Module (±10 V, 2 CH) (120AVO01030/AN2910)

3.10.4 Circuit Configuration

The following illustration shows the circuit configuration for the Analog Output Module.
+5V

+12V
Status
display
Photocoupler Isolation

Internal circuits
amplifier Load
From CPU D/A CH1+
con- 7 +
verter
CH1-
9 -

Shield 1
-12V 8
0V (analog)

Load
+12V Insulating CH2+
15 +
-12V DC/DC
converter
CH2-
17 -
0V (analog)
Shield 2
16

0V
+5V 22
Insulating
DC/DC
converter 24 VDC + -
23
24 VDC
0V

3.10.5 Connection Example

The following illustration shows an example of terminal connections for the Analog Output Module.
FG/Not used. 1

Not used. 2

Not used. 3

Not used. 4

Not used. 5

Not used. 6 Shielded twisted-

pair cable External device

Distributed I/O Module

CH1+ 7
+
Not used. 8 L
–
CH1- 9
-10 to 10 V
Not used. 10

Not used. 11

Not used. 12

Not used. 13

Not used. 14 Shielded twisted-

External device 3
pair cable
CH2+ 15
+
Not used. 16 L
–
CH2- 17
-10 to 10 V
Not used. 18

Not used. 19

Not used. 20

Not used. 21

0V 22

24 VDC 23
+ –
24 VDC

Note: 1. Terminals 2 to 6, 10 to 14, and 18 to 21 are not used.

2. Use terminal 1 as follows:
For 120AVO01030: Do not connect.
For AN2910: Be sure to ground since it is an FG terminal.

3-67
 3 Distributed I/O Module
3.10.6 I/O Allocations

• The output circuit's output channels are not isolated from each other.
IMPORTANT
• Recommended Wire
Use shielded two-conductor twisted-pair cable with 20 AWG (0.5 mm2) to 16 AWG (1.25 mm2) wire to
connect to the terminal block.
• Ground the Shield at One Point.
As a rule, connect the shield at one point on the load end. However, better output characteristics may be
obtained by grounding the shield on the Module end rather than on the load end, so test which configuration
is better for the actual situation. An improper connection will make output signal unstable and cause mal-
function.
• Grounding at the Module.
The Module's unused terminals are not connected to anything within the Module, so they can be used as
relay terminals.
• Crimp Terminals
Use crimp terminals that fit M3 screws for terminal block wiring.

3.10.6 I/O Allocations

The leading register numbers of the I/O registers used by the Analog Output Module are set in the I/O Assign-
ment Tab in the MECHATROLINK definitions window.
Refer to Chapter 2 I/O Allocations for details on allocating I/O to MECHATROLINK Modules.
The following example shows the allocation of the 4 words of output registers and 2 words of input registers used
by the Analog Output Module.
(1) Output Registers (4 words)

Output Register No. Contents

OWxxxx Reserved for the system
OWxxxx+1 Reserved for the system
OWxxxx+2 Analog output value of CH1
OWxxxx+3 Analog output value of CH2

• The analog output value will remain at -10.00 V even if the output register value falls below -32,000. The
IMPORTANT
analog output value will remain at 10.00 V even if the output register value rises above 32,000.
• Registers reserved for the system must not be overwritten from the ladder program or other means. The
Module will not operate normally if registers are overwritten.

(2) Input Registers (2 words)

Input Register No. Contents

IWxxxx Reserved for the system
IWxxxx+1 Reserved for the system

3-68
 4
Other I/O Modules

This section provides an overview of other Digital I/O Modules.

4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330) - - - - - - - - - - - - - - - - 4-2

4.1.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
4.1.3 System Connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

4.2 Wildcard I/O Modules (†††††I/O) - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19

Other I/O Modules

4-1
 4 Other I/O Modules
4.1.1 External Appearance and Configuration

4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330)

4.1.1 External Appearance and Configuration
The following diagram shows the 64-point I/O Module’s external parts.
(1) IO350 Module

I/O indicators YASKAWA

JEPMC-IO35
0

MECHATROLINK connector
Station number switch Input signal connector 1

I/O indicator switch Output signal connector 1

Input signal connector 2

Power supply terminals
Output signal connector 2

(2) IO2310/IO2330 Module

I/O indicators YASKAWA

JEPMC-IO23
10
MECHATROLINK connector
DIP switch for setting 3

Input signal connector 1

2
1

Station number switch O FF ON

I/O indicator switch Output signal connector 1

DC24V
Input signal connector 2
Power supply terminals DC 0V

Output signal connector 2

(3) I/O and Status Indicators

Indicator Indicator
Meaning When Lit
R ACTIVE F Name Color
1 9 17 25
2 10 18 26 R Yellow Not used. (Stays lit.)
3 11 19 27 ACTIVE Yellow Sending data through MECHATROLINK.
4 12 20 28
5 13 21 29 F Red Blown fuse
6 14 22 30 Input signal and output signal monitors.
7 15 23 31
8 16 24 32 1 to 32 Yellow The meaning of these indicators depends on the I/O
indicator switch setting.

4-2
 4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330)

(4) MECHATROLINK Connector

CN1
Connect through a MECHATROLINK Cable.

(5) I/O Signal Connector

IN1 OUT1 IN2 OUT2 Connect the I/O Unit with external I/O signals through an I/O
Cable.
A1 B1 A1 B1 A1 B1 A1 B1
Number of I/O points: 64 inputs and 64 outputs

(6) Station Number Switch

Sets the Module's station number in the MECHATROLINK

system.
SW1 Setting range: 0 to E
Use a unique station number for each Unit if two or more
Units are connected.

(7) I/O Indicator Switch

Selects which 32 I/O points are monitored by the I/O indicators.

IN2 IN1: Input signals 1 to 32
SW2 IN1 IN2: Input signals 33 to 64
OUT2
OUT1 OUT1: Output signals 1 to 32
OUT2: Output signals 33 to 64

Other I/O Modules

(8) External Wiring Terminals
The external wiring terminal supplies 24 VDC to I/O Module.
Terminal
Function
Name
24 VDC DC24V +24 VDC
24 VDC
DC0V 0 VDC
0 VDC FG Protective ground terminal
4
0 VDC

IO2310 Module IO350 Module

4-3
 4 Other I/O Modules
4.1.1 External Appearance and Configuration

(9) DIP switch for Settings

A DIP switch, which is used to make settings for communications, is mounted on the IO2310 and IO2330 Mod-
ules.

Display Sta- Factory

Name Function
(Switch No.) tus Setting
− Reserved by system − Be sure to turn it OFF. OFF
MECHATROLINK upper- ON 7xh
3 3 OFF
2 place address setting OFF 6xh
1
ON 32-byte mode
OFF ON 2 I/O byte setting OFF
OFF 17-byte mode
ON 10 Mbps
1 Baud rate setting ON
OFF 4 Mbps

INFO Set the IO2310/IO2330 communications in accordance with the settings of the host controller.
For example, when the communication setting is 10 Mbps and 32-byte mode, set both of switch 1 “baud rate setting” and
switch 2 “I/O byte setting” to ON.

(10) Slave Address Setting

Set the I/O Module slave address as shown below.
(a) IO350 Slave Address
Station Station Number
Address Switch
1(61h) 1
2(62h) 2
3(63h) 3
4(64h) 4
5(65h) 5
6(66h) 6
7(67h) 7
8(68h) 8
9(69h) 9
10(6Ah) A
11(6Bh) B
12(6Ch) C
13(6Dh) D
14(6Eh) E
The data in the parentheses indicate the MECHATROLINK addresses.

4-4
 4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330)

(b) IO2310/IO2330 Slave Address

Station DIP switch Station Station DIP switch Station
Address for “3” Number Switch Address for “3” Number Switch
1(61h) OFF 1 16(70h) ON 0
2(62h) OFF 2 17(71h) ON 1
3(63h) OFF 3 18(72h) ON 2
4(64h) OFF 4 19(73h) ON 3
5(65h) OFF 5 20(74h) ON 4
6(66h) OFF 6 21(75h) ON 5
7(67h) OFF 7 22(76h) ON 6
8(68h) OFF 8 23(77h) ON 7
9(69h) OFF 9 24(78h) ON 8
10(6Ah) OFF A 25(79h) ON 9
11(6Bh) OFF B 26(7Ah) ON A
12(6Ch) OFF C 27(7Bh) ON B
13(6Dh) OFF D 28(7Ch) ON C
14(6Eh) OFF E 29(7Dh) ON D
15(6Fh) OFF F Not used ON E, F
The data in the parentheses indicate the MECHATROLINK addresses.

Other I/O Modules

4-5
 4 Other I/O Modules
4.1.2 Performance Specifications

4.1.2 Performance Specifications

The performance specifications of IO350/IO2310/IO2330 Module are shown below.

Item Specifications
Name 64-point I/O Module
Model Description IO350/IO2310/IO2330
Model Number JEPMC-IO350/JEPMC-IO2310/JEPMC-IO2330
External Power Supply 24 VDC (20.4 to 28. 8VDC)
Rated Current 0.5A
Inrush Current 1A
Dimensions (mm) 120 × 130 × 105 (W × H × D)

(1) Input Circuit

The input circuit specifications are shown below. The input circuit is used both for IO350, IO2310, and IO2330
Modules.
Item Specifications
Number of Input Points 64 points (32 points × 2)
Input Type Sinking or sourcing
Isolation Method Photocoupler
Input Voltage 24 VDC (20.4 to 28.8 VDC)
Input Current 5 mA/point
ON Voltage/Current 9V min./1.6 mA min.
OFF Voltage/Current 7V max./1.3 mA max.
ON Time/OFF Time ON time: 2 ms, OFF time: 3 ms
Input Points per Common 16 points per common (1 to 16, 17 to 32, 33 to 48, 49 to 64)

+5V

0.01 μF
680Ω
4.7kΩ

Input Circuit

4-6
 4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330)

(2) Output Circuit

The output circuit specifications are shown below.
Item Specifications
Module IO350/IO2310 IO2330
Number of Output Points 64 points (32 points × 2)
Output Type Transistor, open collector, or sinking Transistor, open collector, or sourcing
Isolation Method Photocoupler
Output Voltage 24 VDC (20.4 to 28.8 VDC)
Output Current 50 mA/point
Leakage Current when OFF 0.1 mA max.
ON Time/OFF Time ON time: 2 ms max., OFF time: 4 ms max.
Output Points per Common 16 points per common (1 to 16, 17 to 32, 33 to 48, 49 to 64)
Fuses A fuse for each common point to prevent fire caused by the output short-circuit
Error Detection Blown fuse detection

(a) Circuit Diagram of IO350 and IO2310

+24V

+24V

OUT
10kΩ

024V

024V

Output Circuit

+5V

+24V
Blown fuse 4.7kΩ

Other I/O Modules

680Ω
125V 3.5A

024V
+24V
4.7kΩ

680Ω 4
125V 3.5A

024V

Blown Fuse Detection Circuit

4-7
 4 Other I/O Modules
4.1.2 Performance Specifications

(b) Circuit Diagram of IO2330

+24V

+24V

15kΩ

OUT

024V

024V
Output Circuit

+5V

+24V
Blown fuse

125V 3.5A
1.5kΩ

4.7kΩ
024V
+24V
125V 3.5A

1.5kΩ

4.7kΩ
024V

Blown Fuse Detection Circuit

4-8
 4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330)

4.1.3 System Connection

(1) Connector Specifications

The following table shows the connector specifications. The I/O connector is used both for IO350, IO2310, and
IO2330 Modules.
Number Connector Model
Name
of Pins Module Side Manufacturer Cable Side Manufacturer
Tyco Electronics FCN-360C-040-E (cover) Fujitsu Component
I/O connector 40 900413-1
AMP K.K. FCN-361J-040-AU Limited

(2) Standard Cable and Appearance

The following table shows the standard cable models and appearance. The standard cable is used both for IO350,
IO2310, and IO2330 Modules.
Name Model Length (m) Appearance (JEPMC-W5410-††)
JEPMC-W5410-05 0.5
I/O Cable JEPMC-W5410-10 1
JEPMC-W5410-30 3

(3) Standard Cable Wire Table

The wiring table for the standard cable JEPMC-W5410-…… is shown below.
Cable Dot Mark Cable Dot Mark
No. Dot Mark No. Dot Mark
Color Color Color Color
A1 blue red − A11 blue red −−−
B1 blue black − B11 blue black −−−
A2 pink red − A12 pink red −−−
B2 pink black − B12 pink black −−−
A3 green red − A13 green red −−−
B3 green black − B13 green black −−−
A4 orange red − A14 orange red −−−
B4 orange black − B14 orange black −−−
A5 gray red − A15 gray red −−−
B5 gray black − B15 gray black −−−

Other I/O Modules

A6 blue red −− A16 blue red −−−−
B6 blue black −− B16 blue black −−−−
A7 pink red −− A17 pink red −−−−
B7 pink black −− B17 pink black −−−−
A8 green red −− A18 green red −−−−
B8 green black −− B18 green black −−−−
A9 orange red −− A19 orange red −−−− 4
B9 orange black −− B19 orange black −−−−
A10 gray red −− A20 gray red −−−−
B10 gray black −− B20 gray black −−−−

4-9
 4 Other I/O Modules
4.1.3 System Connection

(4) Connector Pin Layout

The pin layout of the I/O connectors are the same for the IO350, IO2310, and IO2330 modules.
(a) Input Signal Connector IN1
The following table shows the pin layout of the IN1 connector.
Signal Signal
No. Remarks No. Remarks
Name Name
A1 （NC） B1 （NC）
A2 +24V_2 24-V power supply 2 B2 +24V_2 24-V power supply 2
A3 IN32 Input 32 B3 IN31 Input 31
A4 IN30 Input 30 B4 IN29 Input 29
A5 IN28 Input 28 B5 IN27 Input 27
A6 IN26 Input 26 B6 IN25 Input 25
A7 IN24 Input 24 B7 IN23 Input 23
A8 IN22 Input 22 B8 IN21 Input 21
A9 IN20 Input 20 B9 IN19 Input 19
A10 IN18 Input 18 B10 IN17 Input 17
A11 IN16 Input 16 B11 IN15 Input 15
A12 IN14 Input 14 B12 IN13 Input 13
A13 IN12 Input 12 B13 IN11 Input 11
A14 IN10 Input 10 B14 IN09 Input 9
A15 IN08 Input 8 B15 IN07 Input 7
A16 IN06 Input 6 B16 IN05 Input 5
A17 IN04 Input 4 B17 IN03 Input 3
A18 IN02 Input 2 B18 IN01 Input 1
A19 （NC） B19 （NC）
A20 +24V_1 24-V power supply 1 B20 +24V_1 24-V power supply 1
Note: The +24V_1 is used for IN01 to IN6; +24V_2 is used for IN17 to IN32.

(b) Input Signal Connector IN2

The following table shows the pin layout of the IN2 connector.
Signal Signal
No. Remarks No. Remarks
Name Name
A1 （NC） B1 （NC）
A2 +24V_4 24-V power supply 4 B2 +24V_4 24-V power supply 4
A3 IN64 Input 64 B3 IN63 Input 63
A4 IN62 Input 62 B4 IN61 Input 61
A5 IN60 Input 60 B5 IN59 Input 59
A6 IN58 Input 58 B6 IN57 Input 57
A7 IN56 Input 56 B7 IN55 Input 55
A8 IN54 Input 54 B8 IN53 Input 53
A9 IN52 Input 52 B9 IN51 Input 51
A10 IN50 Input 50 B10 IN49 Input 49
A11 IN48 Input 48 B11 IN47 Input 47
A12 IN46 Input 46 B12 IN45 Input 45
A13 IN44 Input 44 B13 IN43 Input 43
A14 IN42 Input 42 B14 IN41 Input 41
A15 IN40 Input 40 B15 IN39 Input 39
A16 IN38 Input 38 B16 IN37 Input 37
A17 IN36 Input 36 B17 IN35 Input 35
A18 IN34 Input 34 B18 IN33 Input 33
A19 （NC） B19 （NC）
A20 +24V_3 24-V power supply 3 B20 +24V_3 24-V power supply 3
Note: The +24V_3 is used for IN33 to IN48; +24V_4 is used for IN49 to IN64.

4-10
 4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330)

(c) Output Signal Connector OUT1

The following table shows the pin layout of the OUT1 connector.
Signal Signal
No. Remarks No. Remarks
Name Name
A1 024V_6 Common ground 6 B1 024V_6 Common ground 6
A2 +24V_6 24-V power supply 6 B2 +24V_6 24-V power supply 6
A3 OUT32 Output 32 B3 OUT31 Output 31
A4 OUT30 Output 30 B4 OUT29 Output 29
A5 OUT28 Output 28 B5 OUT27 Output 27
A6 OUT26 Output 26 B6 OUT25 Output 25
A7 OUT24 Output 24 B7 OUT23 Output 23
A8 OUT22 Output 22 B8 OUT21 Output 21
A9 OUT20 Output 20 B9 OUT19 Output 19
A10 OUT18 Output 18 B10 OUT17 Output 17
A11 OUT16 Output 16 B11 OUT15 Output 15
A12 OUT14 Output 14 B12 OUT13 Output 13
A13 OUT12 Output 12 B13 OUT11 Output 11
A14 OUT10 Output 10 B14 OUT09 Output 9
A15 OUT08 Output 8 B15 OUT07 Output 7
A16 OUT06 Output 6 B16 OUT05 Output 5
A17 OUT04 Output 4 B17 OUT03 Output 3
A18 OUT02 Output 2 B18 OUT01 Output 1
A19 024V_5 Common ground 5 B19 024V_5 Common ground 5
A20 +24V_5 24-V power supply 5 B20 +24V_5 24-V power supply 5
Note: The +24V_5 and 024V_5 are used for OUT01 to OUT16. +24V_6 and 024V_6 are used for OUT17 to
OUT32.

(d) Output Signal Connector OUT2

The following shows the pin layout of the OUT2 connector.
Signal Signal
No. Remarks No. Remarks
Name Name
A1 024V_8 Common ground 8 B1 024V_8 Common ground 8
A2 +24V_8 24-V power supply 8 B2 +24V_8 24-V power supply 8
A3 OUT64 Output 64 B3 OUT63 Output 63

Other I/O Modules

A4 OUT62 Output 62 B4 OUT61 Output 61
A5 OUT60 Output 60 B5 OUT59 Output 59
A6 OUT58 Output 58 B6 OUT57 Output 57
A7 OUT56 Output 56 B7 OUT55 Output 55
A8 OUT54 Output 54 B8 OUT53 Output 53
A9 OUT52 Output 52 B9 OUT51 Output 51
A10 OUT50 Output 50 B10 OUT49 Output 49
A11 OUT48 Output 48 B11 OUT47 Output 47 4
A12 OUT46 Output 46 B12 OUT45 Output 45
A13 OUT44 Output 44 B13 OUT43 Output 43
A14 OUT42 Output 42 B14 OUT41 Output 41
A15 OUT40 Output 40 B15 OUT39 Output 39
A16 OUT38 Output 38 B16 OUT37 Output 37
A17 OUT36 Output 36 B17 OUT35 Output 35
A18 OUT34 Output 34 B18 OUT33 Output 33
A19 024V_7 Common ground 7 B19 024V_7 Common ground 7
A20 +24V_7 24-V power supply 7 B20 +24V_7 24-V power supply 7
Note: The +24V_7 and 024V_7 are used for OUT33 to OUT48; +24V_8 and 024V_8 are used for OUT49 to
OUT64.

4-11
 4 Other I/O Modules
4.1.3 System Connection

(5) Connection Examples

The following diagram shows an example of how the I/O connectors are usually connected.
(a) Input Signal Connector IN1
The following diagram shows an example of how the IN1 input-signal connector is usually connected. The
same connection is applicable for the IO350, the IO2310, and the IO2330 modules.

A20 +24V_1
24 VDC
B20 +24V_1

Digital Input A11 IN16

B11 IN15

A12 IN14

B12 IN13

IN12

External Input Signal

A13

B13 IN11

A14 IN10

B14 IN09

A15 IN08

B15 IN07

A16 IN06

B16 IN05

A17 IN04

B17 IN03

A18 IN02

B18 IN01

A2 +24V_2
24 VDC
B2 +24V_2

Digital Input A3 IN32

B3 IN31

IN30
External Input Signal

A4

B4 IN29

A5 IN28

B5 IN27

A6 IN26

B6 IN25

A7 IN24

B7 IN23

A8 IN22

B8 IN21

A9 IN20

B9 IN19

A10 IN18

B10 IN17

4-12
 4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330)

(b) Input Signal Connector IN2

The following diagram shows an example of how the IN2 input signal connector is usually connected. The
same connection is applicable for the IO350, the IO2310, and the IO2330.

A20 +24V_3
24 VDC
B20 +24V_3

Digital Input A11 IN48

B11 IN47

A12 IN46

B12 IN45

A13 IN44

External Input Signal

B13 IN43

A14 IN42

B14 IN41

A15 IN40

B15 IN39

A16 IN38

B16 IN37

A17 IN36

B17 IN35

A18 IN34

B18 IN33

A2 +24V_4
24 VDC
B2 +24V_4

Digital Input A3 IN64

B3 IN63

A4 IN62

B4 IN61

A5 IN60
External Input Signal

B5 IN59

Other I/O Modules

A6 IN58

B6 IN57

A7 IN56

B7 IN55

A8 IN54

B8 IN53

4
A9 IN52

B9 IN51

A10 IN50

B10 IN49

4-13
 4 Other I/O Modules
4.1.3 System Connection

(c) Output Signal Connector OUT1

The following diagram shows an example of how the OUT1 output signal connector is usually connected.
• Typical Connection of the IO350 and the IO2310 Modules

B20 +24V_5
24 VDC
A20 +24V_5

A11 OUT16 Fuse

Digital Output L
B11 OUT15
L
A12 OUT14
L
B12 OUT13
L

External Output Siganl

A13 OUT12
L
B13 OUT11
L
A14 OUT10
L
B14 OUT09
L
A15 OUT08
L
B15 OUT07
L
A16 OUT06
L
B16 OUT05
L
A17 OUT04
L
B17 OUT03
L
A18 OUT02
L
B18 OUT01
L
Fuse A19 024V_5

B19 024V_5
Blown fuse
detection circuit

B2 +24V_6
24 VDC
A2 +24V_6

A3 OUT32 Fuse
Digital Output L
External Output Siganl

B3 OUT31
L
A4 OUT30
L
B4 OUT29
L
A5 OUT28
L
B5 OUT27
L
A6 OUT26
L
B6 OUT25
L
A7 OUT24
L
B7 OUT23
L
A8 OUT22
L
B8 OUT21
L
A9 OUT20
L
B9 OUT19
L
A10 OUT18
L
B10 OUT17
L
Fuse A1 024V_6

B1 024V_6
Blown fuse
detection circuit

Note: Connect an externally fuse that is in accordance with the load specifications and has a load in series to
the output signal circuit. If an overload or a load short-circuit occurs without an external fuse being
connected, fire, destruction of the load unit, or damages to the output elements may result.

4-14
 4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330)

• Typical Connection of IO2330

Blown fuse
detection circuit
Digital Output B20 +24V_5
24 VDC
Fuse
A20 +24V_5

A11 OUT16 Fuse

L
B11 OUT15
L
A12 OUT14
L

External Output Signal

B12 OUT13
L
A13 OUT12
L
B13 OUT11
L
A14 OUT10
L
B14 OUT09
L
A15 OUT08
L
B15 OUT07
L
A16 OUT06
L
B16 OUT05
L
A17 OUT04
L
B17 OUT03
L
A18 OUT02
L
B18 OUT01
L

A19 024V_5

B19 024V_5

Blown fuse
detection circuit
Digital Output B2 +24V_6
24 VDC
Fuse
A2 +24V_6

A3 OUT32 Fuse
L
B3 OUT31
L
A4 OUT30
External Output Signal
L
B4 OUT29
L
A5 OUT28
L

Other I/O Modules

B5 OUT27
L
A6 OUT26
L
B6 OUT25
L
A7 OUT24
L
B7 OUT23
L
A8 OUT22
L
B8 OUT21

A9 OUT20
L
4
L
B9 OUT19
L
A10 OUT18
L
B10 OUT17
L

A1 024V_6

B1 024V_6

Note: Connect an externally fuse that is in accordance with the load specifications and has a load in series to
the output signal circuit. If an overload or a load short-circuit occurs without an external fuse being
connected, fire, destruction of the load unit, or damages to the output elements may result.

4-15
 4 Other I/O Modules
4.1.3 System Connection

(d) Output Signal Connector OUT2

The following diagram shows typical connection of OUT2 output signal connector.
• Typical Connection of IO350 and IO2310

B20 +24V_7
24 VDC
A20 +24V_7

A11 OUT48 Fuse

Digital Output L
B11 OUT47
L
A12 OUT46
L
B12 OUT45

External Output Signal

L
A13 OUT44
L
B13 OUT43
L
A14 OUT42
L
B14 OUT41
L
A15 OUT40
L
B15 OUT39
L
A16 OUT38
L
B16 OUT37
L
A17 OUT36
L
B17 OUT35
L
A18 OUT34
L
B18 OUT33
L
Fuse A19 024V_7

B19 024V_7
Blown fuse
detection circuit

B2 +24V_8
24 VDC
A2 +24V_8

A3 OUT64 Fuse
Digital Output L
B3 OUT63
L
A4 OUT62
L
B4 OUT61
L
A5 OUT60
L
OUT59
External Output Signal

B5
L
A6 OUT58
L
B6 OUT57
L
A7 OUT56
L
B7 OUT55
L
A8 OUT54
L
B8 OUT53
L
A9 OUT52
L
B9 OUT51
L
A10 OUT50
L
B10 OUT49
L
Fuse A1 024V_8

B1 024V_8
Blown fuse
detection circuit

Note: Connect an externally fuse that is in accordance with the load specifications and has a load in series to
the output signal circuit. If an overload or a load short-circuit occurs without an external fuse being
connected, fire, destruction of the load unit, or damages to the output elements may result.

4-16
 4.1 64-point I/O Module (JEPMC-IO350/IO2310/IO2330)

• Typical Connection of IO2330

Blown fuse
detection circuit
Digital Output B20 +24V_7
24 VDC
Fuse
A20 +24V_7

A11 OUT48 Fuse

L
B11 OUT47
L
A12 OUT46
L
B12 OUT45
L
OUT44

External Output Signal

A13
L
B13 OUT43
L
A14 OUT42
L
B14 OUT41
L
A15 OUT40
L
B15 OUT39
L
A16 OUT38
L
B16 OUT37
L
A17 OUT36
L
B17 OUT35
L
A18 OUT34
L
B18 OUT33
L

A19 024V_7

B19 024V_7

Blown fuse
detection signal
Digital Output B2 +24V_8
24 VDC
Fuse
A2 +24V_8

A3 OUT64 Fuse
L
B3 OUT63
L
A4 OUT62
L
B4 OUT61
L
A5 OUT60
L
External Output Signal

Other I/O Modules

B5 OUT59
L
A6 OUT58
L
B6 OUR57
L
A7 OUT56
L
B7 OUT55
L
A8 OUT54
L
B8 OUT53
L
A9 OUT52
L 4
B9 OUT51
L
A10 OUT50
L
B10 OUT49
L

A1 024V_8

B1 024V_8

Note: Connect an externally fuse that is in accordance with the load specifications and has a load in series to
the output signal circuit. If an overload or a load short-circuit occurs without an external fuse being
connected, fire, destruction of the load unit, or damages to the output elements may result.

4-17
 4 Other I/O Modules
4.1.3 System Connection

(6) Example of System Connections

The following example shows the connections in a system that uses an IO2310 Module.
MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP YASKAWA
INT JEPMC-IO2310
CNFG
MON
TEST SW1

OFF ON
CN1
IN1 OUT1 IN2 OUT2
M-I/II

A1 B1 A1 B1 A1 B1 A1 B1

BATTERY

CPU I/O

DC24V

DC 0V

YASKAWA SERVOPACK YASKAWA SERVOPACK YASKAWA SERVOPACK

SGDH- SGDH- SGDH-

NS100 NS100 NS100

Terminator
(Terminating resistor)

4-18
 4.2 Wildcard I/O Modules (I/O)

4.2 Wildcard I/O Modules (I/O)

The Wildcard I/O Modules are virtual Distributed I/O Modules that can represent other Modules such as ones
that will be developed in the future. A virtual Distributed I/O Module can be used temporarily when the MPE720
software for Programming Device is not compatible. The number of I/O points is not fixed so the user can set the
number of I/O points as needed. Up to 16 words of data can be set. Refer to Chapter 2 I/O Allocations for details.

Other I/O Modules

4-19
 5
Reversible Counter Module
with Preset Function

This section provides an overview of the Reversible Counter Module with Preset Function
(120EHC21140)/(PL2900).

5.1 Summary of Module Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 High-speed Pulse Counting Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Notch Signal Output Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.1.3 Current Value Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11

Reversible Counter Module with Preset Function

5.3.1 Example of System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
5.3.2 Interface with the Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12

5.4 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13

5.4.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.4.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14

5.5 External I/O Signals and Connection Examples - - - - - - - - - - - - - - - - - - - 5-24

5.5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
5.5.2 Connection Examples of External I/O Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
5.5.3 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32
5.5.4 Output Coils - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
5.5.5 Output Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
5.5.6 Input Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.5.7 Input Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.5.8 Monitoring Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.6 Precautions on Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42 5

5.6.1 External Pulse Input Circuit (Phase-A Pulse, Phase-B Pulse) - - - - - - - - - - - - - - - - - 5-42
5.6.2 External Input Circuit (External Latch and External Current Value Reset Functions) - - 5-44
5.6.3 External Output Circuit (External Notch Output) - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47

5.7 Module Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-49

5.7.1 Operation Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-49
5.7.2 Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54

5-1
 5 Reversible Counter Module with Preset Function
5.1.1 High-speed Pulse Counting Function

5.1 Summary of Module Functions

There are two types of Counter Modules available as described below.
• JAMSC-120EHC21140: Module with baud rate of 4 Mbps/1 Mbps
• JEPMC-PL2900: Module with baud rate of 10 Mbps/4 Mbps
Only the MECHATROLINK with baud rate differs between these Modules. For operation, the DIP switch set-
tings are also different, however, the functions are the same as the Counter Modules.
This section describes the operations that can be performed with the Counter Module.

5.1.1 High-speed Pulse Counting Function

The Counter Module can count high-speed pulses input from a pulse source such as a rotary encoder.
EXAMPLE
The following timing chart shows an example of high-speed counter operation

Counting range: FFFFFFFF

Phase A (pulse)

Phase B (sign)

Count enable

Reset
Counter current
value 0 1 2 3 4 5 0 FFFFFFFFh FFFFFFFEh

The high-speed pulse counting function has the following capabilities.

(1) Counting Method
• Phase-A and phase-B pulses (×1, ×2, or ×4 multiplication)
• Sign and pulse (×1 or ×2 multiplication)
• Increment and decrement pulses (×1 or ×2 multiplication)

(2) Counting Speed

• 300 kpps (×1 multiplication)
• 600 kpps (×2 multiplication)
• 1,200 kpps (×4 multiplication)

(3) Counting Range

32 bits (0 to 4,294,967,295 (FFFFFFFF hexadecimal))

5-2
 5.1 Summary of Module Functions

5.1.2 Notch Signal Output Function

The Counter Module can compare the pulse count with the notch point set value (set in advance) and output a
digital notch signal to an external device such as a relay.
EXAMPLE
The following timing chart shows an example of the notch signal output function

Decrement direction Increment direction

Nn’ Nn’

Nn Nn
Counter current value

ON ON

Notch output (N1)

The notch signal output function has the following capabilities.

(1) Output Mode
There are three output modes: State mode, latch mode, and special state mode. Select either mode.
(a) State Mode
Increment direction
Decrement direction
Counter current value Nn-1 Nn Nn’ Nn’+1

Reversible Counter Module with Preset Function

Notch output n

The following timing chart shows the output pattern of the notch output signal when the function is in state
mode and Nn < Nn'.
Decrement direction Increment direction

Nn’ Nn’

Nn Nn
Counter current value

ON ON

Notch output (N1)

5-3
 5 Reversible Counter Module with Preset Function
5.1.2 Notch Signal Output Function

(b) Latch Mode

Increment direction

Counter current value Nn-1 Nn

Notch output n

Decrement direction

Counter current value Nn Nn+1

Notch output n

The following timing chart shows the output pattern of the notch output signal when the function is in latch
mode.
Decrement direction Increment direction

Nn Nn

Counter current value

Notch output (N1)

Latch reset

5-4
 5.1 Summary of Module Functions

(c) Special State Mode

Increment direction

Counter current value Nn-1 Nn Nn' Nn'+1

Notch output n

Decrement direction

Counter current value Nn Nn+1 Nn' Nn'+1

Notch output n

The following timing chart shows the output pattern of the notch output signal when the function is in special
state mode.
Increment direction Decrement direction

Nn Nn

Nn Nn

Counter current value

Notch output (N1)

Latch reset

Reversible Counter Module with Preset Function

(2) Number of Outputs
The number of outputs is 1 output/channel.

5.1.3 Current Value Setting

The current value setting can be used to set the current value in the Counter Module. The current value is set in
the output registers and then set in the Counter Module using Current Value Set Output Coil.

5-5
 5 Reversible Counter Module with Preset Function

5.2 External Appearance and Configuration

The following diagram shows the Counter Module's external parts.
LED indicators
Module mounting holes (for M4 screws)
for back mounting
DIP switch
Model description
(120EHC21140/PL2900)
Front cover

MECHATROLINK
port

Terminal block mounting screws

(two M3.5 screws)

Module mounting holes

(for M4 screws) for bottom
Terminal cover mounting

Detachable terminal block

External connector terminals

(M3, Phillips-head)
Insertable label
for signal terminals

(1) LED Indicators

The following table shows the contents of the Counter Module’s LED indicators

RDY TX RX ERR FLT PA1 PB1 EN1 RS1 L1 N1 PA2 PB2 EN2 RS2 L2 N2

5-6
 5.2 External Appearance and Configuration

Indicator Indicator
Status Meaning When Lit or Flashing
LED Color
Lit The Module is operating normally.
RDY Green The transmission cable is disconnected or the Module is
Flashing
waiting for communication with the master.
TX Green Lit Data is being transmitted.
RX Green Lit Data is being received.
ERR Red Lit A communication error occurred.
Lit A setting error occurred.
FLT Red
Flashing A self-diagnostic error occurred.
PA1 Green Lit The counter 1 phase-A pulse is being input.
PB1 Green Lit The counter 1 phase-B pulse is being input.
EN1 Green Lit Counter 1 counting is enabled.
RS1 Green Lit The counter 1 external reset input is being input.
L1 Green Lit The counter 1 external latch input is being input.∗
N1 Green Lit The counter 1 notch output is being output.
PA2 Green Lit The counter 2 phase-A pulse is being input.
PB2 Green Lit The counter 2 phase-B pulse is being input.
EN2 Green Lit The counter 2 counting is enabled.
RS2 Green Lit The counter 2 external reset input is being input.
L2 Green Lit The counter 2 external latch input is being input.∗
N2 Green Lit The counter 2 notch output is being output.
* The LED indicator will remain lit even after the external latch input goes OFF as long as its data is retained in the
Module. The indicator can be turned OFF by turning ON the L-RESn Bit for the digital output.

(2) DIP Switch Settings

Reversible Counter Module with Preset Function

The settings for the Counter Module's DIP switch are explained below.
SW

ON

1 2 3 4 5 6 7 8
ON
1

5-7
 5 Reversible Counter Module with Preset Function

(a) EHC21140 Module

Factory
Pin No. Setting Function
Setting
ON Pins 1 through 5 set the Counter Module's slave address. (See the table on 1: ON
1 to 5
OFF the following page.) 2 to 5: OFF
ON Sets the Counter Module's baud rate to 1 Mbps.
6 OFF
OFF Sets the Counter Module's baud rate to 4 Mbps.
ON Continues counting even if communication stops. OFF
7
OFF Stops counting when communication stops. OFF
ON Reserved for future use. Leave pin 8 OFF.
8 OFF
OFF

(b) PL2900 Module

Factory
Pin No. Setting Function
Setting
ON Pins 1 through 5 set the Counter Module's slave address. (See the table on 1: ON
1 to 5
OFF the following page.) 2 to 5: OFF
When SW8 turns ON, set the communication data length to 32 bytes.
ON
When SW8 turns OFF, set SW6 to OFF, too.
6 OFF
When SW8 turns ON, set the communication data length to 17 bytes.
OFF
When SW8 turns OFF, set SW6 to OFF, too.
ON Continues counting even if communication stops. OFF
7
OFF Stops counting when communication stops. OFF
ON Sets the Counter Module's baud rate to 10 Mbps.
8 ON
OFF Sets the Counter Module's baud rate to 4 Mbps.

IMPORTANT New settings on pins 6 and 7 become effective when the main external power supply (24 VDC) is turned ON.
When changing the setting, turn the Module's main external power supply (24 VDC) OFF and then ON again.
PL2900 Module does not operate at 1-Mbps baud rate.

5-8
 5.2 External Appearance and Configuration

The following table shows the possible slave address settings.

Slave DIP Switch Pins Slave DIP Switch Pins

Address 1 2 3 4 5 Address 1 2 3 4 5
Not used 0 0 0 0 0 16 0 0 0 0 1
1 1 0 0 0 0 17 1 0 0 0 1
2 0 1 0 0 0 18 0 1 0 0 1
3 1 1 0 0 0 19 1 1 0 0 1
4 0 0 1 0 0 20 0 0 1 0 1
5 1 0 1 0 0 21 1 0 1 0 1
6 0 1 1 0 0 22 0 1 1 0 1
7 1 1 1 0 0 23 1 1 1 0 1
8 0 0 0 1 0 24 0 0 0 1 1
9 1 0 0 1 0 25 1 0 0 1 1
10 0 1 0 1 0 26 0 1 0 1 1
11 1 1 0 1 0 27 1 1 0 1 1
12 0 0 1 1 0 28 0 0 1 1 1
13 1 0 1 1 0 29 1 0 1 1 1
14 0 1 1 1 0 30 0 1 1 1 1
15 1 1 1 1 0 Not used 1 1 1 1 1

Note: ON is 1. OFF is 0.

INFO The upper limit of an effective slave address differs depending on the settings of the MECHATROLINK communication
method (speed, cycle, etc.). For details, refer to the specifications of the communication method.

Reversible Counter Module with Preset Function

IMPORTANT When the PL2900 Module is used at 10-Mbps baud rate, set the communication cycle to 1 ms or more.

5-9
 5 Reversible Counter Module with Preset Function

(3) Terminal Block Terminal Layout

The following diagram shows the layout of terminals on the Counter Module's terminal block.

1 3 5 7 9 11 13 15 17 19 21 23
PHA1- PHB1 PHB1+ N1 OUT- N2 RST2 PHA2- PHB2 PHB2+ +24V

2 4 6 8 10 12 14 16 18 20 22
PHA1 PHA1+ PHB1- L1 RST1 IN- L2 PHA2 PHA2+ PHB2- 024 V

Terminal Signal
Signal Function
No. Name
1 (open) −
2 PHA1
3 PHA1- Counter 1 phase-A input
4 PHA1+
5 PHB1
6 PHB1- Counter 2 phase-B input
7 PHB1+
8 L1 Counter 1 latch input
9 N1 Counter 1 notch output
10 RST1 Counter 1 reset input
Counters 1 and 2
11 OUT-
external output common
Counters 1 and 2
12 IN-
external input common
13 N2 Counter 2 notch output
14 L2 Counter 2 latch output
15 RST2 Counter 2 reset input
16 PHA2
17 PHA2- Counter 2 phase-A input
18 PHA2+
19 PHB2
20 PHB2- Counter 2 phase-B input
21 PHB2+
22 024V Main external power supply 0 V
23 +24V Main external power supply +24 V

5-10
 5.3 System Configuration

5.3 System Configuration

5.3.1 Example of System Configuration
The following diagram shows an example system configured for the Counter Module to count high-speed pulses
from a rotary encoder.
An MP920 is used in this example.

PS-03 CPU-01 DI-01 DO-01 SVB-01

MECHATROLINK
M
Counter
Module
PORT1

JEPMC-W5311-03
High-speed pulses:
phase-A and phase-B
inputs, ?1 multiplication,
Programming Device open-collector output,
(MPE720) 24 VDC

Rotary
encoder

24-VDC
power supply

Notch output External reset input

External latch input

Relay Switch

Reversible Counter Module with Preset Function

24-VDC 24-VDC
power supply power supply

PS-03: Power Supply Module DO-01: 24-VDC 64-point Output Module

CPU-01: MP920 CPU Module SVB-01: MECHATROLINK Interface Module
DI-01: 24-VDC 64-point Input Module JEPMC-W5311-03: MEMOBUS cable

(1) Maximum Number of Modules

Up to 14 Modules can be connected to a MECHATROLINK-I communication line.
Up to 21 Modules can be connected to a MECHATROLINK-II communication line.
For the overall system, the actual number of possible Modules will be determined by the number of sets of the
following CPU Module I/O registers that are available for allocation.
a) Seven consecutive words of input (I) registers
2 working registers (IWxxxx)
16 bits of input relays (IBxxxx0+20) 5
4 input registers (IWxxxx+3)
b) Eight consecutive words of output (O) registers
2 working registers (OWxxxx)
32 bits of output coils (OBxxxx0+20)
4 output registers (OWxxxx+4)

(2) Mounting Position

The Module can be connected at any position on the MECHATROLINK communication line.

5-11
 5 Reversible Counter Module with Preset Function
5.3.2 Interface with the Host Controller

5.3.2 Interface with the Host Controller

The following diagram shows the interfaces between the Counter Module and the host controller and between the
Counter Module and external devices.
Host controller (such as the MP910,
SVB-01 of MP920, or MP930)
Counter Module
OWxxxxx Scan counter
Commands
OWxxxxx+1 and
references
OWxxxxx+2 PHAn

Output coils Pulse (Phase A, pulse, or in-

OWxxxxx+3
count crementing)
circuit PHBn
Data

Interface with the Host Controller

settings (Phase B, sign, or dec-
rementing)
Output
registers
Ln
Exter-
nal (External latch input)
CPU input
IWxxxxx RSTn
circuit
(External current value
IWxxxxx+1 reset)

IWxxxxx+2
Status
Input relays
IWxxxxx+3
signals Exter-
nal Nn
IWxxxxx+4 output (External notch output
Data circuit n)
IWxxxxx+5 monitor
Input
IWxxxxx+6 registers

IWxxxxx+7

Monitor

The following table explains the signals.

Name Explanation Reference
Monitor the host controller to process the 1scan in order to let the
Scan counter −
carry or the borrow signal of the input relay on 1scan.
Contain the ON or OFF status of control signals from the host con-
Output coil 5.5.4 Output Coils
troller to the Module.
Contain numerical signals that convey the host controller's control
Output register references to the Counter Module. Used in combination with the 5.5.5 Output Registers
output coils.
Contain the ON or OFF status of status signals from the Counter
Input relay 5.5.6 Input Relays
Module to the host controller.
Contain numerical signals that convey the Counter Module's status
Input register 5.5.7 Input Registers
to the host controller. Used in combination with the output coils.

IMPORTANT Increase the Scan Counter by using the ladder program after setting the carry and the borrow signal as to the
scan.

INFO In order to monitor the carry or the borrow signal using the scan, INC OWxxxxx ladder is necessary.
Enter/Entry the ladder in/on the high-speed drawings, when using the carry or the borrow signal with the high-speed scan.
If using the low-speed scan, enter/entry the ladder in/on the low-speed drawings.

5-12
 5.4 Specifications

5.4 Specifications
5.4.1 General Specifications
The general specifications of the Counter Module are shown below.
Item Specification
Ambient Operating EHC21140 Module: 0 to 60°C
Temperature PL2900 Module: 0 to 55 ℃
Storage Temperature -25 to 85°C
Environmental Operating Humidity 30% to 95% (with no condensation)
Conditions Storage Humidity 5% to 95% (with no condensation)
Pollution Level Pollution level 1 according to JIS B 3501
Corrosive Gas No corrosive gas
Operating Altitude Less than 2,000 m above sea level
10 to 57 Hz with half-amplitude of 0.075 mm
57 to 150 Hz at fixed acceleration of 9.8 m/s2 (1 G)
Vibration Resistance
10 sweeps in X, Y, and Z directions (sweep period: 1 octave/min)
Mechanical Operating (conforming to JIS B 3502)
Conditions
Peak acceleration of 147 m/s2 (15 G) twice for 11 ms in X, Y, and Z
Shock Resistance directions
(conforming to JIS B 3502)
1,000 Vp-p in normal mode with pulse widths of 100 ns and 1 ms and
Electrical
Noise Resistance rise time of 1 ns (with impulse noise simulator)
Operating Conditions
(conforming to JIS B 3502)
1,500 VAC for 1 min or 1,800 VAC for 1 s between the I/O terminals
Dielectric Strength
and internal circuits, between I/O commons
100 MΩ min. at 500 VDC between I/O terminals and ground
Insulation Resistance

Reversible Counter Module with Preset Function

(at room temperature and humidity)
Ground Ground to 100 Ω or less
The Module can be mounted in three directions. Refer to 3.1.2
Configuration
Mounting Orientation for details.
Installation
Cooling Method Natural cooling
Requirements
Mass Approx. 300 g
161 × 44 × 79 (W × H × D)
Dimensions (mm)
(Not including the terminal block.)

5-13
 5 Reversible Counter Module with Preset Function
5.4.2 Performance Specifications

5.4.2 Performance Specifications

(1) Hardware Specifications
The hardware specifications of the Counter Module are shown below.
Item Specifications
Name Two-channel Counter Module
Model Description V_COUNT-2CH/PL2900
Model Number JAMSC-120EHC21140, JEPMC-PL2900
Functions Pulse counting and notch output
Number of Circuits 2 circuits
Communication Protocol MECHATROLINK
32 output coils, 4 output registers
I/O Allocations
16 input relays, 4 input registers
PA1 lit: Counter 1 phase-A pulse is being input.
PB1 lit: Counter 1 phase-B pulse is being input.
EN1 lit: Counter 1 counting is enabled.
RS1 lit: Counter 1 external reset input is being input.
L1 lit: Counter 1 external latch input is being input.
N1 lit: Counter 1 notch output is being output.
I/O Signal Indication
PA2 lit: Counter 2 phase-A pulse is being input.
PB2 lit: Counter 2 phase-B pulse is being input.
EN2 lit: Counter 2 counting is enabled.
RS2 lit: Counter 2 external reset input is being input.
L2 lit: Counter 2 external latch input is being input.
N2 lit: Counter 2 notch output is being output.
RDY lit: The Module is operating normally.
RDY flashing: The transmission cable is disconnected or the Module is wait-
ing for communication with the master.
TX lit: Data is being transmitted.
Status Indication
RX lit: Data is being received.
ERR lit: A communication error occurred.
FLT lit: A setting error occurred.
FLT flashing: A self-diagnostic error occurred.
Insulation Method Photocoupler
I/O Circuit Dielectric Strength 1,500 VAC for 1 minute between the I/O terminals and internal circuits
Isolation 100 MΩ min. at 500 VDC between input terminals and internal circuits (at
Insulation Resistance
room temperature and humidity)
Input signal power supply: 24 VDC
External Power Supply Load driving power supply: 24 VDC
Main external power supply: 24 VDC (20.4 to 26.4 V), 150 mA
The Module can be mounted in three directions. Refer to 3.1.2 Mounting Ori-
Derating Conditions
entation for details.
Maximum Heating Value 2.88 W
Terminal block: Not permitted
Hot Swapping
Communication connector: Permitted

5-14
 5.4 Specifications

(2) Performance Specifications

The hardware specifications of the Counter Module are shown below.

Item Specifications
There are 7 different types of pulse input systems:
• Sign+pulse, 1X
• Sign+pulse, 2X
• A-and B-phase pulses, 1X
• A-and B-phase pulses, 2X
Pulse Input System
• A-and B-phase pulses, 4X
• Addition and subtraction pulses, 1X
• Addition and subtraction pulses, 2X
Using the control program, set the initial setting of the pulse input method as
the ‘pulse input mode’.
• 1X: 300 Kpps
Maximum Count
• 2X: 600 Kpps
Speed
• 4X: 1200 Kpps
Use any of the following pulse input voltages: 3, 5, 12, and 24 VDC.
Pulse Input Voltage The connection methods of the cable to field wiring terminals differ accord-
ing to the pulse input voltage.
Use any of the following pulse types: open-collector output, TTL output,
Pulse Transfer and differential voltage output.
Circuit For an open-collector output, external power (5/12/24 VDC, 10 mA) must
be supplied.
The following signals can be output to the High-speed Counter Module from
the control program.
Pulse Counter • Count enables:

Reversible Counter Module with Preset Function

Specifications Internal Control The High-speed Counter Module can count pulses while this signal are
Signal ON.
• Current value reset:
Turning ON this signal can reset the current value of the High-speed
Counter Module.
The following signals can be input to the High-speed Counter Module from
limit switches or other external devices:
• External current value reset:
Turning ON this signal can reset the current value of the High-speed
External Control Counter Module.
Signal • External latch:
Turning ON this signal can hold the current value of the High-speed
Counter Module.
• Input circuit specifications:
24 VDC, photocoupler insulation, 5.0 mA
Number of Output
Notch signal points can be output to external devices such as relays.
Signals
Set the initial setting of the output mode of each notch signal either to state
mode or latch mode from the control program. 5
The notch signals set in state mode will be ON if the current value of counter
Notch Output Mode is within the range of set notch point.
The notch signals set in latch mode will turn ON when the current value of
counter reaches the set notch point. To turn these signals OFF, turn the latch
reset signal ON from the control program.

5-15
 5 Reversible Counter Module with Preset Function
5.4.2 Performance Specifications

(cont’d)
Item Specifications
Notch Point Set Make the initial notch point settings from the control program. The notch
Value point setting determines the ON/OFF timing of the notch signal.
State mode: Two notch point set values (range)
Latch mode: One notch point set value (1 point)
Forced Output
Each notch signal can be forced ON or OFF from the control program.
Function
External Output Specifications of the output circuit of each notch signal:
Notch Signal
Circuit Open-collector output, 24 VDC, 100 mA
Output
Internal Control The following signals can be output to the Counter Module from the control
Signals program.
• Notch Output Enable:
The Counter Module can output notch signals while this signal is ON.
• Notch Reset:
The notch signals that were turned ON in latch mode can be turned OFF
by turning this signal ON.
The following signals can be monitored from the control program.
READY:
ON when the Counter Module is operating normally.
ACK:
ON when the Counter Module settings have been made successfully.
ERROR:
ON when a setting error has occurred.
NOTCH OUTPUT:
Monitor Functions ON when the notch output is ON.
LATCH INPUT:
ON when external latch signal is ON.
CARRY:
ON for one scan when the pulse count has been incremented to the maxi-
mum count value and has rolled over to 0.
BORROW:
ON for one scan when the pulse count has been decremented to 0 and has
rolled over to the maximum count value.

5-16
 5.4 Specifications

(3) Pulse Timing and Counting

The following table shows the timing of input pulses and resulting incrementing or decrementing of the pulse
count. The pulse count is incremented or decremented at the arrows (h or i).
Counting
Input Mode Incrementing Decrementing
Speed

Phase A Phase A
Sign and pulse,
300 kpps
×1 multiplication Phase B OFF
ON Phase B

Phase A Phase A
Sign and pulse,
600 kpps
×2 multiplication Phase B OFF
ON Phase B

Phase-A and
Phase A Phase A
phase-B, ×1 300 kpps
multiplication Phase B Phase B

Phase-A and
Phase A Phase A
phase-B, ×2 600 kpps
multiplication Phase B Phase B

Phase-A and
Phase A Phase A
phase-B, ×4 1,200 kpps
multiplication Phase B Phase B

Incrementing
Phase A

Reversible Counter Module with Preset Function

and decrement- Phase A
300 kpps
ing, ×1 multipli- Phase B
cation Phase B

Incrementing
Phase A
and decrement- Phase A
600 kpps
ing, ×2 multipli- Phase B
Phase B
cation

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 5 Reversible Counter Module with Preset Function
5.4.2 Performance Specifications

(4) Pulse Waveform

(a) Pulse Waveform
1. Phase A and Phase B Method
Cycle: T ≥ 3.3 μs
T
Duty factor: τ/T ≥ 40 to 60%
τ t1, t2, t3, and t4 ≥ 0.66 μs

Phase A

t1 t2 t3 t4

Phase B

2. Sign and Pulse Method

Cycle: T ≥ 3.3 μs
T
Pulse width: τ ≥ 1.33 μs
τ
t1 and t2 ≥ 0.66 μs
Pulse

t1 t2

Sign

3. Increment and Decrement Method

Cycle: T1 ≥ 3.3 μs
T1
Pulse width: T2 ≥ 1.33 μs
T2

Increment
and decre-
ment pulses

(b) Input Pulse Waveform

The pulse counting speed is affected by the pulse rise time and the pulse fall time. The following diagram
shows the maximum allowable rise and fall times
At 200 kpps: t < 0.2 μs
At 50 kpps: t < 0.8 μs
At 5 kpps: t < 8 μs

t t

5-18
 5.4 Specifications

(5) External Input Signal Specifications

(a) Phase-A and Phase-B Pulses
1. Performance Specifications
The performance specifications of the external I/O circuit (phase A and phase B) are shown below.
Item Specifications (Phase-A and Phase-B Pulses)
Voltage 3 VDC∗1 5 VDC 12 VDC 24 VDC
Rated Voltage 3 VDC 5 VDC 12 VDC 24 VDC
Maximum Allowable Voltage 3.5 VDC 5.5 VDC 13.2 VDC 26.4 VDC
Input Format Sinking or sourcing
Rated Current 8 mA
Input Impedance 180 Ω 430 Ω∗2 1.3 kΩ∗3 2.7 kΩ
Standard Operating Min. ON Voltage 3.0 VDC 4.5 VDC 10.2 VDC 20.4 VDC
Range Max. OFF Voltage 1.0 VDC 1.5 VDC 1.5 VDC 2.0 VDC
OFF to ON 0.3 μs max.
Input Delay Times
ON to OFF 0.3 μs max.
External Power Supply (for Signals) 3 VDC 5 VDC 12 VDC 24 VDC
PHA Lit when phase-A pulse is ON (internal logic).
Input Signal Indicators
PHB Lit when phase-B pulse is ON (internal logic).
Isolation Method Photocoupler
External Connections Removable terminal block with M3 screw terminals

* 1. Connection to differential outputs is possible.

* 2. Combined resistance when a resistance of 330 Ω is connected externally.
* 3. Combined resistance when a resistance of 2.2 kΩ is connected externally.

The terminal connections must be selected based on the voltage level of the input pulse signals. The specifications in the

Reversible Counter Module with Preset Function

INFO
table above apply when the proper connection has been made for the voltage level.

5-19
 5 Reversible Counter Module with Preset Function
5.4.2 Performance Specifications

2. Circuit Configuration
The following table shows the circuit configuration for the Counter Module.

Status
+5V indicator
2.7kΩ
PHA1
2

180Ω
PHA1+ Photocoupler
4
Counter 1 4.7kΩ
phase-A pulse PHA1-
3

2.7kΩ
PHB1
5

180Ω
PHB1+ Photocoupler
7
Counter 1 4.7kΩ

Internal circuits
phase-B pulse PHB1-
6

2.7kΩ
- + PHA2
16
24 VDC 180Ω
PHA2+ Photocoupler
18
Counter 2 4.7kΩ
phase-A pulse PHA2-
17

2.7kΩ
PHB2
19

180Ω
PHB2+ Photocoupler
21
Counter 2 4.7kΩ
Phase-B pulse PHB2-
20

- +

24 VDC

5-20
 5.4 Specifications

3. Connecting Input Pulse Signal

The terminal connections must be selected based on the voltage level of the input pulse signals. The fol-
lowing diagram shows the proper connection for each voltage level

2.7kΩ
24-VDC connection PHA1
2
+24V
180Ω
PHA1+ Photocoupler
4
4.7kΩ
PHA1-
3

0V
2.7kΩ
12-VDC connection PHA1
2
+12V
2.2kΩ 180Ω Photocoupler
PHA1+
4
4.7kΩ
PHA1-
3

0V
2.7kΩ
5-VDC connection PHA1
2
+5V
330Ω 180Ω Photocoupler
PHA1+
4

Reversible Counter Module with Preset Function

4.7kΩ
PHA1-
3

0V

Differential voltage
2.7kΩ
output connection PHA1
2
+5V
180Ω
PHA1+ Photocoupler
4
4.7kΩ
PHA1-
3

0V

5-21
 5 Reversible Counter Module with Preset Function
5.4.2 Performance Specifications

(b) External Latch and External Current Value Reset

1. Performance Specifications
The performance specifications of the external input circuits (external latch and external current value
reset) are shown below.
Item Specifications
Rated Voltage 24 VDC
Maximum Allowable Voltage 24 to 26.4 VDC
Input Format Sinking or sourcing
Rated Current 5 mA/point
Input Impedance 4.7 kΩ
Standard Operating Min. ON Voltage 10.2 VDC
Range Max. OFF Voltage 3.0 VDC
OFF to ON: 1 ms max.
External Latch
ON to OFF: 2 ms max.
Input Delay Times
External Current Value OFF to ON: 2 ms max.
Reset ON to OFF: 2 ms max.
External Power Supply (for Signals) 24 VDC
RSTn Lit when external current value reset is ON.
Input Signal Indicators
Ln Lit when external latch is ON.
Isolation Method Photocoupler
External Connections Removable terminal block with M3 screw terminals

2. Circuit Configuration
The following table shows the circuit configuration for the Counter Module.

Status
+5V indicator

Counter 1
external latch L1 4.7kΩ 1000P Photocoupler
8
620Ω
Counter 1
external current
value reset RST1 4.7kΩ 1000P Photocoupler
10
Internal circuits

620Ω

Counter 2
external latch L2 4.7kΩ 1000P Photocoupler
14
620Ω
Counter 2
external current
value reset RST2 4.7kΩ 1000P Photocoupler
15
External input 620Ω
+ - common IN-
12

- +
+5V
24 VDC
0V
22 Insulating
DC/DC
- + +24V converter
23
Main external power
supply (24 VDC)
0V

5-22
 5.4 Specifications

(6) External Output Signal Specifications

(a) Performance Specifications
The performance specifications of the external I/O circuit (external notch output) are shown below.
Item Specifications
Rated Voltage 24 VDC
Allowable Voltage Range 19.2 to 30.0 VDC
Output Format Sinking
Maximum Load Current 100 mA/point
Output Voltage Drop 1.5 V max. (100 mA)
OFF to ON: 1.5 ms max.
Output Delay Times
ON to OFF: 1.5 ms max.
Leakage Current when OFF 1 mA max. (24 VDC)
Output Type Transistor output
Number of Commons 1
Output Points per Common 2 points per common
External Connections Removable terminal block with M3 terminal screws
Output Protection Unprotected outputs according to JIS B 3501
Built-in Fuse None
Surge Suppression Circuit None
Other Output Protection None
Output Points Notch outputs: 2
Output Signal Indicators Indicator lit when each notch point is ON (internal logic).
Isolation Method Photocoupler
Derating Conditions None
External Power Supply For driving loads: 24 VDC

Reversible Counter Module with Preset Function

(b) Circuit Configuration

CAUTION
• Connect a fuse which is appropriate for the load specifications in series with the load.
The output circuit is not equipped with a built-in fuse. Failure to connect a fuse may result in fire, damage to equip-
ment, or damage to the output circuits if there is a load short-circuit or overload.
The following diagram shows the circuit configuration.

+5V
Notch output indicator

External notch Load

Photocoupler
N1 output 1
9 L
Internal circuits

5
Photocoupler External notch
N2 output 2
13 L

Output common
OUT- - +
11
12/24 VDC

5-23
 5 Reversible Counter Module with Preset Function
5.5.1 Overview

5.5 External I/O Signals and Connection Examples

5.5.1 Overview
The following table summarizes the external I/O signals.

Signal Name Details

• Pulses input to the phase-A and phase-B terminals will be counted as the
counter's current value. Select the proper connection method based on the sig-
nal voltage level being used.
• Use one of the three counting methods listed below:
• Phase-A and phase-B The phase-A and phase-B pulse counting
pulses method supports ×1, ×2, and ×4 multiplica-
tion pulse counting.
PHAn
• Sign and pulse Input the sign signal to phase-B and the
PHBn
pulses to phase-A. This method supports ×1
and ×2 multiplication pulse counting.
Input • Increment and decrement Input the increment pulses to phase-A and the
Signals pulses decrement pulses to phase-B. This method
supports ×1 and ×2 multiplication pulse
counting.
This setting is enabled when the Module is initialized.
• Sets the counter current value to 0.
RSTn
• Effective when the signal goes from OFF to ON.
(External current
value reset) • Performs the same function as that perform when the Present Value Reset Out-
put Coil changes from OFF to ON.
• Stores the current counter value.
Ln
• Effective when the signal goes from OFF to ON.
(External latch)
• You can monitor the latch data by selecting the external latch data monitor.
Outputs are based on comparisons between the notch point setting value(s) and
Output Nn
the counter's current value. When the Forced Notch Output n output coil is ON, it
Signals (Notch output)
forces ON the Notch Output n regardless of other conditions.

Note: The letter "n" at the end of the signals donates counter number 1 or 2.

5-24
 5.5 External I/O Signals and Connection Examples

5.5.2 Connection Examples of External I/O Terminals

(1) Connection Examples of Phase-A and Phase-B Pulses

CAUTION
• When the external input pulse signal is 24 VDC, do not connect anything to “PHAn+” or “PHBn+” terminal.
There is a risk of input circuit damage.
(a) When pulse generator is open-collector output (24-VDC connection)

2.7kΩ
Pulse generator PHA1
Shielded twisted- 2
pair cable
180Ω
+24V PHA1+ Photocoupler
4

Phase A PHA1-
3

PHB1 2.7kΩ
Shielded twisted- 5
pair cable
180Ω Photocoupler
PHB1+
7

Phase B PHB1-
6

Reversible Counter Module with Preset Function

+ DC power
- supply 24 VDC
0V

0V

Fig 5.1 Connection Example of Phase-A and Phase-B Pulses c

1. Use crimp terminals that fit M3 screw for terminal block wiring.
IMPORTANT
2. Use the shielded twisted-pair cable for the cable for terminal block wiring.
3. Do not connect anything to unused input terminals.

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 5 Reversible Counter Module with Preset Function
5.5.2 Connection Examples of External I/O Terminals

CAUTION
• When the external input pulse signal is 12 VDC, connect a resistor of 22 kΩ (1/4w) between “PHAn” and
“PHA+” terminals and between “PHBn” and “PHB+” terminals.
There is a risk of input circuit damage.

(b) When pulse generator is open-collector output (12-VDC connection)

Pulse generator 2.7kΩ

PHA1
Shielded twisted- 2
pair cable
2.2kΩ 180Ω Photocoupler
+12V PHA1+
4

Phase A PHA1-
3

PHB1 2.7kΩ
Shielded twisted- 5
pair cable
2.2kΩ 180Ω Photocoupler
PHB1+
7

Phase B PHB1-
6

+ DC power
- supply 12 VDC
0V

0V

Fig 5.2 Connection Example of Phase-A and Phase-B Pulses d

IMPORTANT 1. Use crimp terminals that fit M3 screw for terminal block wiring.
2. Use the shielded twisted-pair cable for the cable for terminal block wiring.
3. Do not connect anything to unused input terminals.

5-26
 5.5 External I/O Signals and Connection Examples

CAUTION
• When the external input pulse signal is 5 VDC, connect a resistor of 330Ω (1/4w) between “PHAn” and
“PHA+” terminals and between “PHBn” and “PHB+” terminals.
There is a risk of input circuit damage.

(c) When pulse generator is sourcing-voltage output (5-VDC connection)

Pulse generator

+5V

PHA1 2.7kΩ
Shielded twisted- 2
pair cable
330Ω 180Ω Photocoupler
Phase A PHA1+
4

PHA1-
3

PHB1 2.7kΩ
Shielded twisted- 5
pair cable
330Ω 180Ω
Phase B PHB1+ Photocoupler
7

PHB1-
6
0V

Reversible Counter Module with Preset Function

Fig 5.3 Connection Example of Phase-A and Phase-B Pulses e

IMPORTANT 1. Use crimp terminals that fit M3 screw for terminal block wiring.
2. Use the shielded twisted-pair cable for the cable for terminal block wiring.
3. Do not connect anything to unused input terminals.

5-27
 5 Reversible Counter Module with Preset Function
5.5.2 Connection Examples of External I/O Terminals

CAUTION
• When the external input pulse signal is of differential output voltage, do not connect anything to “PHAn” and
“PHBn” terminals.
There is a risk of input circuit damage.

(d) When pulse generator is differential voltage output

Pulse generator
PHA1 2.7kΩ
Shielded twisted- 2
+5V pair cable
180Ω Photocoupler
Phase A PHA1+
4

PHA1-
3
0V

PHB1 2.7kΩ
Shielded twisted- 5
+5V pair cable
180Ω
Phase B PHB1+ Photocoupler
7

PHB1-
6
0V

Fig 5.4 Connection Example of Phase-A and Phase-B Pulses f

IMPORTANT 1. Use crimp terminals that fit M3 screw for terminal block wiring.
2. Use the shielded twisted-pair cable for the cable for terminal block wiring.
3. Do not connect anything to unused input terminals.

5-28
 5.5 External I/O Signals and Connection Examples

(2) Connection Examples of External Latch and External Current Value Reset Functions
(a) When external devices are open-collector output (24-VDC connection)
External device Shielded twisted-
pair cable
External latch 4.7kΩ
Photocoupler
8 L1

External current
4.7kΩ
value reset RST1 Photocoupler
10

12 IN-

+24V + DC power
- supply 24 VDC
0V

0V

Fig 5.5 Connection Example of External Latch and External Current Value Reset Functions c

IMPORTANT 1. Use crimp terminals that fit M3 screw for terminal block wiring.
2. Use the shielded twisted-pair cable for the cable for terminal block wiring.

Reversible Counter Module with Preset Function

3. Do not connect anything to unused input terminals.

5-29
 5 Reversible Counter Module with Preset Function
5.5.2 Connection Examples of External I/O Terminals

(b) When counter current value reset functions by external signal and external latch function
are not used
• When the external latch function is not used, connect terminal “Ln” to terminal “IN-.”
• When the external current value reset function is not used, connect terminal “RSTn” to terminal “IN-.”

4.7kΩ
L1 Photocoupler
8

4.7kΩ
RST1 Photocoupler
10

12 IN-

Fig 5.6 Connection Example of External Latch and External Current Value Reset Functions d

IMPORTANT 1. Use crimp terminals that fits M3 screws for terminal block wiring.
2. Use wire with the following gauge when connecting wire to the terminal block.
24 AWG (0.2 mm2) to 18 (0.9 mm2)
3. The polarity of the external signal power supply can be connected in either direction.

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 5.5 External I/O Signals and Connection Examples

(3) Connection Example of Notch Output

CAUTION
• Connect a fuse appropriate for the load specifications in series with the load. The output circuit is not
equipped with a built-in fuse.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.
• To connect an induction load, connect the fly-wheel diode in parallel to the induction load to reduce surge
voltage.
There is a risk of output circuit damage.
• When external devices are induction loads (24-VDC connection)
Counter Module External device

External notch Induction load

Photocoupler Fuse
N1 output 1
9
Fly-wheel diode

Photocoupler External notch

N2
13 output 2

Output
OUT- common
11

+24V

+ DC power
- supply 24 VDC

Reversible Counter Module with Preset Function

0V

Fig 5.7 Connection Example of Notch Output

IMPORTANT 1. Use crimp terminals that fits M3 screws for terminal block wiring.
2. Use wire with the following gauge when connecting wire to the terminal block.
24 AWG (0.2 mm2) to 18 (0.8 mm2)
3. Do not connect anything to unused input terminals.

5-31
 5 Reversible Counter Module with Preset Function
5.5.3 I/O Allocations

5.5.3 I/O Allocations

This section explains the Counter Module's I/O allocations.
For details, refer to Machine Controller MP900/MP2000 Series MPE720 Software for Programming Device
User’s Manual (SIEPC88070005).
(1) Purpose of I/O Allocations
The correspondence between the Counter Module’s internal signals and I/O registers must be defined in order for
the Counter Module to input signals from input devices and the CPU Module or output signals to output devices
and the CPU Module. Set the I/O register numbers to define this correspondence for the Counter Modules.
Allocate I/O with a Programming Device (MPE720). The results of the allocation are stored in the CPU Mod-
ule’s memory as an I/O allocation table.

(2) I/O Allocation Settings

(a) Setting the Leading and End I/O Register Numbers
The range of consecutive I/O register numbers allocated to the MECHATROLINK Master Module are set in
the Module configuration definitions window.
EXAMPLE
In the example Module definitions window shown below, the I/O register range for an MP920 SVB-01 has
been set to 0100 to 017F. The I/O registers allocated to the Counter Module are set within this range.

Rack 1
No. 00 00 00
Module MP920 SVB-01
Control CPU No.

I/O Start Register 0100

I/O End Register 017F

(b) Transmission Cycle Settings

Set the MECHATROLINK transmission cycle in the Transmission Parameters Tab of the MECHA-
TROLINK definitions window. Use the initial setting if there is no particular need to change the setting.
Transmission
Parameters
Master/Slave Master

Own Station Address 0

Message Trust Level 0

Max. Slave ST Number 14 ST: 4 Mbps, 2 ms

5-32
 5.5 External I/O Signals and Connection Examples

(c) Allocation of I/O Register Numbers

Set the Counter Module's leading I/O register number in the I/O Allocations Tab of the MECHATROLINK
definitions window.
I/O Allocations

ST# TYPE D INPUT SIDE D OUTPUT SIDE SCAN

01
02

(3) I/O Allocations

Set the following items in the I/O Assignment Tab.
Item Contents
Allocate station numbers to the devices connected to the MECHATROLINK
ST#
network. Set station numbers in order beginning at 01.
Set the model of MECHATROLINK Module connected at each station. Open the
pull-down menu in the TYPE field and select 120EHC21140/PL2900.

TYPE
TYPE
120EHC21140

This field enables or disables inputs.

D Click the box to display a check-mark and disable inputs. Click the box again to
remove the check-mark and enable inputs.
INPUT Set the leading input register number (IWxxxx).

Reversible Counter Module with Preset Function

SIZE The number of registers in the SIZE field is set to 7 automatically.
This field enables or disables outputs.
D Click the box to display a check-mark and disable outputs. Click the box again to
remove the check-mark and enable outputs.
OUTPUT Set the leading output register number (OWxxxx).
SIZE The number of registers in the SIZE field is set to 8 automatically.
Adjusts I/O timing.
SCAN • Select "High" for high-speed scan.
• Select "Low" for low-speed scan.

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 5 Reversible Counter Module with Preset Function
5.5.4 Output Coils

5.5.4 Output Coils

An output coil is a control signal sent from the host controller to the Counter Module. The following table lists
the output coils.

Address Counter Number Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Lower-place
L-RES1 N-RES1 PRES-1 N-ENB1 C-ENB1 P-SET1 N-SET1 M-SET1
OWxxxx byte
1
+2 Upper-place
L-RES2 N-RES2 PRES-2 N-ENB2 C-ENB2 P-SET2 N-SET2 M-SET2
byte
Lower-place
− − − − − − N-ON2 N-ON1
OWxxxx byte
2
+3 Upper-place
− − − − − MON3 MON2 MON1
byte

Byte Bit No. Symbol Signal Name Details

This is the counter mode setting reference.
The following settings are made:
0 M-SETn Mode Set • Pulse count mode
• Notch output mode
• Notch input polarity
This is the notch point set value preset reference. Write the
notch point setting in the corresponding output register in
1 N-SETn Notch Point Set
advance.
The notch point is set when this signal goes from OFF to ON.
This is the Counter's current value preset reference. Write the
current value setting in the corresponding output register in
2 P-SETn Current Value Set
advance.
The current value is set when this signal goes from OFF to ON.
Lower-place Input pulses can be counted when the Count Enable signal is
3 C-ENBn Count Enable
byte (n=1) ON. This signal is effective when it is ON.
Upper-place When the Notch Output Enable signal is ON, output of the
byte (n=2) external Notch Output is enabled.
Notch Output En-
4 N-ENBn This signal is effective when it is ON.
able
Outputs can be made using the Forced Outputs 0 to 3 signals
even when the Notch Output Enable signal is OFF.
Resets the Counter's current value to 0.
Current Value Re-
5 P-RESn The current value is reset to 0 when this signal goes from OFF
set
to ON.
Resets the latch status of the notch output that specified the
Notch Output Re- latch mode.
6 N-RESn
set The notch output is reset when this signal goes from OFF to
ON.
Resets the external latch input status.
Count Value Hold
7 L-RESn The external latch is reset when this signal goes from OFF to
Reset
ON.
The Notch Output n is turned ON when the Forced Notch Out-
Lower-place 0 (n=1) Forced Notch
N-ONn put n is ON, regardless of other conditions.
byte 1 (n=2) Output
This signal is effective when it is ON.
0 MON1 Monitor 1
Upper-place The status of MON1, MON2, and MON3 determines which
1 MON2 Monitor 2
byte data is monitored. Refer to the following table.
2 MON3 Monitor 3
Note: The letter "n" at the end of the signal denotes counter number 1 or 2.

5-34
 5.5 External I/O Signals and Connection Examples

* The following table shows which data is monitored for each combination of MON1, MON2, and MON3.
Output Coil Status
Monitored Data
MON3 MON2 MON1
OFF OFF OFF Counter current value
OFF OFF ON External latch data
OFF ON OFF Status
OFF ON ON Counter mode
ON OFF OFF (For system use)
ON OFF ON Counter 1 notch point set value
ON ON OFF Counter 2 notch point set value
ON ON ON Current value set value

5.5.5 Output Registers

Output registers are used together with output coils when setting numeric values from the host controller to the
Counter Module.
Output registers are used to make the following settings:
• Counter Mode Settings
• Notch Point Settings
• Current Value Setting

IMPORTANT The same output registers are used to set different data at different times, so be careful that the setting signals
do not overlap.

The following table lists the output registers.

Output Setting
Register

Reversible Counter Module with Preset Function

Register Current Value
Address Mode Set Notch Point Set
No. Set
1st byte Mode setting Notch point Pm
OWxxxxx+4 Current value
2nd byte For system use (always 0) (lower bytes)
set value
3rd byte For system use (always 0) Notch point Pm (counter 1)
OWxxxxx+5
4th byte For system use (always 0) (upper bytes)
5th byte Mode setting Notch point Pm'
OWxxxxx+6 Current value
6th byte For system use (always 0) (lower bytes)
set value
7th byte For system use (always 0) Notch point Pm' (counter 2)
OWxxxxx+7
8th byte For system use (always 0) (upper bytes)

Note: 1. The mode setting for counter 1 is in the 1st byte and the mode setting for counter 2 is in the 5th byte.
2. Notch point settings and current value settings are shared by Counters 1 and 2 and can be set at the same
time.

5-35
 5 Reversible Counter Module with Preset Function
5.5.6 Input Relays

5.5.6 Input Relays

Input relays are status signals sent from the Counter Module to the host controller.
The following table lists the input relays.

Address Counter No. Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Lower byte ERR ACK RDY
IWxxxx+2 1
Upper byte L2 N2 BORW2 CARY2 L1 N1 BDRW1 CARY1

Byte Bit No. Symbol Signal Name Details

Indicates the results of the Module’s self-diagnostic tests.
0 RDY Ready Normal: ON
Abnormal: OFF
When the reference is set to OFF, both the ACK and the ERR
signals turn OFF.
Lower 1 ACK Settings normal
When the set operation is normal, only the ACK signal turns
byte
ON.
When the reference is set to OFF, both the ACK and the ERR
signals turn OFF.
2 ERR Error
When the set operation is faulty, only the ERR signal turns
ON.
This signal stays ON for one scan only when the Counter's
0 (n=1)
CARYn Carry current value is incremented past the counter upper limit
4 (n=2)
value and rolls over to 0.
This signal stays ON for one scan only when the Counter's
1 (n=1)
BORWn Borrow current value is decremented past 0 and rolls over to the
5 (n=2)
Upper counter upper limit value.
byte Indicates the status of the external notch output.
2 (n=1) Notch output
Nn The notch output signal goes ON when the external notch
6 (n=2) status
output signal goes ON.
Indicates that the external latch signal has been input. The
3 (n=1) Latch input sta-
Ln latch input signal goes ON when the external latch input sig-
7 (n=2) tus
nal goes ON.
Note: The letter "n" at the end of the signal denotes counter number 1 or 2.

5-36
 5.5 External I/O Signals and Connection Examples

5.5.7 Input Registers

Input registers are used when monitoring various kinds of information in the Counter Module.
Input registers are used for monitoring the following information:
• Mode Settings
• Notch Point Settings
• Current Value Setting
• Current Value
• Latch Data
• Status

IMPORTANT The same input registers are used to monitor different data at different times, so be careful that the monitor sig-
nals do not overlap.

The input registers are listed in the following tables.

(a) Monitoring Status

Register Monitored Data
Address Current Value Monitor Latch Data Monitor Status Monitor
Counter 1 current value Counter 1 latch data lower
IWxxxxx+3 For system
lower bytes bytes
Counter 1 current value Counter 1 latch data upper
IWxxxxx+4 For system
upper bytes bytes
Counter 2 current value Counter 2 latch data lower
IWxxxxx+5 For system
lower bytes bytes
Counter 2 current value Counter 2 latch data upper
IWxxxxx+6 For system
upper bytes bytes

Reversible Counter Module with Preset Function

(b) Monitoring Set Values
Monitored Data
Register
Address Mode Settings Notch Point Notch Point Current Value
Monitor Monitor Monitor Setting Monitor
Counter 1 notch Counter 2 notch Counter 1 current
IWxxxxx+3 Counter 1 mode point n point n value set value
(lower bytes) (lower bytes) (lower bytes)
Counter 1 notch Counter 2 notch Counter 1 current
IWxxxxx+4 For system point n point n value set value
(upper bytes) (upper bytes) (upper bytes)
Counter 1 notch Counter 2 notch Counter 2 current
IWxxxxx+5 Counter 2 mode point n' point n' value set value
(lower bytes) (lower bytes) (lower bytes)
Counter 1 notch Counter 2 notch Counter 2 current
IWxxxxx+6 For system point n' point n' value set value
(upper bytes) (upper bytes) (upper bytes)
5

5-37
 5 Reversible Counter Module with Preset Function
5.5.8 Monitoring Data

5.5.8 Monitoring Data

(1) Overview
The following seven kinds of data in the Counter Module can be monitored.
• Current value
• External latch data
• Status
• Mode settings
• Counter 1 notch point setting
• Counter 2 notch point setting
• Current set value
Input relays and output coils are used together to monitor data. Eight consecutive bytes of input registers are used
to monitor various types of data sent from the Counter Module to the host controller.

(2) Monitoring the Current Value

To monitor the current value, set the MON1, MON2, and MON3 output coils as follows:
• MON1: OFF
• MON2: OFF
• MON3: OFF
The current values for counters 1 and 2 are monitored simultaneously.
Monitored
Input Registers
Data

1st byte Current value (lower word, lower byte)

2nd byte Current value (lower word, upper byte)
Counter 1
3rd byte Current value (upper word, lower byte)
4th byte Current value (upper word, upper byte)
Current value
5th byte Current value (lower word, lower byte)
6th byte Current value (lower word, upper byte)
Counter 2
7th byte Current value (upper word, lower byte)
8th byte Current value (upper word, upper byte)

(3) Monitoring the External Latch Data

To monitor the external latch data, set the MON1, MON2, and MON3 output coils as follows:
• MON1: ON
• MON2: OFF
• MON3: OFF
External latch data for counters 1 and 2 is monitored simultaneously.
Monitored
Input Registers
Data

1st byte External latch data (lower word, lower byte)

2nd byte External latch data (lower word, upper byte)
Counter 1
3rd byte External latch data (upper word, lower byte)
External 4th byte External latch data (upper word, upper byte)
latch data 5th byte External latch data (lower word, lower byte)
6th byte External latch data (lower word, upper byte)
Counter 2
7th byte External latch data (upper word, lower byte)
8th byte External latch data (upper word, upper byte)

5-38
 5.5 External I/O Signals and Connection Examples

(4) Monitoring the Status

To monitor the status, set the MON1, MON2, and MON3 output coils as follows:
• MON1: OFF
• MON2: ON
• MON3: OFF
The status monitor will be used for the system.
The status data for counters 1 and 2 is monitored simultaneously.
Monitored
Input Registers
Data

1st byte For system

2nd byte For system
Counter 1
3rd byte For system
4th byte For system
Status
5th byte For system
6th byte For system
Counter 2
7th byte For system
8th byte For system

(5) Monitoring the Mode Setting Value

To monitor the mode setting values, set the MON1, MON2, and MON3 output coils as follows:
• MON1: ON
• MON2: ON
• MON3: OFF

Reversible Counter Module with Preset Function

The mode setting values for counters 1 and 2 are monitored simultaneously.
Monitored
Input Registers
Data

1st byte Mode setting value

2nd byte For system
Counter 1
3rd byte For system
Mode setting 4th byte For system
values 5th byte Mode setting value
6th byte For system
Counter 2
7th byte For system
8th byte For system

5-39
 5 Reversible Counter Module with Preset Function
5.5.8 Monitoring Data

(6) Monitoring the Counter 1 Notch Points

To monitor the counter 1 notch points, set the MON1, MON2, and MON3 output coils as follows:
• MON1: ON
• MON2: OFF
• MON3: ON
Monitored
Input Registers
Data

1st byte Notch point Pm (lower word, lower byte)

2nd byte Notch point Pm (lower word, upper byte)
3rd byte Notch point Pm (upper word, lower byte)
Counter 1 4th byte Notch point Pm (upper word, upper byte)
Counter 1
notch points 5th byte Notch point Pm' (lower word, lower byte)
6th byte Notch point Pm' (lower word, upper byte)
7th byte Notch point Pm' (upper word, lower byte)
8th byte Notch point Pm' (upper word, upper byte)

(7) Monitoring the Counter 2 Notch Points

To monitor the counter 2 notch points, set the MON1, MON2, and MON3 output coils as follows:
• MON1: OFF
• MON2: ON
• MON3: ON
Monitored
Input Registers
Data

1st byte Notch point Pm (lower word, lower byte)

2nd byte Notch point Pm (lower word, upper byte)
3rd byte Notch point Pm (upper word, lower byte)
Counter 2 4th byte Notch point Pm (upper word, upper byte)
Counter 2
notch points 5th byte Notch point Pm' (lower word, lower byte)
6th byte Notch point Pm' (lower word, upper byte)
7th byte Notch point Pm' (upper word, lower byte)
8th byte Notch point Pm' (upper word, upper byte)

5-40
 5.5 External I/O Signals and Connection Examples

(8) Monitoring the Current Value Set Value

To monitor the current value set value, set the MON1, MON2, and MON3 output coils as follows:
• MON1: OFF
• MON2: OFF
• MON3: OFF
The current value set values for counters 1 and 2 are monitored simultaneously.
Monitored
Input Registers
Data

1st byte Current value set value (lower word, lower byte)
2nd byte Current value set value (lower word, upper byte)
Counter 1
3rd byte Current value set value (upper word, lower byte)
Current val- 4th byte Current value set value (upper word, upper byte)
ue set values 5th byte Current value set value (lower word, lower byte)
6th byte Current value set value (lower word, upper byte)
Counter 2
7th byte Current value set value (upper word, lower byte)
8th byte Current value set value (upper word, upper byte)

(9) Reserved for Future Use

The following MON1, MON2, and MON3 output coils settings are used for the system:
• MON1: OFF
• MON2: OFF
• MON3: ON
Monitored

Reversible Counter Module with Preset Function

Input Registers
Data

1st byte For system

2nd byte For system
3rd byte For system Counter 1
4th byte For system
Reserved
5th byte For system
6th byte For system
7th byte For system Counter 2
8th byte For system

5-41
 5 Reversible Counter Module with Preset Function
5.6.1 External Pulse Input Circuit (Phase-A Pulse, Phase-B Pulse)

5.6 Precautions on Wiring

5.6.1 External Pulse Input Circuit (Phase-A Pulse, Phase-B Pulse)
(1) Connections of External Pulse Input Signal Lines
This paragraph describes the precautions on the connections of the external pulse input signal lines with the fol-
lowing diagram as an example.
In the following example, the pulse generator is open-collector output (12 VDC).
Shielded twisted- Pulse generator
pair cable Counter Module
+12V +12V

DC power Shielded twisted- PHA1 2.7kΩ

2
supply pair cable
+0V 2.2kΩ 180Ω Photocoupler
12 VDC PHA1+
4

PHA1-
3
Phase A

Shielded twisted- PHB1 2.7kΩ

5
pair cable
2.2kΩ PHB1+ 180Ω Photocoupler
7

PHB1-
6
Phase B

0V

INFO • Be sure to use shielded twisted-pair cables for the external pulse input signal lines. The outer sheath of the shielded
cable must be grounded to one point at the Module side.
Insufficient grounding may result in malfunction caused by noise influence.
• The wiring distance of the external pulse input signal lines must be as short as possible.
Excessively long wiring distance will cause the pulse waveform to loose precision, resulting in malfunction.
The input pulse waveform is specified as shown below.

At 300 kpps: t < 0.2 μs

At 75 kpps: t < 0.8 μs
At 7.5 kpps: t < 8 μs

t t

• Separate the external pulse input signal line’s wiring and laying from the power lines inside and outside of the Control
Panel. Make or lay the wiring at least 30 cm from the power lines.
Never pass the external pulse input signal line’s wiring together with the power lines in the same duct.
Insufficient separation may result in malfunction caused by noise influence.
• For some external pulse input circuits, the external wiring terminal connections need to be changed depending on the
type of pulse input voltage. Do not connect anything to unused input terminals.
Improper connections may result in damage to the external pulse input circuit.

5-42
 5.6 Precautions on Wiring

(2) Connections of External Pulse DC Power Supply

This paragraph describes the precautions on the external pulse DC power supply connections with the following
diagram as an example.

100 VAC
+24V
Noise
100 VAC DC power 24 VDC
filter
supply
0V

• Avoid common use of the external pulse input signal DC power supply with any other I/O power supply whenever pos-
INFO
sible.
If it is shared, noise from other devices may affect the power supply, resulting in malfunction.
• If the AC input power supply of the external input signal AC power supply has excessive noise, attach a noise filter at
the DC power supply AC input side. Do not pass the noise filter primary side power line together with the secondary
side power line or DC power line in the same duct.
Insufficient separation may result in malfunction caused by noise influence.
• Connect the noise filter protective ground terminal (FG) with the Control Panel ground terminal (E) and the cable
between AWG (1.5 mm2) and 13 AWG (2.5 mm2).
Improper grounding may result in malfunction caused by noise influence.

Reversible Counter Module with Preset Function

5-43
 5 Reversible Counter Module with Preset Function
5.6.2 External Input Circuit (External Latch and External Current Value Reset Functions)

5.6.2 External Input Circuit (External Latch and External Current Value Reset
Functions)
(1) When Connecting an induction load
To connect an induction load in parallel to the external input circuit as shown below, connect the fly-wheel diode
in parallel to the induction load to reduce surge voltage.
Unless any fly-wheel diode is connected, the external input circuit may be damaged.
The type of fly-wheel diode should be changed according to the load specifications; however, the following is
recommended for general purposes.
• H14E Series (manufactured by HITACHI) or equivalent

- +

24 VDC Fly-wheel diode

Induction load

8 L1

10 RST1

IN-
12

At Sourcing Input
+ -

24 VDC Fly-wheel diode

Induction load

8 L1

10 RST1

IN-
12

At Sinking Input

5-44
 5.6 Precautions on Wiring

(2) Connections to Input Device with Different Voltage from External Input Circuit
The input device power supply voltage must coincide with the external input circuit power supply voltage in
principle. The following shows the examples of input devices having different voltages and whether connection
is enabled or disabled.
Example of Input Device V1 < V2, open-collector output
Connections Enabled

V1: Input signal power supply Counter Module

V2: Input device power supply
IN- Photocoupler
12

Input device R
V1
24 VDC RST1
10 R
V2
48 VDC

Example of Input Device V1 < V2, output with diode

Connections Enabled

V1: Input signal power supply Counter Module

V2: Input device power supply
IN- Photocoupler
12

Input device
R
V1
24 VDC RST1

Reversible Counter Module with Preset Function

10 R
V2
48 VDC

Example of Input Device V1 < V2, output with resistor and LED
Disabled
Reason: When the input device is turned OFF, the circulating current
Connections
indicated with the dotted line in the following figure flows and reverse
voltage is applied to the LED, resulting in breakage of the LED.

Counter Module
V1: Input signal power supply
V2: Input device power supply
IN-
12
Photocoupler
Input device

V1 5
24 VDC RST1
10 R
V2
48 VDC

5-45
 5 Reversible Counter Module with Preset Function
5.6.2 External Input Circuit (External Latch and External Current Value Reset Functions)

Example of Input Device V1 < V2, open-collector output

Enabled
Connections Output transistor withstand voltage of the input device must be at least
40 V.
Counter Module
V1: Input signal power supply
V2: Input device power supply IN- Photocoupler
12

Input device R
V1
DC24V RST1
10 R
V2
DC12V

Example of input device V1 < V2, output with diode

Disabled
Reason: When the input device is turned OFF, the circulating current
Connections
indicated with the dotted line in the following figure flows and reverse
voltage is applied to the LED, resulting in breakage of the LED.

Counter Module
V1: Input signal power supply
V2: Input device power supply
IN-
12
Photocoupler
Input device

V1
DC24V RST1
10 R
V2
DC12V

Example of input device V1 < V2, output with resistor and LED
Disabled
Reason: When the input device is turned OFF, the circulating current
Connections
indicated with the dotted line in the following figure flows and reverse
voltage is applied to the LED, resulting in breakage of the LED.

Counter Module
V1: Input signal power supply
V2: Input device power supply
IN-
12
Photocoupler
Input device

V1
24 VDC RST1
10 R
V2
12 VDC

5-46
 5.6 Precautions on Wiring

5.6.3 External Output Circuit (External Notch Output)

(1) Output Fuse
The external output circuit is not equipped with a built-in fuse. Connect a fuse appropriate for the load specifica-
tions in series with the load, to prevent any accident caused by overload or to protect the output elements.
Failure to connect a fuse may result in fire, damage to equipment, or damage to the output circuits if there is a
load short-circuit or overload.

− +

24 VDC
(12 VDC) Fly-wheel diode

Induction
Fuse load
Notch output 1 9

Notch output 2 13

OUT-
11

(2) Connection of induction load

When an induction load is connected to the external output circuit as shown below, connect a fly-wheel diode in
parallel to the induction load to reduce surge voltage. When an induction load of the external output circuit is
connected to the contact, connect the fly-wheel diode in parallel to the induction load to reduce surge voltage.

Reversible Counter Module with Preset Function

Failure to connect a fly-wheel diode may result in damage to the external output circuit.
The type of the fly-wheel diode must be changed according to the load specifications; however, the following is
recommended for general purposes.
• H14E Series (manufactured by HITACHI) or equivalent
− +

24 VDC
(12 VDC) Fly-wheel diode

Induction
load
Notch output 1 9

Notch output 2 13

5
OUT-
11

5-47
 5 Reversible Counter Module with Preset Function
5.6.3 External Output Circuit (External Notch Output)

(3) Load with Large Inrush Current

When a load having large inrush current such as incandescent lamps is connected, use the following method to
reduce inrush current less than the maximum load current of the external output circuit.
Failure to observe the conditions for the maximum load current may result in damage to the output elements.
• Let dark current of approx. 30% of rated current flow in the incandescent lamp.
• Attach a current limit resistor in series with the incandescent lamp.
− +

24 VDC
(12 VDC)

Limit resistor
Notch output 1 9 lamp

Notch output 2 13 Pre-heat

lamp

resistor

OUT-
11

5-48
 5.7 Module Operation

5.7 Module Operation

5.7.1 Operation Settings
(1) Overview
There are 4 operation settings, as listed below:
• Data Setting Operations
• Data Monitoring Operations
• Permission Operations
• Forced Status Operations

(2) Operation Flowchart

The following flowchart outlines the flow of operation for the Counter Module.

Start

Initialize Module.

Set the mode.

Detect notch points.

Set current value.

Reversible Counter Module with Preset Function

Enable notch outputs.

Enable counting.

Start counting.

End

5-49
 5 Reversible Counter Module with Preset Function
5.7.1 Operation Settings

(3) Related Reference

Use the following I/O data to execute instructions.

(a) Output Coil

Symbol Signal Name Details
This is the counter mode setting reference.
The following settings are made:
M-SETn Mode Set • Pulse count mode
• Notch output mode
• External latch input polarity
This is the notch point set value preset reference. Write
the notch point setting in the corresponding output reg-
N-SETn Notch Point Set ister in advance.
The notch point is set when this signal goes from OFF
to ON.
This is the Counter's current value preset reference.
Write the current value setting in the corresponding out-
P-SETn Current Value Set put register in advance.
The current value is set when this signal goes from OFF
to ON.
Note: The letter "n" at the end of the signal denotes counter number 1 or 2.

(b) Command Data Configuration

1. Mode Set
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
0

Not used
Pulse count mode
Notch output mode
External latch input polarity

Output Register No. Setting Details

1st byte Mode setting (MSET1)
2nd byte −
3rd byte −
4th byte −
5th byte Mode setting (MSET2)
6th byte −
7th byte −
8th byte −

Note: Set the unused bytes (bytes 2, 3, 4, 6, 7, and 8) to 0.

5-50
 5.7 Module Operation

2. Notch Point Set

31 16 15 0
Upper byte Lower byte Upper byte Lower byte

Upper word Lower word

Output Register No. Setting Details

1st byte Notch point Pm (lower bytes)
2nd byte (N-SETn)
3rd byte Notch point Pm (upper bytes)
4th byte (N-SETn)
5th byte Notch point Pm’ (lower bytes)
6th byte (N-SETn)
7th byte Notch point Pm’ (upper bytes)
8th byte (N-SETn)

Note: 1. The letter "n" at the end of the signal denotes counter number 1 or 2.
2. The allowable set range is as follows:
0 ≤ Pm ≤ FFFFFFFFh，0 ≤ Pm’ ≤ FFFFFFFFh
However, Pm must be equal or smaller to/than Pm’.
3. The notch point settings are shared by Counters 1 and 2 and can be set at the same time.

3. Current Value Set

31 16 15 0
Upper byte Lower byte Upper byte Lower byte

Upper word Lower word

Reversible Counter Module with Preset Function

Output Register No. Setting Details
1st byte
2nd byte Current value set value
(lower bytes)
3rd byte (P-SET1)
4th byte
5th byte
6th byte Current value set value
(upper bytes)
7th byte (P-SET2)
8th byte

5-51
 5 Reversible Counter Module with Preset Function
5.7.1 Operation Settings

(4) Setting Procedure

The Counter Module's operations are detailed below.
1. Set the mode setting.
a) Set the output coils for the Mode Set (M-SETn).
b) Set the Mode Set (M-SET1) in the lower byte of output register OWxxxxx+4 or the Mode Set (M-
SET2) in the lower byte of output register OWxxxxx+6.
c) Set the pulse count mode.
The following table shows the pulse count mode settings.
Pulse Count Mode Bit 3 Bit 2 Bit 1 Bit 0
Phase-A and phase-B pulses, ×1
0 0 0 0
multiplication*
Phase-A and phase-B pulses, ×2
0 0 0 1
multiplication
Phase-A and phase-B pulses, ×4
0 0 1 0
multiplication
Sign and pulse, ×1 multiplication 0 0 1 1
Sign and pulse, ×2 multiplication 0 1 0 0
Increment and decrement pulses, ×1
0 1 0 1
multiplication
Increment and decrement pulses, ×2
0 1 1 0
multiplication
0 1 1 1
Not used. (Will cause a setting error.) : : : :
1 1 1 1

* The phase-A and phase-B pulses, ×1 multiplication setting is the mode set at the factory and the default
mode. The pulse count mode will be reset to this mode automatically when the power is turned ON.
d) Set the notch output mode.
The following table shows the notch output mode settings.
Notch Output Mode Bit 5 Bit 4
Latch mode * 0 0
State mode 0 1
Special state mode 1 0
Not used. (Will cause a setting error.) 1 1

* Latch mode is the mode set at the factory and the default mode. The notch output mode will be reset to
latch mode automatically when the power is turned ON.
e) Set the external latch polarity.
The following table shows the external latch polarity settings.
External Latch Polarity Bit 6
Operates when signal goes from OFF to ON. ∗ 0
Operates when signal goes from ON to OFF. 1

* The default setting (set at the factory). The polarity will be reset to this setting automatically when the
power is turned ON.

IMPORTANT When setting control references overlap or the set value exceeds the allowable range, the values will not be set
in the Module. In this case, ACK is not turned ON and ERR is turned ON. Set the correct values and set the
mode settings again.

5-52
 5.7 Module Operation

2. Set the notch point settings.

a) Set the output coils for the Notch Point Set (N-SETn).
b) Make the following settings in the output registers.
Register Output Register
Setting Details Setting Range
Address No.
1st byte Notch point Pm
OWxxxxx+4
2nd byte (lower bytes) 0 to FFFFFFFF (hexadeci-
3rd byte Notch point Pm mal)
OWxxxxx+5
4th byte (upper bytes)
5th byte Notch point Pm’
OWxxxxx+6
6th byte (lower bytes) 0 to FFFFFFFF (hexadeci-
7th byte Notch point Pm’ mal)∗
OWxxxxx+7
8th byte (upper bytes)

* A setting range error will occur if the setting exceeds the upper limit of the counting range.

3. Set the current value set value.

a) Set the output coils for the Current Value Set (P-SETn).
b) Make the following settings in the output registers.
Register Output Register Setting
Setting Range
Address No. Notch Point Setting
1st byte
OWxxxxx+4 Current value set value
2nd byte 0 to FFFFFFFF (hexa-
(lower bytes)
3rd byte decimal)
OWxxxxx+5 (P-SET1)
4th byte
5th byte
OWxxxxx+6 Current value set value

Reversible Counter Module with Preset Function

6th byte 0 to FFFFFFFF (hexa-
(upper bytes)
7th byte decimal)
OWxxxxx+7 (P-SET2)
8th byte

4. Enable the notch output.

Turn the Notch Output Enable (N-ENBn) output coil from OFF to ON.
5. Enable counting.
Turn the Count Enable (C-ENBn) output coil from OFF to ON.
Pulse counting will start.

5-53
 5 Reversible Counter Module with Preset Function
5.7.2 Ladder Programs

5.7.2 Ladder Programs

This section describes examples of ladder programming for the Counter Module.
(1) Setting the Mode and the Notch Points
(a) Setting Details
The following table shows the settings to be made:
Setting Name Details
Phase-A and phase-B pulses, ×4 multiplica-
Pulse input mode
tion
Mode set-
Notch output mode State mode
tings
External latch input
Enabled when turned from OFF to ON.
polarity
Notch point P1 200000
settings P1’ 400000 (hexadecimal)
The following diagram shows the function of the settings.
Decrement direction Increment direction

Upper limit of FFFFFFFF

counting range

Counter’s current value P1’

P1

200000 400000 (hexadecimal)

Notch output 1

5-54
 5.7 Module Operation

(b) Ladder Program Example

EXAMPLE
The following table shows the I/O registers used in this example
Register Name Register Address
Input register number allocation IW0000 to IW0006
Output register number allocation OW0010 to OW0017
Input relays IB00020 to IB0002F
Input registers IW0003 to IW0006
Output coils OB00120 to OB0013F
Output registers OW0014 to OW0017
Internal register MW00200

INC OW0010
Scan counter
Start conditions
IB00020 MB002000 When the conditions for the settings opera-
READY Start tion are satisfied, MB002000 is turned ON
Reset conditions and the settings operation starts.
MB002003
The Module won’t be reset if one scan is
Reset shorter than the communications period.
IB00022 MB002003 MB002001 Keep the reset coil ON for longer than the
ERROR Setting error communications period.
(setting
error)
MB002001 If an error occurs in the settings operation,
MB002001 will be turned ON and will
remain ON.
MB002002 IB00020 MB002001 OB00123

Settings READY Count When the counter mode and notch

completed enable point settings have been completed,
OB00124

Notch output
counting and the notch output are enabled.
enable
MB002006 IB00021 MB002003 OB00121

Counter
mode Settings Notch
setting normal Point Set
OB00121

Reversible Counter Module with Preset Function

OB00121

IFON

H200000 OL0014 Notch Point (P1) Set

H400000 OL0016 Notch Point (P1’) Set

IEND

OB00121 MB002004 MB002003 MB002002

The notch point setting process
Notch Settings
Point Set
completed might not be completed if one scan is
MB002002
shorter than the communications
period, so an interlock is set up when
MB002000 MB002007 IB00021 MB002003 OB00120
OB00021 goes from OFF to ON.
Start Settings Counter
OB00120 normal mode set-
ting

OB00120

IFON
H0012
18 OW0014
Phase-A and phase-B, ⋅ 4 multiplication
5
IEND
Notch mode: State mode
OB00120 MB002005 OB00121 MB002003 MB002006
External latch polarity: OFF to ON
Mode Notch
setting
MB002006 Point Set Mode setting completed

DEND

5-55
 5 Reversible Counter Module with Preset Function
5.7.2 Ladder Programs

(c) Output Coil Timing Chart

The following timing chart shows the status of output coils as the preceding ladder program is executed

Start (MB002000)
Count enable (OB00123)

Notch output enable (OB00124)

Settings completed (MB002002)

Notch point setting 1 (OB00121)

Mode setting (OB00120)

(2) Setting the Current Value

EXAMPLE
This section shows an example of a ladder program used to set the current value.
The following table shows the I/O registers used in this example
Register Name Register Number
Input relays IB00020 to IB0002F
Input registers IW0003 to IW0006
Output coils OB00120 to OB0013F
Output registers OW0014 to OW0017
Internal register MW00300

INC OW0010
Scan counter
Start conditions
IB00020 MB003000 When the conditions for the settings
READY Start
operation are satisfied, MB003000 is
etting
Reset conditions turned ON and the settings operation
error) MB003003
starts.
Reset The Module won’t be reset if one scan is
IB00022 MB003003 MB003001 shorter than the communications period.
ERROR
Keep the reset coil ON for longer than
Setting
(setting
error) error
the communications period.
MB003001
If an error occurs in the settings
operation, MB003001 will be
MB003002 IB00020 MB003001 OB00123 turned ON and will remain ON.
Settings READY Count Counting is enabled when the current
completed
MB003000 IB00021 MB003003
enable
OB00122
value setting has been completed.

Settings Current Counter value’s preset reference

OB00122 normal Value Set

OB00122

IFON

Current value setting

OL0014
H100000
data output
IEND

OB00122 MB003004 MB003003 MB003002

The current value setting process
Current Settings might not be completed if one scan is
Value Set
MB003002
complet- shorter than the communications
period, so an interlock is set up when
OB00022 goes from OFF to ON.
DEND

5-56
 6
Pulse Output Module

This section provides an overview of the Pulse Output Module: 2CH (120MMB20230)/
(PL2910).

6.1 Summary of Module Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.2 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.1 Example of System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.2 Interface with the Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.4 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

6.4.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.4.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11

6.5 External I/O Signals and Connection Examples - - - - - - - - - - - - - - - - - - - 6-17

6.6 References - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.6.1 I/O Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.6.2 Output Coils - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.6.3 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
6.6.4 Output Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.6.5 Input Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25
6.6.6 Input Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 Pulse Output Module
6.6.7 Monitoring Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26

6.7 Module Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31

6.7.1 Operation Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
6.7.2 Positioning Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
6.7.3 Jog Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37
6.7.4 Zero Point Return - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-40

6-1
 6 Pulse Output Module

6.1 Summary of Module Functions

There are two types of Pulse Output Modules available as described below.
• JAMSC-120MMB20230: Module for baud rate of 4 Mbps/1 Mbps
• JEPMC-PL2910: Module for baud rate of 10 Mbps/4 Mbps
Only the MECHATROLINK baud rate differs between these Modules. The DIP switch settings are also different,
however, the functions are the same as the Pulse Output Modules.
This section describes the operations that can be performed with the Pulse Output Module.

(1) Positioning Function

When the MOVn signal turns ON, pulses are output to move from the current position to the target position at the
speed set in the parameters.
• The speed and acceleration/deceleration time are set in the parameters.
Speed
(pps) t: Positioning accel/decel time
Max. speed: 500 kpps

Positioning speed

t t
Time
(s)

MOVn

MOVnL

(2) JOG Operation Function

While the JOGn signal is ON, pulses will be output at the set speed and direction set.
• The speed and acceleration/deceleration time are set in the parameters.
• The JOG speed and JOG direction are specified by the REVn signal.
Speed
(pps)

t: Jog accel/decel time

Max. speed: 500 kpps
JOG speed

t t Time
(s)

JOGn

REVn

6-2
 6.1 Summary of Module Functions

(3) Zero Point Return Function

When the ZRNn signal turns ON, pulses will be output at the set speed and direction.
• The acceleration/deceleration time, approach time, and creep speed are set in the parameters.
• The direction is specified by the REVn signal.
Speed t: Zero point return accel/decel time
(pps)

Max. speed: 500 kpps Approach speed

Creep speed
Zero point return speed

t t Time
(s)

ZRNn

Zero signal

(4) Parameter Setting Function

The parameters set the operating conditions for the positioning, JOG operation, and zero point return functions.
Set the following output coils:
• Turn OFF MONSELn.
• Set the parameter number in PRMn0 through PRMn3. (See the following table.)
• Turn ON PSETn.
The following table shows the parameters that are specified in output coils PRMn0 through PRMn3.
Parameter No. Settings
1 Output mode
2 JOG speed
3 Zero point return speed, zero point return acceleration/deceleration time
4 Zero point return approach speed, zero point return creep speed
5 Positioning speed, positioning acceleration/deceleration time
6 −
7 −
8 Acceleration/declaration mode
9 Two-stage acceleration/deceleration speed, second-stage acceleration/deceleration time
10 Asymmetrical acceleration/deceleration time, asymmetrical deceleration time Pulse Output Module
11 Asymmetrical acceleration/deceleration bias speed

(5) Monitor Function

The Pulse Output Module is equipped with the following three data monitoring functions.
No. Monitor Details
Current Position
1 Monitors the Pulse Output Module's current position.
Monitor
6
2 Alarm Monitor Monitors the Pulse Output Module's alarm history.
3 Parameter Monitor Monitors the various parameter settings.

6-3
 6 Pulse Output Module

6.2 External Appearance and Configuration

The following diagram shows the Pulse Output Module’s external parts.
LED indicators Module mounting holes (for M4
screws) for back mounting
DIP switch Model description
(120MMB20230/PL2910)
Front cover

MECHATROLINK
port

Terminal block mounting

screws (two M3.5 screws)

Module mounting
holes (for M4 screws)
Terminal cover for bottom mounting

Detachable terminal block

External connector terminals

(M3, Phillips-head)
Insertable label for
signal terminals

(1) LED Indicators

The following table shows the functions of the Counter Module’s LED indicators.

RDY TX RX ERR FLT FW1 RV1 ER1 FW2 RV2 ER2

Indicator Indicator
Meaning When Lit
Name Color
RDY Green The Module is operating normally.
TX Green Data is being transmitted through MECHATROLINK.
RX Green Data is being received through MECHATROLINK.
ERR Red A MECHATROLINK communication error occurred.
FLT Red A Module error occurred.
FW1 Green Channel 1 is operating in the counterclockwise direction.
RV1 Green Channel 1 is operating in the clockwise direction.
ER1 Red Channel 1 operating error
FW2 Green Channel 2 is operating in the counterclockwise direction.
RV2 Green Channel 2 is operating in the clockwise direction.
ER2 Red Channel 2 operating error

6-4
 6.2 External Appearance and Configuration

(2) DIP Switch Settings

The settings for the Pulse Output Module’s DIP switch are explained below.

SW

ON
1 2 3 4 5 6 7 8

ON
1

8
(a) 120MMB20230
Factory
Pin No. Setting Function
Setting
ON Pins 1 through 5 set the Pulse Output Module’s slave address. (See the 1: ON
1 to 5
OFF table on the following page.) 2 to 5: OFF
ON Sets the Pulse Output Module’s baud rate to 1 Mbps.
6 OFF
OFF Sets the Pulse Output Module’s baud rate to 4 Mbps.
ON OFF
7 For system use. Leave pin 7 OFF.
OFF OFF
ON
8 For system use. Leave pin 8 OFF. OFF
OFF

(b) PL2910
Factory
Pin No. Setting Function
Setting
ON Pins 1 through 5 set the Pulse Output Module’s slave address. (See the 1: ON
1 to 5
OFF table on the following page.) 2 to 5: OFF
When SW8 is ON, set the communication data length to 32 bytes.
ON
When SW8 is OFF, set SW6 to OFF, too.
6 OFF
When SW8 is ON, set the communication data length to 17 bytes.
OFF
When SW8 is OFF, set SW6 to OFF, too.
ON OFF
7 For system use. Leave pin 7 OFF.
OFF OFF
ON Sets the Pulse Output Module’s baud rate to 10 Mbps.
8 ON
OFF Sets the Pulse Output Module’s baud rate to 4 Mbps.

IMPORTANT • SW6 and SW7 of the Pulse Output Module become effective when the external main power supply (24
VDC) is turned ON.
Pulse Output Module
To change the setting, turn ON the external main power supply (24 VDC) again.
• PL2910 does not operate at baud rate of “1 Mbps.”

6-5
 6 Pulse Output Module

The following table shows the possible slave address settings.

Slave DIP Switch Pin Slave DIP Switch Pin
Address 1 2 3 4 5 Address 1 2 3 4 5
Not used 0 0 0 0 0 16 0 0 0 0 1
1 1 0 0 0 0 17 1 0 0 0 1
2 0 1 0 0 0 18 0 1 0 0 1
3 1 1 0 0 0 19 1 1 0 0 1
4 0 0 1 0 0 20 0 0 1 0 1
5 1 0 1 0 0 21 1 0 1 0 1
6 0 1 1 0 0 22 0 1 1 0 1
7 1 1 1 0 0 23 1 1 1 0 1
8 0 0 0 1 0 24 0 0 0 1 1
9 1 0 0 1 0 25 1 0 0 1 1
10 0 1 0 1 0 26 0 1 0 1 1
11 1 1 0 1 0 27 1 1 0 1 1
12 0 0 1 1 0 28 0 0 1 1 1
13 1 0 1 1 0 29 1 0 1 1 1
14 0 1 1 1 0 30 0 1 1 1 1
15 1 1 1 1 0 Not used 1 1 1 1 1

Note: ON is 1. OFF is 0.

INFO • The upper limit of an effective slave address differs depending on the settings of the MECHATROLINK communica-
tion method (speed, cycle, etc.).

IMPORTANT • Use the PL2910 Module at baud rate of 10 Mbps under the following conditions:
• Set the communication cycle to 1 ms or more.
• Set the communication cycle to 2 ms or more when asymmetrical acceleration/deceleration function is
used for two axes simultaneously.

6-6
 6.2 External Appearance and Configuration

(3) Terminal Block Terminal Layout

The following diagram shows the layout of terminals on the Pulse Output Module’s terminal block.

1 3 5 7 9 11 13 15 17 19 21 23
FG CCW1 CW1 COFF1 BFRE1 OVER1 TIMG1 +5V OUT1 ZERO1 IN1 +24V

2 4 6 8 10 12 14 16 18 20 22
CCW2 CW2 COFF2 BFRE2 OVER2 TIMG2 0（5V） OUT2 ZERO2 IN2 024V

Terminal
Signal Name Signal Function
No.
1 FG Frame ground
2 CCW2 Channel 2 CCW pulse output
3 CCW1 Channel 1 CCW pulse output
4 CW2 Channel 2 CW pulse output
5 CW1 Channel 1 CW pulse output
6 C-OFF2 Channel 2 output current OFF
7 C-OFF1 Channel 1 output current OFF
8 B-FREE2 Channel 2 brake signal release
9 B-FREE1 Channel 1 brake signal release
10 OVER2 Channel 2 overheat input
11 OVER1 Channel 1 overheat input
12 TIMING2 Channel 2 magnetic excitation timing input
13 TIMING1 Channel 1 magnetic excitation timing input
14 0（5V） External power supply 0 V
15 +5V External power supply 5 V
16 OUT2 Channel 2 general-purpose output
17 OUT1 Channel 1 general-purpose output
18 ZERO2 Channel 2 zero point signal
19 ZERO1 Channel 1 zero point signal
20 IN2 Channel 2 general-purpose output
21 IN1 Channel 1 general-purpose output
22 024V External power supply 0 V
23 +24V External power supply 24 V

Pulse Output Module

6-7
 6 Pulse Output Module
6.3.1 Example of System Configuration

6.3 System Configuration

6.3.1 Example of System Configuration
The following diagram shows an example of a system configuration.

MECHATROLINK communication
Host con-
troller
Pulse Output Module
(such as the MP910,
SVB-01 of MP920, or
MP930)

24-VDC 5-VDC
power power
supply supply

CW and CCW pulses

Zero-point signal
General-purpose Overheat input
input signal Magnetic excitation
timing input Stepping
Switch Motor
Driver
General-purpose Output current OFF
output signal Electromagnetic brake release
Relay

Theoretically, up to 29 Modules can be connected to a MECHATROLINK communication line. The maximum

number of Modules that can be used, however, is limited by the host controller specifications. Refer to 1.1.3
MECHATROLINK Transmission Specifications for details.
You can connect the Modules to any point on the MECHATROLINK communication network.

6-8
 6.3 System Configuration

6.3.2 Interface with the Host Controller

The following diagram shows the interfaces between the Pulse Output Module and the host controller and
between the Pulse Output Module and external devices.
Host controller (such as the MP910,
SVB-01 of MP920, or MP930) Pulse Output Module

OWxxxxx
Monitoring
OWxxxxx+1

External output circuit

CWn and CCW
OWxxxxx+2
Output coils
C-OFFn
OWxxxxx+3
Control (Output current OFF output)
OWxxxxx+4 signals B-FREEn
Output (Electromagnetic brake re-

Interface to host controller

OWxxxxx+5 lease output)
registers OUTn
OWxxxxx+6 (General-purpose output)
Data
OWxxxxx+7 settings
CPU
IWxxxxx

IWxxxxx+1
OVERn

External input circuit

IWxxxxx+2 (Overheat input)
Input relays
IWxxxxx+3 TIMINGn

Status (Magnetic excitation timing

input)
IWxxxxx+4 signals ZEROn

IWxxxxx+5 Input (Zero point signal input)

regisiters INn
IWxxxxx+6
(General-purpose input)
Data
IWxxxxx+7 monitoring
Monitoring

The following table explains the signals.

Name Explanation Reference
The output coils are control signals from the host
Output coils 6.6.2 Output Coils
controller to the Pulse Output Module.
The output registers are used together with the out-
Output registers put coils to set numeric values from the host con- 6.6.4 Output Registers
troller to the Pulse Output Module.
The input relays are status signals from the Pulse
Input relays 6.6.5 Input Relays Pulse Output Module
Output Module to the host controller.
The input registers are used together with the out-
Input registers put coils when monitoring numeric values in the 6.6.6 Input Registers
Pulse Output Module.

6-9
 6 Pulse Output Module
6.4.1 General Specifications

6.4 Specifications
6.4.1 General Specifications
The general specifications of the Pulse Output Module are shown below.
Item Specifications
Ambient Operating For 120MMB20230: 0 to 60°C
Temperature For PL2910: 0 to 55 ℃
Storage Temperature -25 to 85°C
Operating Humidity 30% to 95% (with no condensation)
Environmental Conditions
Storage Humidity 5% to 95% (with no condensation)
Pollution Level Pollution level 1 according to JIS B 3501
Corrosive Gas No corrosive gas
Operating Altitude Less than 2,000 m above sea level
10 to 57 Hz with half-amplitude of 0.075 mm
57 to 150 Hz at fixed acceleration of 9.8 m/s2
Vibration Resistance 10 sweeps in the X, Y, and Z directions
Mechanical Operating (sweep period: 1 octave/min)
Conditions (conforming to JIS B 3502)
Peak acceleration of 147 m/s2 twice for 11 ms in X, Y, and Z
Shock Resistance directions
(conforming to JIS B 3502)
1,000 Vp-p in normal mode with pulse widths of 100 ns and 1
Electrical Operating
Noise Resistance μs and rise time of 1 ns (with impulse noise simulator)
Conditions
(conforming to JIS B 3502)
1,500 VAC for 1 min or 1,800 VAC for 1 s between the I/O
Dielectric Strength
terminals and internal circuit, between I/O commons
100 MΩ min. at 500 VDC between I/O terminals and internal
Insulation Resistance circuit and between output commons (at room temperature
and humidity)
Ground Ground to 100 Ω or less
The Module can be mounted in three directions. Refer to 3.1.2
Installation Orientation
Mounting Orientation for details.
Installation Requirements Cooling Method Natural cooling
Mass Approx. 350 g
161 × 44 × 79 (W × H × D)
Dimensions (mm)
(Not including the terminal block)

6-10
 6.4 Specifications

6.4.2 Performance Specifications

(1) Hardware Specifications
The hardware specifications of the Pulse Output Module are shown below.
Item Specifications
Name Pulse Output Module (2 Channels)
Model Number JAMSC-120MMB20230, JEPMC-PL2910
Model Description V_POUT-2AXIS/PL2910
Functions Pulse positioning, JOG operation, zero point return
Number of Circuits 2 circuits
Communication Protocol MECHATROLINK
Digital outputs: 32 points
Output registers: 4 registers
I/O Allocations
Digital inputs: 32 points
Input registers: 4 registers
External Power Supply 24 VDC (20.4 to 26.4 VDC)
Internal Current Consumption 24 V 150 mA, 5 V 300 mA
Hot Swapping Not permitted.
Maximum Heating Value 1.8 W

(2) Performance Specifications

The performance specifications of the Pulse Output Module are shown below.
Item Specifications
• Set the pulse output method in the control program as the Pulse Output
Mode.
Pulse Output
• There are two pulse output methods.
Method
• CW and CCW pulses
• Sign and pulses
Maximum
500 kpps
Output Speed
Pulse Output
5 VDC
Voltage
Pulse Input Open collector outputs
Pulse Circuits External power supply: 5 VDC, 10 mA/circuit
Output
The following signals can be input from and output to external devices
such as Stepping Motor Driver Units.
• Overheat input: 5 VDC, sourcing input Pulse Output Module
• Magnetic excitation timing input: 5 VDC, sourcing input
• Output current OFF: 5 VDC, sinking output
External
• Electromagnetic brake release: 5 VDC, sinking output
Control Signals
• Zero point signal input: 24 VDC, sourcing input
• General-purpose input: 24 VDC, sourcing or sinking input
• General-purpose output: 24 VDC, sinking output
Refer to 6.5 External I/O Signals and Connection Examples for details
on these I/O signals.
6
The following signals can be monitored from the control program.
• READY: ON when the Pulse Output Module is operating normally.
Monitor Functions • PACK: ON when parameter settings have been completed normally.
• PNACK: ON when parameter settings have not been completed nor-
mally (setting error).

6-11
 6 Pulse Output Module
6.4.2 Performance Specifications

(3) Pulse Output Timing

The following timing charts show the forward and reverse timing of pulse outputs, which depends on the pulse
output mode being used.
Pulse Output
Forward Timing Reverse Timing
Mode
CW CW
Sign and Pulses CCW CCW
ON OFF

CW CW
CW and CCW
pulses CCW CCW

Note: The maximum pulse output speed is 500 kpps.

(4) Pulse Output Operation Example

The following timing chart shows operation in the "sign and pulses" output mode.

CW (pulses)

CCW (sign)

Current position 0 1 2 3 4 5 4 3 2 1

Note: The position range is -2,147,483,648 to 2,147,483,647.

6-12
 6.4 Specifications

(5) External Output Signal Specifications

The specifications of external output signals are shown below.
Item Specifications
CCW (forward) and CW (reverse), or
Pulse Output Modes
sign and pulses.
Maximum Output Fre-
CW and CCW Pulse 500 kpps
quency
Outputs
Load Voltage 5V
Maximum Load Current 18 mA/point
Output Voltage Drop 0.6 V max. (typ.)
Rated Voltage 5 VDC
Allowable Voltage
4.75 to 5.25 VDC
Range
Output Format Sinking
Maximum Load Current 17 mA max./point
Output Voltage Drop 1.0 V max. (typ.)
Output Current OFF *
and Electromagnetic OFF to ON: 1.5 ms max.
Output Delay Times
Brake Release Outputs ON to OFF: 1.5 ms max.
Leakage Current When
0.4 μA max.
OFF
Output Type Photocoupler output
Number of Commons 1
Unprotected outputs according to JIS B
Output Protection
3501
Rated Voltage 24 VDC
Allowable Voltage
19.2 to 30 VDC
Range
Output Format Sinking
Maximum Load Current 100 mA max./point
Output Voltage Drop 3.5 V max. (typ.)
General-purpose Out- OFF to ON: 1.5 ms max.
puts Output Delay Times
ON to OFF: 1.5 ms max.
Leakage Current When
1 mA max.
OFF
Output Type Transistor output
Number of Commons 1
Unprotected outputs according to JIS
Output Protection Pulse Output Module
B3501

* “Output Current OFF” means that current stops flowing when the signal is turned ON; and current flows when the
signal is turned OFF.

6-13
 6 Pulse Output Module
6.4.2 Performance Specifications

(6) External Input Signal Specifications

The specifications of external input signals are shown below.
Item Specifications
Rated Voltage 5 VDC
Allowable Voltage
4.75 to 5.25 VDC
Range
Input Format Sourcing
Rated Current 7.0 mA
Overheat and Magnetic
Excitation Timing Input Impedance 470 Ω
Standard Operating Min. ON voltage: 2.13 VDC
Range Max. OFF voltage: 1.14 VDC
OFF to ON: 0.5 ms max.
Input Delay Times
ON to OFF: 0.8 ms max.
Isolation Method Photocoupler
Rated Voltage 24 VDC
Allowable Voltage
19.2 to 30 VDC
Range
Input Format Sourcing
Rated Current 10.0 mA
Zero Point Signal Input Impedance 2.2 kΩ
Standard Operating Min. ON voltage: 16.9 VDC
Range Max. OFF voltage: 4.8 VDC
OFF to ON: 1.0 μs max.
Input Delay Times
ON to OFF: 1.0 μs max.
Isolation Method Photocoupler
Rated Voltage 24 VDC
Allowable Voltage
19.2 to 30 VDC
Range
Input Format Sourcing
Rated Current 5.0 mA
General-purpose Inputs Input Impedance 4.7 kΩ
Standard Operating Min. ON voltage: 13.1 VDC
Range Max. OFF voltage: 6.3 VDC
OFF to ON: 0.5 ms max.
Input Delay Times
ON to OFF: 0.5 ms max.
Isolation Method Photocoupler

6-14
 6.4 Specifications

(7) Circuit Configuration

CAUTION
• Connect a fuse appropriate for the load specifications in series with the load. The output circuit is not
equipped with a built-in fuse.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.

The following diagram shows the circuit configuration of external I/O signals.

Output signal indicator

+5V Load
Photocoupler CCW1 3 CCW
L
From Driver
Internal circuits

+5V Load
Photocoupler CW1 5 CW
L

Output power Load

C-OFF1 7 supply OFF
Photocoupler L

Magnetic brake Load

B-FREE1 9 release
Photocoupler L

+5V 15 External power supply +5V

Pulse Output Module
External power supply 0V (+5V)
0V (5V) 14 - +
5 VDC external
power supply

General-purpose output
Photocoupler
OUT1 17
L 6
Internal circuits

From Driver
+24V 23 External power supply +24V
External power supply 0V (+24V)
(0) 24V 22 - +
24 VDC external
power supply

6-15
 6 Pulse Output Module
6.4.2 Performance Specifications

Photocoupler

Overheat input 11 OVER

Internal circuits
To Driver

Photocoupler

Magnetic excitation
timing input 13 TIMING

External power
- +
supply +5V 15 +5V

5 VDC external
power supply 14 0V (5V)
External power
supply 0V (+5V)

0V (5V)

Photocoupler

Zero-point input 19 ZERO

Internal circuits

To Driver

Photocoupler

General-purpose input 21 IN

External power
- +
supply +24V 23 +24V
+24V
24 VDC external
Insulating +5V
power supply
DC/DC
22 (0) 24V converter
External power
supply 0V (+24V)

(0) 24V 0V

6-16
 6.5 External I/O Signals and Connection Examples

6.5 External I/O Signals and Connection Examples

The following table summarizes the external I/O signals.
Signal Name Specifications
Pulses are output from the CW or CCW terminal.
There are two pulse output modes:
CWn • CW and CCW pulses method
CCWn • Sign and pulses method
(The sign signal is output to the CCW and pulses are output to the CW.)
This setting is made with the Module's Pulse Output Mode setting.
Connects to the current OFF input terminals of an external device such as
a Stepping Motor Driver Unit. This signal is controlled by turning output
Output
C-OFFn coil COFFn ON and OFF.
Signals
(Output Current OFF*) This signal is turned OFF automatically by the system when an error
occurs in the Pulse Output Module or when the overheat input is turned
ON.
Connects to the electromagnetic brake release input terminals of an exter-
B-FREEn (Electromagnetic
nal device such as a Stepping Motor Driver Unit. This signal is controlled
Brake Release Output)
by turning output coil BFREEn ON and OFF.
OUTn This signal is controlled by turning the general-purpose output terminal
(General-purpose Output) output coil OUTn ON and OFF.
Connects to the overheat output terminals of an external device such as a
OVERn (Overheat Input) Stepping Motor Driver Unit. This signal is monitored with input relay
OVERn.
Connects to the magnetic excitation timing output terminals of an external
TIMINGn
Input device such as a Stepping Motor Driver Unit. This signal is monitored
(excitation timing input)
Signals with input relay TIMINGn.
ZEROn Used as the zero-point signal when a zero point return is performed.
(zero-point signal input) This signal is monitored with input relay ZEROn.
This signal is monitored with the general-purpose input terminal input
INn (general-purpose input)
relay INn.

* “Output Current OFF” means that current stops flowing when the signal is turned ON; and current flows when the
signal is turned OFF.
Note: The letter "n" at the end of the signals denotes channel number 1 or 2.

Pulse Output Module

6-17
 6 Pulse Output Module

CAUTION
• Connect a fuse appropriate for the load specifications in series with the load. The output circuit is not
equipped with a built-in fuse.
There is a risk of fire, damage to the load equipment, or damage to the output circuits if there is a load short-circuit or
overload.
The following shows a connection example of general-purpose I/O and zero-point input.

Pulse Output Module

Load Fuse
17 OUT1 Photocoupler
L
General-purpose
output

Photocoupler

Zero-point
input 19 ZERO

Photocoupler

General-purpose
input 21 IN
External power
supply+24V 23 +24V
+24V

External power Insulating +5V

supply 0V (+24V) 22 (0) 24V DC/DC
converter

0 (24)V 0V

+ DC power
- supply 24 VDC

IMPORTANT • Use crimp terminals that fit M3 screw for terminal block wiring.
• Do not connect anything to unused input terminals or output terminals.

6-18
 6.5 External I/O Signals and Connection Examples

The following shows a connection example with stepping motor driver.

Pulse Output Module Stepping Motor Driver

Distributed pulse output Photocoupler

+5V
Photocoupler CCW1 3 CCW

Photocoupler

+5V
Photocoupler CW1 5 CW

Photocoupler

Output power
+5V
Photocouler C-OFF1 7 supply OFF

Photocoupler

+5V Magnetic brake

Photocoupler B-FREE1 9 release

+5V 0V(5V)
Photocoupler

OVER 11 Overheat input Photocoupler

+5V
Photocoupler

Magnetic excitation
TIMING 13 timing input Photocoupler Pulse Output Module

External power
15 supply 0V (+5V)
+5V
External power
14 supply +5V
+ -

5 VDC external 6
0V (5V) power supply

IMPORTANT • Use crimp terminals that fit M3 screw for terminal block wiring.
• Do not connect anything to unused input terminals or output terminals.
• Use the shielded twisted-pair cable for the cable for terminal block wiring.

6-19
 6 Pulse Output Module
6.6.1 I/O Allocations

6.6 References
6.6.1 I/O Allocations
This section explains the Pulse Output Module I/O allocations.
For details, refer to Machine Controller MP900/MP2000 Series MPE720 Software for Programming Device
User's Manual (SIEPC88070005).
(1) Purpose of I/O Allocations
The correspondence between the Pulse Output Module's internal signals and I/O registers must be defined in
order for the Pulse Output Module to input signals from input devices and the CPU Module or output signals to
output devices and the CPU Module. Set the I/O register numbers to define this correspondence for the Pulse
Output Modules.
Allocate I/O with a Programming Device (MPE720). The results of the allocation are stored in the CPU Module's
memory as an I/O allocation table.

(2) I/O Allocation Settings

(a) Setting the Leading and End I/O Register Numbers
The range of consecutive I/O register numbers allocated to the MECHATROLINK Master Module are set in
the Module configuration definitions window.
EXAMPLE
In the example Module definitions window shown below, the I/O register range for an MP920 SVB-01 has
been set to 0100 to 017F. The I/O registers allocated to the Pulse Output Module are set within this range.

Rack1

No. 00 00 00
Module MP920 SVB-01
Control CPU No.

I/O Start Register 0100

I/O End Register 017F

6-20
 6.6 References

(b) Transmission Cycle Settings

Set the MECHATROLINK transmission cycle in the Transmission Parameters Tab of the MECHATROLINK
definitions window.
Transmission ・・・ ・・・ ・・・
Parameter

Master/Slave Master

Own station address 0

Message Trust level 0

Max. slave ST Number 14 ST 4 Mbps, 2 ms

(c) Allocation of I/O Register Numbers

Set the Pulse Output Module's leading I/O register number in the I/O Assignment Tab of the MECHA-
TROLINK definitions window.
I/O Assignment ・・・ ・・・

ST# TYPE D INPUT SIDE D OUTPUT SIDE SCAN

01
02
・・・ ・・・ ・・・ ・・・ ・・・ ・・・ ・・・ ・・・ ・・・

(3) I/O Allocations

Set the following items in the I/O Assignment Tab.
Item Contents
Allocate station numbers to the devices connected to the MECHATROLINK
ST#
network. Set station numbers in order beginning at 01.
Set the model of MECHATROLINK Module connected at each station.
Open the pull-down menu in the TYPE field and select 120MMB20230/
PL2910.
TYPE
TYPE
・・・
120MMB20230
・・・
・・・ Pulse Output Module
This field enables or disables inputs.
D Click the box to display a check-mark and disable inputs. Click the box again
to remove the check-mark and enable inputs.
INPUT Set the leading input register number (IWxxxx).
SIZE The number of registers in the SIZE field is set to 8 automatically.
This field enables or disables outputs.
D Click the box to display a check-mark and disable outputs. Click the box
again to remove the check-mark and enable outputs. 6
OUTPUT Set the leading output register number (OWxxxx).
SIZE The number of registers in the SIZE field is set to 8 automatically.
Adjusts I/O timing.
SCAN • Select "High" for high-speed scan.
• Select "Low" for low-speed scan.

6-21
 6 Pulse Output Module
6.6.2 Output Coils

6.6.2 Output Coils

An output coil is a control signal sent from the host controller to the Pulse Output Module. The following table
lists the output coils.
Address Channel Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Lower
PRM13 PRM12 PRM11 PRM10 PSET1 MONSEL1 CAN1 ARST1
byte
OWxxxxx+2 1
Upper
OUT1 BFREE1 COFF1 − REV1 ZRN1 JOG1 MOV1
byte
Lower
PRM23 PRM22 PRM21 PRM20 PSET2 MONSEL2 CAN2 ARST2
byte
OWxxxxx+3 2
Upper
OUT2 BFREE2 COFF2 − REV2 ZRN2 JOG2 MOV2
byte

The following table summarizes the function of each signal.

Byte Bit No. Symbol Signal Name Details
This is the alarm reset reference. The signal operates
0 ARSTn Alarm Reset
when it goes from OFF to ON.
Cancels axis movement. The signal operates when it
1 CANn Cancel
goes from OFF to ON.
Switches the monitor mode.
Lower
2 MONSELn Monitor Selector • OFF: Current position monitor
byte
• ON: Parameter monitor
Parameter Set/ Monitor
3 PSETn Sets or monitors parameters.
Selector
PRMn0 to Parameter Number Se-
4 to 7 Selects the parameter number.
PRMn3 lectors
Starts positioning operation. The signal operates
0 MOVn Positioning
when it goes from OFF to ON.
This reference controls JOG operation.
1 JOGn JOG Operation • OFF: Stop
• ON: Run
This reference starts the zero point return operation.
2 ZRNn Zero Point Return
The signal operates when it goes from OFF to ON.
This reference determines the starting direction for
JOG/Zero Point Return JOG operation and zero point return operation.
3 REVn
Direction • OFF: Forward
Upper • ON: Reverse
byte Controls the status of the output current ON termi-
nal. When this signal is OFF, the output current ON
5 COFFn Output Current ON
terminal is OFF and when this signal is ON, the out-
put current ON terminal is ON.
Controls the status of the electromagnetic brake
Electromagnetic Brake release output terminal. When this signal is OFF,
6 BFREEn
Release electromagnetic braking is used and when this signal
is ON, electromagnetic braking is released.
Controls the status of the general-purpose output ter-
minal. When this signal is OFF, the general-purpose
7 OUTn General-purpose Output
output terminal is OFF and when this signal is ON,
the general-purpose output terminal is ON.

Note: The letter "n" at the end of the signals donates channel number 1 or 2.

6-22
 6.6 References

6.6.3 Parameters
Output coils PRMn0 to PRMn3 are set by the parameters.
The Pulse Output Module's parameters are shown in the following table.
Parameter No. Setting
Parameter Initial
PRM PRM PRM PRM Name Setting Range*1 Units
No. Setting
n3 n2 n1 n0
00 OFF OFF OFF OFF − − − −
Output mode 0: CW, CCW pulses
01 OFF OFF OFF ON − 0
Bit 0: output mode 1: Sign and pulses
JOG speed 1 to 50000 10 pps 500
02 OFF OFF ON OFF JOG acceleration/ decelera-
50 to 5000 100 ms 100
tion time
Zero point return speed 1 to 50000 10 pps 500
03 OFF OFF ON ON Zero point return acceleration/
50 to 5000 100 ms 100
deceleration time
Zero point return approach
1 to 50000 10 pps 100
04 OFF ON OFF OFF speed
Zero point return creep speed 1 to 50000 10 pps 50
Positioning speed 1 to 50000 *2 10 pps 500
05 OFF ON OFF ON Positioning acceleration/ de-
1 to 5000 100 ms 100
celeration time
06 OFF ON ON OFF Reserved for future use − − −
07 OFF ON ON ON Reserved for future use − − −
0 to 2
0: Single-stage symmetric
Acceleration/ declaration
08 ON OFF OFF OFF 1: Two-stage symmetric − 0
mode
2: Single-stage asymmet-
rical
Two-stage acceleration/ de-
1 to 50000 10 pps 500
celeration switching speed
09 ON OFF OFF ON
Second-stage acceleration/
50 to 5000 100 ms 100
deceleration time
Asymmetrical acceleration/de-
50 to 5000 100 ms 100
celeration acceleration time
10 ON OFF ON OFF
Asymmetrical acceleration/de-
50 to 5000 100 ms 100
celeration deceleration time
Asymmetrical acceleration/de-
11 ON OFF ON ON 0 to 50000 10 pps 0 Pulse Output Module
celeration bias speed
-2147483647 to
12 ON ON OFF OFF Current position setting Pulse 0
2147483647
13 ON ON OFF ON For system use − − −
14 ON ON ON OFF For system use − − −
15 ON ON ON ON For system use − − −
* 1. Write the setting in the output register.
* 2. When using an MP900/MP2000 Series Machine Controller as the master of MECHATROLINK and the speed
is set to a value greater than 32768; set the speed to a hexadecimal value for ladder programs.
6
Note: The letter "n" at the end of the signals denotes channel number 1 or 2.

IMPORTANT • Set “Two-stage acceleration/deceleration switching speed” to a smaller value than “Positioning speed.”
• Set “Asymmetrical acceleration/deceleration bias speed” to a value multiplied by an integer of 500 pps and
smaller than “Positioning speed.”
• Do not set the “Current position setting” to -2147483648.

6-23
 6 Pulse Output Module
6.6.4 Output Registers

6.6.4 Output Registers

Output registers are used together with output coils when setting numeric values from the host controller to the
Pulse Output Module.
Output registers are used to make the following settings:
• Target position setting
• Parameter settings

IMPORTANT The same output registers are used to set different data at different times, so be careful that the setting signals
do not overlap.

The following table lists the output registers.

Register Parameter Number∗1

Channel
Address 01 02 03 04 05
*2
Output mode Zero point return Zero point return
OWxxxxx+4 JOG speed Positioning speed
Used by system speed approach speed
1 JOG Zero point return Positioning accel-
Zero point return
OWxxxxx+5 − acceleration/ acceleration/ eration/ decelera-
creep speed
deceleration time deceleration time tion time
Output mode *2 Zero point return Zero point return
OWxxxxx+6 JOG speed Positioning speed
Used by system speed approach speed
2 JOG Zero point return Positioning accel-
Zero point return
OWxxxxx+7 − acceleration/ acceleration/ eration/ decelera-
creep speed
deceleration time deceleration time tion time
* 1. Output coils PRMn0 to PRMn3 (parameter number selectors) specify the parameters.
* 2. The output mode occupies the lower-place byte of the register.

Register Parameter Number∗

Channel
Address 08 09 10 11 12
Two-stage accelera- Asymmetrical accel-
Acceleration/
OWxxxxx+4 tion/deceleration eration/deceleration Asymmetrical
declaration mode
switching speed acceleration time acceleration/ Current position
1
Second-stage accel- Asymmetrical accel- deceleration bias setting
OWxxxxx+5 0 eration/deceleration eration/deceleration speed
time deceleration time
Two-stage accelera- Asymmetrical accel-
Acceleration/
OWxxxxx+6 tion/deceleration eration/deceleration Asymmetrical
declaration mode
switching speed acceleration time acceleration/ Current position
2
Second-stage accel- Asymmetrical accel- deceleration bias setting
OWxxxxx+7 0 eration/deceleration eration/deceleration speed
time deceleration time
* Output coils PRMn0 to PRMn3 (parameter number selectors) specify the parameters.

6-24
 6.6 References

6.6.5 Input Relays

Input relays are status signals sent from the Pulse Output Module to the host controller.
The following table lists the input relays.
Address Channel Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Lower
− − PNACK1 PACK1 − MONSEL1 − RDY1
byte
IWxxxxx+2 1
Upper
IN1 ZRN1 TIMING1 OVER1 − ZRN1L JOG1L MOV1L
byte
Lower
− − PNACK2 PACK2 − MONSEL2 − RDY2
byte
IWxxxxx+3 2
Upper
IN2 ZRN2 TIMING2 OVER2 − ZRN2L JOG2L MOV2L
byte

The following table summarizes the function of each signal.

Bit
Byte Symbol Signal Name Details
No.
Indicates the results of the Module's self-diagnostic
tests.
0 RDYn Ready
• Normal: ON
• Abnormal: OFF
2 MONSELn Monitor Parameters Indicates that the parameters are being monitored.
Lower Indicates that the setting operation was completed
byte Parameter settings nor- normally.
4 PACKn
mal The "PACK" signal stays ON while the set reference
is ON.
Indicates that an error occurred in the setting opera-
tion.
5 PNACKn Parameter setting error
The "PNACK" signal stays ON while the set refer-
ence is ON.
Indicates that the positioning operation is being per-
0 MOVnL Positioning
formed.
1 JOGnL JOG operation Indicates that a JOG operation is being performed.
Indicates that a zero point return operation is being
2 ZRNnL Zero point return
performed.
Indicates the status of the external overheat input ter-
Upper 4 OVERn Overheat input status
minal.
byte
Magnetic excitation tim- Indicates the status of the external magnetic excita-
5 TIMINGn Pulse Output Module
ing input status tion timing input terminal.
Zero point signal input Indicates the status of the external zero point signal
6 ZRNn
status input terminal.
General-purpose input Indicates the status of the external general-purpose
7 INn
status input terminal.

Note: The letter "n" at the end of the signals denotes channel number 1 or 2.

6-25
 6 Pulse Output Module
6.6.6 Input Registers

6.6.6 Input Registers

Input registers are used when monitoring various kinds of information from the Pulse Output Module. Input reg-
isters are used for monitoring the following information:
• Current Position
• Parameter Settings

IMPORTANT The same input registers are used to monitor different data at different times, so be careful that the monitor sig-
nals do not overlap.

The input registers are listed in the following table.

Monitored Data
Register
Channel Current Parameter Number ∗
Address Alarm
Position 01 02 03 04 05
Current Alarm Output Zero point
IWxxxxx+4 Zero point
position code mode JOG return Positioning
1 return
(lower Alarm Used by speed approach speed
IWxxxxx+5 speed
bytes) history system speed
Current Alarm JOG Zero point
IWxxxxx+6 Zero point Positioning
position code accel/ return
2 − return creep accel/decel
(upper Alarm decel accel/
IWxxxxx+7 speed time
bytes) history time decel time

* Output coils PRMn0 to PRMn3 (parameter number selectors) specify the parameters.

6.6.7 Monitoring Data

(1) Overview
The following three kinds of data in the Pulse Output Module can be monitored.
• Current position
• Alarm status
• Parameter settings
Input relays and output coils are used together to monitor data. Eight consecutive bytes of input registers are used
to monitor various types of data sent from the Pulse Output Module to the host controller.
The input registers used for monitoring data are listed in the following table.

INFO The register numbers are as follows:

• Channel 1: 1st byte to 4th byte
• Channel 2: 5th byte to 8th byte

6-26
 6.6 References

(2) Monitoring the Current Position

To monitor the current position, turn OFF the MONSELn output coil.
• MONSELn: OFF
Monitored
Channel 1 Channel 2 Data
Data
1st byte 5th byte Current position (lower word, lower byte)
Current 2nd byte 6th byte Current position (lower word, upper byte)
Position 3rd byte 7th byte Current position (upper word, lower byte)
4th byte 8th byte Current position (upper word, upper byte)

(3) Monitoring the Alarm

To monitor the Pulse Output Module alarms, set the MONSELn, PRMn0 to PRMn3, and PSETn output coils as
follows:
• MONSELn: ON
• PRMn0 to PRMn3: OFF
• PSETn: ON
Monitored
Channel 1 Channel 2 Data
Data
1st byte 5th byte Alarm current value
Current 2nd byte 6th byte Alarm history
Position 3rd byte 7th byte Alarm history
4th byte 8th byte Alarm history

The following table shows the Module's alarm codes.

Code Details Time when Alarm Is Detected
00 Normal status −
01 Incorrect parameter value When parameters are set
02 Overheat input Each scan
Move reference when output current is
03 When the move reference is specified
OFF.
When the positioning reference is spec-
04 Positioning target position error ified
(out of the ± 32-bit range)
05 Communication error during pulse output When the communication error occurs

• When an alarm is reset, the current alarm code is copied to the alarm history before it is reset to 0. Consequently, the Pulse Output Module
INFO
alarm code remains in the alarm history even after the alarm is reset.
• The alarm history will not be updated if the new alarm code is the same as the previous alarm code.

6-27
 6 Pulse Output Module
6.6.7 Monitoring Data

(4) Monitoring Parameters

To monitor the Pulse Output Module's parameter settings, set the MONSELn, PRMn0 to PRMn3, and PSETn
output coils as follows:
• MONSELn: ON
• PRMn0 to PRMn3: Set the desired parameter number
• PSETn: ON

INFO The register numbers are as follows:

• Channel 1: 1st byte to 4th byte
• Channel 2: 5th byte to 8th byte

Monitored Data Input Registers

Parameter No. PRMn3 PRMn2 PRMn1 PRMn0
1 OFF OFF OFF ON

Channel 1 Channel 2 Data

Output Mode 1st byte 5th byte Output mode
2nd byte 6th byte Used by system.
3rd byte 7th byte Not used.
4th byte 8th byte Not used.

Parameter No. PRMn3 PRMn2 PRMn1 PRMn0

2 OFF OFF ON OFF

Channel 1 Channel 2 Data

Jog Speed and Jog Ac- 1st byte 5th byte JOG speed (lower byte)
cel Time 2nd byte 6th byte JOG speed (upper byte)
JOG acceleration/deceleration time
3rd byte 7th byte
(lower byte)
JOG acceleration/deceleration time
4th byte 8th byte
(upper byte)

Parameter No. PRMn3 PRMn2 PRMn1 PRMn0

3 OFF OFF ON ON

Channel 1 Channel 2 Data

Zero Point Return Zero point return speed (lower
1st byte 5th byte
Speed and Zero Point byte)
Return Accel/Decel Zero point return speed (upper
Time 2nd byte 6th byte
byte)
Zero point return acceleration/
3rd byte 7th byte
deceleration time (lower byte)
Zero point return acceleration/
4th byte 8th byte
deceleration time (upper byte)

6-28
 6.6 References

(cont’d)
Monitored Data Input Registers
Parameter No. PRMn3 PRMn2 PRMn1 PRMn0
4 OFF ON OFF ON

Channel 1 Channel 2 Data

Zero Point Return Ap- Zero point return approach speed
1st byte 5th byte
proach Speed and Zero (lower byte)
Point Return Creep Zero point return approach speed
Speed 2nd byte 6th byte
(upper byte)
Zero point return creep speed
3rd byte 7th byte
(lower byte)
Zero point return creep speed
4th byte 8th byte
(upper byte)

Parameter No. PRMn3 PRMn2 PRMn1 PRMn0

5 OFF ON OFF ON

Channel 1 Channel 2 Data

Positioning Speed and
1st byte 5th byte Positioning speed (lower byte)
Positioning Accel/Decel
Time 2nd byte 6th byte Positioning speed (upper byte)
Positioning acceleration/decelera-
3rd byte 7th byte
tion time (lower byte)
Positioning acceleration/decelera-
4th byte 8th byte
tion time (upper byte)

Parameter No. PRMn3 PRMn2 PRMn1 PRMn0

8 ON OFF OFF OFF

Acceleration/ Decelera- Channel 1 Channel 2 Data

tion Mode 1st byte 5th byte Acceleration/deceleration mode
2nd byte 6th byte Not used.
3rd byte 7th byte Not used.
4th byte 8th byte Not used.

Parameter No. PRMn3 PRMn2 PRMn1 PRMn0

9 ON OFF OFF ON
Pulse Output Module

Channel 1 Channel 2 Data

Two-stage Accel/Decel Two-stage acceleration/decelera-
1st byte 5th byte
Switching Speed and tion switching speed (lower byte)
Second-stage Accel/De- Two-stage acceleration/decelera-
cel Time 2nd byte 6th byte
tion switching speed (upper byte)
Second-stage acceleration/decelera-
3rd byte 7th byte
tion time (lower byte)
Second-stage acceleration/decelera-
6
4th byte 8th byte
tion time (upper byte)

6-29
 6 Pulse Output Module
6.6.7 Monitoring Data

(cont’d)
Monitored Data Input Registers
Parameter No. PRMn3 PRMn2 PRMn1 PRMn0
10 ON OFF ON OFF

Channel 1 Channel 2 Data

Asymmetrical Accelera- Asymmetrical acceleration/deceler-
1st byte 5th byte
tion/ Deceleration Accel- ation acceleration time (lower byte)
eration and Deceleration Asymmetrical acceleration/deceler-
Times 2nd byte 6th byte
ation acceleration time (upper byte)
Asymmetrical acceleration/deceler-
3rd byte 7th byte
ation deceleration time (lower byte)
Asymmetrical acceleration/deceler-
4th byte 8th byte
ation deceleration time (upper byte)

Parameter No. PRMn3 PRMn2 PRMn1 PRMn0

11 ON OFF ON ON

Channel 1 Channel 2 Data

Asymmetrical Accelera-
Asymmetrical acceleration/deceler-
tion/ Deceleration Bias 1st byte 5th byte
ation bias speed (lower byte)
Speed
Asymmetrical acceleration/deceler-
2nd byte 6th byte
ation bias speed (upper byte)
3rd byte 7th byte Not used.
4th byte 8th byte Not used.

6-30
 6.7 Module Operation

6.7 Module Operation

6.7.1 Operation Flowchart
The following flowchart outlines the flow of operation for the Pulse Output Module.

Start

Set output mode.

Set references.*

Start operation.

End

* Set output coils and output registers.

Pulse Output Module

6-31
 6 Pulse Output Module
6.7.2 Positioning Function

6.7.2 Positioning Function

(1) Overview
When the MOVn signal turns ON, pulses are output to move from the current position to the target position at the
set speed.
The speed and acceleration/deceleration time are set in the parameters.
Speed
(pps)
t: Positioning Acceleration/Deceleration Time
Max. speed: 500 kpps

Positioning speed

t t
Time
(s)

MOVn

MOVnL

(2) Related References

Use the following I/O data to execute instructions.

(a) Output Coils

Symbol Signal Name Details
This reference starts the positioning operation. The
MOVn ∗ Positioning reference
signal operates when it goes from OFF to ON.
* The letter "n" denotes the channel number 1 or 2.

(b) Parameters
Parameter Parameter No. Setting Setting Default
Name Units
No. PRMn 3 PRMn 2 PRMn 1 PRMn 0 Range Setting
Positioning speed 1 to 50000 10 pps 500
05 OFF ON OFF ON Positioning Accelera-
tion/ Deceleration 50 to 5000 100 ms 100
Time

(c) Input Relays

Symbol Signal Name Details
Indicates that the positioning operation is being per-
MOVnL ∗ Positioning
formed.
* The letter "n" denotes channel number 1 or 2.

(d) Output Register Configuration

Register No.
Details
Channel 1 Channel 2
1st byte 5th byte Positioning speed (lower byte)
2nd byte 6th byte Positioning speed (upper byte)
3rd byte 7th byte Positioning acceleration/deceleration time (lower byte)
4th byte 8th byte Positioning acceleration/deceleration time (upper byte)

6-32
 6.7 Module Operation

(3) Operation
Use the following procedure to perform positioning operations.

Start

Change the positioning NO

speed and positioning
accel/decel time?

YES

1. Set the output mode.

2. Set the positioning

speed.

3. Positioning refer-
ence

End

INFO Once the output mode (step 1) and positioning speed (step 2) have been set, it is not necessary to set them again until there
are changes.

1. Selecting the Output Mode

a) Set the parameter number to 1 in the Parameter Number Selector output coils (PRMn0 to PRMn3).
b) Set the output mode in the lower byte of output register OWxxxxx+4 (for channel 1) or OWxxxxx+6
(for channel 2).
7 0 OWxxxx 7 0 OWxxxx

+0 +0

Pulse Output Module

+1 +1
Or
+2 +2

Parameter No.
+3 +3
PSET1
Output mode Parameter No.
+4 +4
PSET2

+5 +5
6
Output mode
+6 +6

+7 +7

c) Turn the Parameter Set/Monitor Selector output coil (PSETn) from OFF to ON.

6-33
 6 Pulse Output Module
6.7.2 Positioning Function

2. Setting the positioning speed and positioning acceleration/deceleration time

a) Set the parameter number to 5 in the Parameter Number Selector output coils (PRMn0 to PRMn3).
b) Set the positioning speed in the lower byte of output register OWxxxxx+4 (for channel 1) or
OWxxxxx+6 (for channel 2).
Set the positioning acceleration/deceleration time in the lower byte of output register OWxxxxx+5 (for
channel 1) or OWxxxxx+7 (for channel 2).

7 0 OWxxxx 7 0 OWxxxx

+0 +0

+1 +1
Or
+2 +2

Parameter No.
+3 +3
PSET1
Parameter No.
+4 +4
Positioning speed
and positioning PSET2
acced/decel time +5 +5

+6 +6
Positioning speed
and positioning
+7 +7
accel/decel time

c) Turn the Parameter Set/Monitor Selector output coil (PSETn) from OFF to ON.
3. Positioning Reference
a) Set the positioning target position in output registers OWxxxxx+4 and OWxxxxx+5 (for channel 1) or
OWxxxxx+6 and OWxxxxx+7 (for channel 2).
7 0 OWxxxx 7 0 OWxxxx

+0 +0

+1 Or +1

+2 +2

Parameter No.
+3 +3
MOV1
Parameter No.
+4 +4
Target position
MOV2
+5 +5

+6 +6
Target position
+7 +7

b) Turn OFF the following output coils:

• Cancel (CANn)
• JOG Operation (JOGn)
• Zero Point Return (ZRNn)
c) Turn the Positioning Reference output coil (MOVn) from OFF to ON.
d) Cancel
To cancel positioning, turn the Cancel output coil (CANn) from OFF to ON during positioning.
4. Positioning completed.

6-34
 6.7 Module Operation

(4) Timing Chart

The following timing charts show the operation of the positioning function.
Keep MOVn ON until MOVnL goes from OFF to ON. Turn MOVn OFF after MOVnL has gone ON.

Speed
(pps) t: Positioning Acceleration/Deceleration Time
Max. speed: 500 kpps

Positioning speed

t t
Time
(s)

MOVn

MOVnL

The following timing chart shows the cancel operation.

Speed
(pps)
t: Positioning Acceleration/Deceleration Time
Max. speed: 500 kpps

Positioning speed

t t Time
(s)

MOVn

MOVnL

CANn

Pulse Output Module

6-35
 6 Pulse Output Module
6.7.2 Positioning Function

(5) Sample Program

A sample positioning program is shown below:
In the following example, outputs are allocated to OW0030 to OW0037 while inputs are allocated to IW0020 to
IW0027.
MPS101 ”1”
”Program for CH1;
;
OW0032=2000h; ”Reset output coils
OB00324=1; ”Set positioning parameters
OB00326=1;

OW0034=MW30020; ”Positioning speed

OW0035=MW30021; ”Positioning accel/decel time
;
OB00323=1; ”ON to set parameters
IOW IB00224==1; ”Parameter settings completed

OB00323=0; ”OFF to stop setting parameters

;
OB00324=0;
OB00326=0;
;
;
TIM t4;
OL0034=ML30022; ”Set target position (absolute position)

OB00328==1; ”Start positioning

IOW IB00228==1; ;
OB00328=0;
IOW IB00228==0; ”Wait to reach target position
OL0034=0; ”Reset target position to 0
ret;

6-36
 6.7 Module Operation

6.7.3 Jog Operation

(1) Overview
Outputs pulses at the set speed and direction while the JOGn signal is ON.
The acceleration/deceleration time is set in the parameters.
The JOG speed and JOG direction are specified by the REVn signal.

Speed
(pps)
t: Jog Acceleration/Deceleration Time

Max. speed: 500 kpps

JOG speed

t t Time
(s)

JOGn

REVn

(2) Related References

(a) Output Coils
Use the following I/O data to execute instructions.
Symbol Signal Name Details
This reference controls JOG operation. JOG opera-
JOGn ∗ JOG Operation tion stops when this signal is OFF and operates
when it is ON.

* The letter "n" denotes the channel number 1 or 2.

(b) Parameters
Parameter Parameter No. Setting Setting Default
Name Units
No. PRMn 3 PRMn 2 PRMn 1 PRMn 0 Range Setting
JOG speed 1 to 50000 10 pps 500
02 OFF OFF ON OFF JOG acceleration/
50 to 5000 100 ms 100
deceleration time
Pulse Output Module
(c) Input Relays
Symbol Signal Name Details
Indicates that a JOG operation is
JOGnL ∗ JOG operation
being performed.
* The letter "n" denotes the channel number 1 or 2.

(d) Command Data Configuration 6

Register No.
Details
Channel 1 Channel 2
1st byte 5th byte JOG speed (lower byte)
2nd byte 6th byte JOG speed (upper byte)
JOG acceleration/deceleration time (lower
3rd byte 7th byte
byte)
JOG acceleration/deceleration time (upper
4th byte 8th byte
byte)

6-37
 6 Pulse Output Module
6.7.3 Jog Operation

(3) Operation
Use the following procedure to perform JOG operations.

Start

Change the JOG speed NO

and JOG accel/decel
time?

YES

1. Set the output

mode.

2. Set the JOG speed.

3. JOG operation ref-

erence

End

INFO Once the output mode (step 1) and JOG speed (step 2) have been set, it is not necessary to set them again until there are
changes.

1. Selecting the Output Mode

a) Set the parameter number to 1 in the Parameter Number Selector output coils (PRMn0 to PRMn3).
b) Set the output mode in the lower byte of output register OWxxxxx+4 (for channel 1) or OWxxxxx+6
(for channel 2).
7 0 OWxxxx 7 0 OWxxxx

+0 +0

+1 +1
Or
+2 +2

Parameter No.
+3 +3
PSET1
Output mode Parameter No.
+4 +4
PSET2

+5 +5

Output mode
+6 +6

+7 +7

c) Turn the Parameter Set/Monitor Selector output coil (PSETn) from OFF to ON.

6-38
 6.7 Module Operation

2. Setting the JOG Speed and JOG Acceleration/Deceleration Time

a) Set the parameter number to 2 in the Parameter Number Selector output coils (PRMn0 to PRMn3).
b) Set the JOG speed in the lower byte of output register OWxxxxx+4 (for channel 1) or OWxxxxx+6 (for
channel 2).
Set the JOG acceleration/deceleration time in the lower byte of output register OWxxxxx+5 (for chan-
nel 1) or OWxxxxx+7 (for channel 2).
7 0 OWxxxx 7 0 OWxxxx

+0 +0

+1 +1
Or
+2 +2

Parameter No.
+3 +3
PSET1
Parameter No.
+4 +4
JOG speed and
JOG acceleration/ PSET2
+5 +5
deceleration time

+6 +6
JOG speed and
JOG acceleration/
+7 +7
deceleration time

c) Turn the Parameter Set/Monitor Selector output coil (PSETn) from OFF to ON.
3. JOG Operation Reference
a) Turn the JOG Operation output coil (JOGn) from OFF to ON.
7 0 OWxxxx 7 0 OWxxxx

+0 +0

+1 +1
Or
+2 +2

+3 +3
JOG1

+4 +4
JOG2

+5 +5
Pulse Output Module
+6 +6

+7 +7

b) Turn OFF the following output coils:

• Cancel (CANn) 6
• Positioning (MOVn)
• Zero Point Return (ZRNn)
c) Cancel
To cancel jogging, turn the Cancel output coil (CANn) from OFF to ON during the JOG operation.
4. Positioning completed.

6-39
 6 Pulse Output Module
6.7.4 Zero Point Return

6.7.4 Zero Point Return

(1) Overview
Outputs pulses at the set speed and direction when the ZRNn signal turns ON.
The acceleration/deceleration time, approach speed, and creep speed are set in the parameters.
The direction is specified by the REVn signal.
(a) Limit Switch Configuration
Machine full operation range

Section a b c
Zero point signal

FWD run direction

(b) Zero Point Return

• When zero point return starts in section a:
(When zero point signal becomes Hi at stop after zero point signal is detected)
Speed
(pps) t: Zero Point Return Acceleration/Deceleration Time
Max. speed: 500 kpps Approach speed

Creep speed
Zero point return speed

t t Time
(s)

ZRNn

Zero point signal

Hi level at stop

• When zero point return starts in section a:

(When zero point signal becomes Lo at stop after zero point signal is detected)
Speed
(pps)
t: Zero Point Return Acceleration/Deceleraiton Time
Max. speed: 500 kpps

Creep speed
Zero point return speed

t t Time
(s)

ZRNn

Zero point signal

(Lo level at stop)

6-40
 6.7 Module Operation

• When zero point return starts in section b:

Speed
(pps)

Creep speed

Time
(s)

ZRNn

Zero point signal

• When zero point return starts in section c:

Zero point return is not possible. Return to section a or b.
(The motor runs forward at zero point return speed and stops by forward run overtravel signal.)

(2) Related References

Use the following I/O data to execute instructions.
Symbol Signal Name Details
ZRNn ∗ Zero point return This reference starts the zero point return operation.

* The letter "n" denotes the channel number 1 or 2.

(a) Parameters
Parameter Parameter No. Setting Setting Default
Name Units
No. PRMn 3 PRMn 2 PRMn 1 PRMn 0 Range Setting
Zero point return
1 to 50000 10 pps 500
speed
03 OFF OFF ON ON
Zero point return
50 to 5000 100 ms 100
accel/decel time
Zero point return
1 to 50000 10 pps 100
approach speed
04 OFF ON OFF OFF
Zero point return
1 to 50000 10 pps 50
creep speed
Pulse Output Module
(b) Digital Inputs
Symbol Signal Name Details
Indicates that a zero point return
ZRNnL ∗ Zero return
operation is being performed.
* The letter "n" denotes channel number 1 or 2.

6-41
 6 Pulse Output Module
6.7.4 Zero Point Return

(c) Command Data Configuration

• Zero point return speed and zero point return acceleration/deceleration time
Register No.
Details
Channel 1 Channel 2
1st byte 5th byte Zero point return speed (lower byte)
2nd byte 6th byte Zero point return speed (upper byte)
Zero point return acceleration/deceleration time (lower
3rd byte 7th byte
byte)
Zero point return acceleration/deceleration time (upper
4th byte 8th byte
byte)

• Zero point return approach speed and zero point return creep speed
Register No.
Details
Channel 1 Channel 2
1st byte 5th byte Zero point return approach speed (lower byte)
2nd byte 6th byte Zero point return approach speed (upper byte)
3rd byte 7th byte Zero point return creep speed (lower byte)
4th byte 8th byte Zero point return creep speed (upper byte)

(3) Operation
Use the following procedure to perform the zero point return operation.

Start

Change the:
Zero point return speed
Zero point return acceleration/
NO
deceleration time
Zero point return approach speed
Zero point return
creep speed

YES

1. Set the output mode.

2. Set the zero point

return speed.

3. Zero point return

reference

End

INFO Once the output mode (step 1) and zero point return speed (step 2) have been set, it is not necessary to set them again until
there are changes.

6-42
 6.7 Module Operation

1. Selecting the Output Mode

a) Set the parameter number to 1 in the Parameter Number Selector output coils (PRMn0 to PRMn3).
b) Set the output mode in the lower byte of output register OWxxxxx+4 (for channel 1) or OWxxxxx+6
(for channel 2).
7 0 OWxxxx 7 0 OWxxxx

+0 +0

+1 +1
Or
+2 +2

Parameter No.
+3 +3
PSET1
Output mode Parameter No.
+4 +4
PSET2

+5 +5

Output mode
+6 +6

+7 +7

c) Turn the Parameter Set/Monitor Selector output coil (PSETn) from OFF to ON.
2. Setting the Zero Point Return Speed and Zero Point Return Acceleration/Deceleration Time
a) Set the parameter number to 3 in the Parameter Number Selector output coils (PRMn0 to PRMn3).
b) Set the zero point return speed in output register OWxxxxx+4 (for channel 1) or OWxxxxx+6 (for
channel 2).
Set the zero point return acceleration/deceleration time in output register OWxxxxx+5 (for channel 1)
or OWxxxxx+7 (for channel 2).
7 0 OWxxxx 7 0 OWxxxx

+0 +0

+1 +1
Or
+2 +2

Parameter No.
+3 +3
PSET1

+4
Parameter No.
+4 Pulse Output Module
Zero point return
speed and zero point PSET2
+5 +5
return acceleration/
deceleration time
+6 +6
Zero point return
speed and zero point
+7 +7
return acceleration/
deceleration time

c) Turn the Parameter Set/Monitor Selector output coil (PSETn) from OFF to ON. 6

6-43
 6 Pulse Output Module
6.7.4 Zero Point Return

3. Setting the Zero Point Return Approach Speed and Zero Point Return Creep Speed
a) Set the parameter number to 4 in the Parameter Number Selector output coils (PRMn0 to PRMn3).
b) Set the zero point return approach speed in output register OWxxxxx+4 (for channel 1) or OWxxxxx+6
(for channel 2).
Set the zero point return creep speed in output register OWxxxxx+5 (for channel 1) or OWxxxxx+7
(for channel 2).
7 0 OWxxxx 7 0 OWxxxx

+0 +0

+1 +1
Or
+2 +2

Parameter No.
+3 +3
PSET1
Parameter No.
+4 +4
Zero point return approach
speed and zero point return PSET2
+5 +5
creep speed

+6 +6
Zero point return approach
speed and zero point return
+7 +7
creep speed

c) Turn the Parameter Set/Monitor Selector output coil (PSETn) from OFF to ON.
4. Zero Point Return Reference
a) Turn the Zero Point Return output coil (ZRNn) from OFF to ON.
7 0 OWxxxx 7 0 OWxxxx

+0 +0

+1 +1
Or
+2 +2

+3 +3
ZRN1

+4 +4
ZRN2

+5 +5

+6 +6

+7 +7

b) Turn OFF the following output coils:

• Cancel (CANn)
• Positioning (MOVn)
• JOG Operation (JOGn)
c) Cancel
To cancel the zero point return, turn the Cancel output coil (CANn) from OFF to ON during the opera-
tion.
5. Positioning completed.

6-44
 7
PLC Module

This chapter provides an outline of the PLC Module, which can be connected using a MECHA-
TROLINK Interface.

7.1 MP940 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.1 External Appearance and Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.2 Specifications and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5

PLC Module

7-1
 7 PLC Module
7.1.1 External Appearance and Configuration

7.1 MP940
7.1.1 External Appearance and Configuration
The following diagram shows the MC400-Series MP940 Module’s external parts.

MP940
TX
LED2
LED2indicators
BAT
RX Battery connector
RDY
RUN
ALM
LED1
LED1indicators
1
BAT
PRT1
PRT2 M
E MECHATROLINK
MECHATROLINK
RUN
C
connectors

6
H
INIT A

5
TEST T

4
FLASH R

3
PP
2 O
DIP switch

2
L
L1 COPY

1
NO I
N
PORT1 K
L2
Serial port 1 1
I/O

L1C PORT2 I/Oconnector

I/O
L2C
B1 Serial port 2 2
B2

POWER

+24V LED
GND LED
LEDindicator connector
FG
Power supply connector

(1) LED1
LED1 indicators show the Module’s status.

Indicator
RDY Indicator Name Meaning When Lit or Flashing
Color
RUN
RDY Green System operating normally.
ALM
RUN Green Program running.
BAT
Lit: Minor system failure occurred.
PRT1 ALM Red
Flashing: System fault or failure occurred.
PRT2
BAT Red Battery needs replacing.
PRT1 Green Serial port 1 sending data.
PRT2 Green Serial port 2 sending data.

(2) LED2
LED2 indicators show the MECHATROLINK’s status.
Indicator
Indicator Name Meaning When Lit
TX Color
RX TX Green Sending data
RX Green Receiving data

7-2
 7.1 MP940

(3) Battery Connector

Connects a backup battery for the program memory.
• Connector model: DF3-2P-2DS (HIROSE)
• Battery: ER6VLY + DF3.CONNECTOR

Terminal Name Function

BAT BAT IN Battery input
GND Terminal ground

(4) DIP Switch

The DIP switch consists of six pins. The pins are numbered from 1 to 6, as shown in the diagram.
Each pin turns ON when it is moved to the right.
The pin settings are enabled the next time the power supply is turned ON.
Each pin’s function is shown in the following table.
Pin
RUN Name Setting Function Default
1 2 3 4 5 6

INIT
No.
TEST ON Runs the program.
FLASH 6 RUN ON
OFF Stops the program.
PP
COPY Pin 3 OFF: Copies a data from Flash Memory to RAM.
→ NO ON
ON: Clears Flash Memory.
5 INIT Pin 3 OFF: Does not copy a data from Flash Memory to OFF
OFF RAM.
ON: Setting prohibited.
ON Terminal mode/initialization mode
4 TEST OFF
OFF Online
ON Copies a data from Flash Memory to RAM.
3 FLASH OFF
OFF Does not copy a data from Flash Memory to RAM.
ON Serial port 1*
2 PP Serial port 1 is an MPE720 connection port when this pin is OFF
OFF
OFF.
COPY ON M-register copy from flash memory provided.
(Valid
1 OFF
when Pin OFF M-register copy from flash memory not provided.
3 is ON)
* Turn ON this pin when communicating with a MEMOBUS device using the communication
parameters defined in the Module configuration. If this pin is ON but the communication
parameters have not been defined, the default setting (i.e., MPE720 connection port settings)
will be used.

(5) Serial Port 1

Use this port for MPE720 connection.
PLC Module

Also, the MP940 can communicate with communication devices on the MEMOBUS Network by means of RS-
232C via serial port 1.

(6) Serial Port 2

Use this port for RS-422/485 connections. 7
(7) Power Supply Connector
Use this connector to supply a 24-VDC power supply to the MP940 Module.

7-3
 7 PLC Module
7.1.1 External Appearance and Configuration

(8) MECHATROLINK Connector

Use this connector to connect distributed I/O via MECHATROLINK.

(9) I/O Connectors

Use the I/O Connectors to connect the MP940 Module to external input signals, analog outputs, and pulse inputs.

(10) LED Connectors

By connecting to the LED indicator block shown below, you can display the DI/DO status connected to the I/O
Connectors.

Signal Signal
No. Remarks No. Remarks
LED Name Name
5-V power
1 VCC 2 − −
supply
3 − − 4 LED0 −
5 LED1 − 6 − −
7 LED2 − 8 LEDPW0 −
9 LEDPW3 − 10 LEDPW2 −
11 LED3 − 12 LED4 −
13 LED5 − 14 LEDPW1 −
15 LED7 − 16 LED6 −

MP940
TX
BAT R
X
RDY
RUN
ALM
1

MP940 LED indicator block

BAT

MP940用LEDブロック
PRT1
M
PRT2
E
RUN
C
(optional)
6

H
INIT A
（オプション）
5

TEST T
4

FLASH R
3

2
PP O
2

COPY L
1

→ NO I

PORT1
N
K R ACTIVE F

I/O
1 9 17 25
2 10 18 26
3 11 19 27
PORT2

4 12 20 28
5 13 21 29
POWER 6 14 22 30
+24V LED
GND 7 15 23 31
FG

8 16 24 32

Fig 7.1 LED Indicator Block Diagram

7-4
 7.1 MP940

7.1.2 Specifications and Functions

(1) General Specifications
The general specifications of the MP940 Module are shown below.

Table 7.1 General Specifications of MP940 Modules

Item Specifications
Ambient Operating
0 to 55°C
Temperature
Storage Tempera-
-20 to 85°C
ture
Environmental Operating Humidity 30% to 95% (with no condensation)
Conditions
Storage Humidity 5% to 95% (with no condensation)
Pollution Level Pollution level 1 according to JIS B 3501
Corrosive Gas No combustible or corrosive gas
Operating Altitude Less than 2,000 m above sea level
1,500 Vp-p in either normal or common mode with pulse widths of
Electrical Operating
Noise Resistance 100 ns and 1 μs and rise time of 1 ns (with impulse noise simulator)
Conditions
(conforming to JIS B 3502)
10 to 57 Hz with half-amplitude of 0.075 mm
57 to 150 Hz at fixed acceleration of 9.8 m/s2
Vibration Resistance 10 sweeps in the X, Y, and Z directions
Mechanical Operat- (sweep period: 1 octave/min)
ing Conditions (conforming to JIS B 3502)
Conforming to JIS B 3502:
Shock Resistance Peak acceleration of 147 m/s2 twice for 11 ms in the X, Y, and Z direc-
tions
Installation Ground Ground to 100 Ω max.
Requirements Cooling Method Natural cooling

PLC Module

7-5
 7 PLC Module
7.1.2 Specifications and Functions

(2) Hardware Specifications

The hardware specifications of the MP940 Module are shown in the following table.

Table 7.2 Hardware Specifications of the MP940 Module

Item Specifications
Name MP940 Module
Model Number JEPMC-MC400
Baud rate: 9.6 K or 19.2 Kbps
MDR-14 (special pin assignments)
RS-232C 1 port
Protocols: MEMOBUS, No-protocol, or MELSEC communica-
Communication tion
Ports Baud rate: 9.6 K or 19.2 Kbps
MDR-14 (special pin assignments)
RS-422/485 1 port
Protocols: MEMOBUS, No-protocol, or MELSEC communica-
tion
READY (Green)
RUN (Green)
Module Status LED ALM (Red)
Indicators BATALM (Red)
Indicators (LED) PRT1 (Green)
PRT2 (Green)
MECHATROLINK Operation RX (Green)
Status LED Indicators TX (Green)
Mode setting DIP switch
RUN
INIT
Setting Switches TEST
FLASH
PP
COPY
Number of Inputs 8 points/common
Input Format Sinking or sourcing
Input Type Type 1 (JIS-B3501)
Isolation Method Photocoupler
Working Voltage 17.4 to 28.8 VDC, 35 VDC (peak)
Rated Current 5.3 mA
Input Signal
Input Impedance Approx. 4.4 kΩ
ON voltage: 15 VDC min.
Operating Voltages
OFF voltage: 5 VDC max.
OFF Current 0.9 mA max.
OFF to ON: 0.5 ms or less
Response Time
ON to OFF: 1.5 ms or less
Number of Outputs 8 points/common
Output Format Sinking
Output Type Transistor output
Isolation Method Photocoupler
Load Voltage 19.2 to 28.8 VDC, 35 VDC (peak)
Load Current 0.1 A/circuit, 0.8 A/common
Output Signals
ON Voltage 1.0 V max.
External Power Supply 24 VDC ± 20%, 15 mA
Output Protection 1 fuse per common
Fuse Rating 1.5 A (opening time: 5 seconds max. at 3A)
OFF to ON: 0.25 ms or less
Response Time
ON to OFF: 1 ms or less

7-6
 7.1 MP940

Table 7.2 Hardware Specifications of the MP940 Module (cont’d)

Item Specifications
Input Circuit 5 V differential, maximum 1 MHz input
Phase-A and phase-B inputs (×1, ×2, or ×4 multiplication), A/B
Pulse Inputs Input Method
mode, sign mode, up-down mode
Counter Latch External signal can be switched between 5 V, 12 V, and 24 V.
Analog Inputs SGDH-†††E SERVOPACK
Resolution 16 bits
Analog Outputs
Output Range 0 to ± 10 V
Input Signal 24 VDC ± 20% (19.2 to 28.8 VDC)
Input Current 0.4 A
Power Supply Input
Fuse Rating 1.5 A
Safety Standards Conforming to UL and CSA standards
Dimensions (mm) 44 × 142 × 128 (W × H × D)

PLC Module

7-7
 7 PLC Module
7.1.2 Specifications and Functions

(3) Motion Control Function Specifications

The motion control function specifications of the MP940 are shown in the following table.

Table 7.3 MP940 Motion Control Function Specifications

Item Specifications
Number of Controlled Axes 1 axis
PTP Control Linear, rotary, and infinite-length axes
Interpolation Linear
Speed Reference Output Available
Control Specifications Torque Reference Output Available
Positioning, external positioning, zero point return, interpo-
Position Control lation, interpolation with position detection function, fixed
speed feed, fixed length feed
Phase Control Available
Reference Unit mm, inch, deg, pulse
Reference Unit Minimum
1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Setting
Maximum Programmable
-2147483648 to +2147483647 (signed 32-bit value)
Position Control Value
Speed Reference Unit mm/min, inch/min, deg/min, pulse/min
Acceleration/Deceleration
Linear, asymmetric, S-curve
Type
Override Function 0.01% to 327.67%
Coordinate System Rectangular coordinates
Zero Point Return Eight types
DEC1 + phase C DEC1+ZERO
DEC2 + phase C DEC2+ZERO
DEC1+LMT DEC1+LMT+ZERO
Phase C ZERO
Language Special motion language ladder program
Number of Tasks Up to eight programs can be executed in parallel.
Programming
Number of Programs Up to 32
Program Capacity 80 Kbytes
Applicable SERVOPACK Analog: SGDH-†††E SERVOPACK
Encoder Incremental or absolute
-327.68% to 327.67%/Rated speed
Speed Reference
Torque control function available
Speed Control
Acceleration and Decelera-
Linear, asymmetrical, S-curve (travel average)
tion Type
-327.68% to 327.67%/Rated torque
Torque Control Torque Reference
Speed control function available
Speed Reference Units -327.68% to 327.67%/Rated speed
Phase Control Speed Compensation -327.68% to 327.67%/Rated speed
Position Compensation -2147483648 to 2147483647 pulse

7-8
 7.1 MP940

Table 7.3 MP940 Motion Control Function Specifications (cont’d)

Item Specifications
Axis Move Commands: 5 commands
MOV, MVS, ZRN, SKP, EXM

Basic Control Commands: 5 commands

ABS, INC, POS, MVM, PLD

Speed and Acceleration/Deceleration Commands: 8 com-

mands
ACC, DCC, SCC, VEL, IAC, IDC, IFP, FMX

Commands High-level Control Commands: 4 commands

PFN, INP, SNG, UFC

Control Commands: 10 commands

MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND,
WHILE WEND, PFORK JOINTO PJOINT, SFORK
JOINTO SJOINT

Math and Sequence Control Commands: 32 commands

=, +, -, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,
ASN, ACS, ATN, SQRT, BIN, BCD, = =, < >, >, <, >=, <=,
SFR, SFL, BLK, CLR

PLC Module

7-9
 8
MECHATROLINK-II Repeater

This chapter provides an overview of the repeater JEPMC-REP2000 for the MECHA-
TROLINK-II.

8.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8.2 External View and Components - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.3.1 System Configuration Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5

8.4 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6

8.5 Application - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
8.5.1 Restrictions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
8.5.2 Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10

MECHATROLINK-II Repeater

8-1
 8 MECHATROLINK-II Repeater

8.1 Overview
The JEPMC-REP2000 (hereinafter referred to as REP2000 or Repeater) is a repeater for MECHATROLINK-II
transmission system and serves as a module to extend the distance of MECHATROLINK-II network and increase
the number of connectable slave stations.

The REP2000 has two MECHATROLINK-II connection ports: One port to connect to the terminal of Master-
side network, and the other to connect to the terminal of the extended network. These two ports are functionally
identical. A terminator is built in each port.
The internal circuit of REP2000 eliminates receive signal waveform deformation caused by radiation and noise
on the transmission route.

The REP2000 has three LED indicators to indicate the status: Power-ON, CN1 busy, and CN2 busy.
A +24 VDC power supply is required for operation.

8-2
 8.2 External View and Components

8.2 External View and Components

The external view and components of REP2000 are shown below.

LED indicators

DIP switch (SW)

MECHATROLINK-II connectors
(CN1, CN2)

Power supply connector

(CN3)

(1) LED Indicators

The following LED indicators indicate the REP2000 status.
LED Location
Front Surface Indicator
Name Meaning When Lit
(The surface with the Right Side Color
nameplate)

POWER POWER POWER Green Power ON

TX1 TX1 TX1 Green CN1 busy (in transmitting data)

TX2 TX2 TX2 Green CN2 busy (in transmitting data)

(2) MECHATROLINK-II Connectors CN1 and CN2

The Master-side MECHATROLINK-II network and the extended line of MECHATROLINK-II network are
connected via MECHATROLINK-II connection port connectors CN1 and CN2 on the REP2000.
Signal
MECHATROLINK-II Repeater

Pin No. Description

CN1 Name
1 (NC) Disconnected
2 /S MECHATROLINK-II
CN2
3 S MECHATROLINK-II
4 FG Frame ground

8-3
 8 MECHATROLINK-II Repeater

(3) Power Supply Connector

Connect an external +24 VDC power supply to the power supply connector.
Pin No. Signal Name Description
CN3
1 FG Frame ground
DC24V
2 024V 0 VDC input
DC 0V
3 +24V 24 VDC input

(4) DIP Switch

The DIP switch is for future use. Leave all the pins to OFF.
OP Function SP Function D2 D1 Function
SW
OFF None (Factory setting) OFF None (Factory setting) OFF OFF None (Factory setting)
OP
SP ON None ON None OFF ON None
D2
D1 ON OFF None
1
O
N

ON ON None

8-4
 8.3 System Configuration

8.3 System Configuration

8.3.1 System Configuration Example
The figure below shows the configuration example of MECHATROLINK-II network system with a REP2000.
(1) For 30m Max. Extension of Network Distance

    


 !"#$% &' 11 !"#$% &'
    11

   

   
       
       
   

(2) For 50m Max. Extension of Network Distance

  

 !"#$% &'  
11
    !"#$% &' 11

   

   
       
       
   

MECHATROLINK-II Repeater

8-5
 8 MECHATROLINK-II Repeater

8.4 Specifications
(1) General Specifications
The table below shows the general specifications of REP2000.
Table 8.1 General Specifications of JEPMC-REP2000
Item Specifications
Ambient Operating
0 to +55 °C
Temperature
Storage Tempera-
-25 to +85 °C
ture
Environmental Ambient Operating
30 to 95% RH (without condensation)
Conditions Humidity
Storage Humidity 5 to 95% RH (without condensation)
Pollution Level Conforming to JIS B3501 (Pollution level 1)
Corrosive Gas Not subjected to inflammable or corrosive gas
Operating Altitude 2,000m max. above sea level
Conforming to JIS B3502
Vibration amplitude at acceleration:
10 ≤ f < 57 Hz with half-amplitude of 0.075 mm
Vibration Resistance
Mechanical 57 ≤ f ≤ 150 Hz at constant acceleration of 9.8 m/s2
Operating 10 sweeps in the X, Y, and Z directions
Conditions (sweep time: 1 octave/min.)
Conforming to JIS B3502
Shock Resistance Peak acceleration of 147 m/s2 twice for 11 ms in the X, Y, and Z direc-
tions
Conforming to EN 61000-6-2 and
EN 55011 (Group1 ClassA)
Electrical Power supply noise (FT noise): 2 kV or more for 1 min.
Operating Noise Resistance
Radiation noise (FT noise): 1 kV or more for 1 min.
Conditions
Ground noise (Impulse noise): 1 kV or more for 10 min.
Static electricity noise (Contact radiation): 4 kV or more 10 times
Installation Grounding Ground to 100 Ω or less
Requirements Cooling Method Natural cooling

8-6
 8.4 Specifications

(2) Hardware Specifications

The table below shows the hardware specifications of REP2000.
Table 8.2 Hardware Specifications of JEPMC-REP2000
Item Specifications
Name REP2000 Repeater
Model Number JEPMC-REP2000
Applicable Communication
MECHATROLINK-II (10 Mbps)
Protocol
2 (CN1 and CN2)
Number of MECHA-
Refer to (1) Connection to MECHATROLINK of 8.5.2 Operation
TROLINK Ports
for details.
Connect to the Master-side network
Number of connectable slave stations for Master-side network:
15 stations for the network distance of 30m max.
Master-side Port
14 stations for the network distance of 50m max.
Communication Refer to (1) Maximum Number of Slave Stations of 8.5.1 Restric-
board tions for details.
Connect to the extended network
Number of connectable slave stations for extended network:
16 stations for the network distance of 30m max.
Extended-network-side Port
15 stations for the network distance of 50m max.
Refer to (1) Maximum Number of Slave Stations of 8.5.1 Restric-
tions for details.
First request for higher priority. CN1 has a priority at simultaneous
Arbiter
requests.
Terminator One (130 Ω) for each port
3 LED indicator lamps
Indicator Lamps POWER (green): Power ON
Status Indication
(LED) TX1 (green): CN1 busy (in transmitting data)
TX2 (green): CN2 busy (in transmitting data)
Mounting Orientation Vertical or horizontal (The nameplate upward)
Required External Power
+24 VDC (+19.2 to +28.8V), 100 mA
Others Supply
Dimensions in mm 30 × 160 × 77 (W× H × D)
Mass 0.4 kg

MECHATROLINK-II Repeater

8-7
 8 MECHATROLINK-II Repeater
8.5.1 Restrictions

8.5 Application
8.5.1 Restrictions
(1) Maximum Number of Slave Stations
The number of connectable stave stations in the Master-side network or the extended network is limited by the
MECHATROLINK-II cable length as shown in the table below.
Table 8.3 Number of Connectable Slave Stations
Number of Slave
Classification Cable Length
Stations
30m max. 15 stations max.
*1
Master-side Network
50m max. 14 stations max.
30m max. 16 stations max.
Extended-side Network *2
50m max. 15 stations max.

* 1. The number of connectable slave stations (16 stations for 30m cable length, 15 stations for 50m cable length)
includes a REP2000 as a REP2000 applies load for one station.
* 2. Install a terminator on the slave station that is the terminal of the extended network.

 "!###

  
 11
 !  11

   

     

Note: 1. Total number of slave stations in a whole network depends on the specifications of Master station.
2. The REP2000 is not included in the total number of slave stations specified in the specifications of
Master station.
3. The minimum distance between stations is 0.5m no matter whether a REP2000 is connected or not.

(2) Prohibited Use of Multiple Repeaters

More than one REP2000 cannot be connected in a network.
The figure below shows the network examples that must not be designed.

M-11 REP2000 REP2000 Termi-

Master nator

Slave Slave Slave Slave Slave Slave

M-II REP2000 REP2000 Termi-

Master nator

Slave Slave Slave Slave

8-8
 8.5 Application

(3) Mounting Orientation

(a) Recommended Mounting Orientation
The REP2000 can be mounted either vertically or horizontally (with the nameplate upward).


  

 
     
 

(b) Prohibited Mounting Orientation

Do not mount the REP2000 up-side-down or horizontally with the nameplate downward.



 
  
 


MECHATROLINK-II Repeater

8-9
 8 MECHATROLINK-II Repeater
8.5.2 Operation

8.5.2 Operation
(1) Connection to MECHATROLINK
Connect either CN1 or CN2 to the Master-side network, and the other to the extended network.

(2) Arbiter
Two ports CN1 and CN2 are normally in the status ready to receive data. The port that starts receiving data first
becomes the data receiving port, and the other becomes the data transmitting port.
Two ports return to the status ready to receive data after having completed receiving or transmitting data. With
the MECHATROLINK-II protocol, the Master station and a slave station transmit data alternately, there will be
no conflict of receiving data between two ports.

(3) LED Indicators For Transmission Status

The LED indicator TX1 or TX2 lights when the port CN1 or CN2 is transmitting data respectively: TX2 lights
when CN1 is the data receiving port and CN2 is the data transmitting. TX1 lights when CN1 is the data transmit-
ting port and CN2 is the data receiving port. However, data are frequently received and transmitted in a short
cycle, you can see both indicators as if they were lit simultaneously.
The Master-side LED lights normally darker than the other. It is because the extended side LED lights when
either the Master or a Master-side slave station is transmitting data while the Master-side LED lights when an
extended side slave is transmitting data. Accordingly, the Master-side LED lights more brightly as the number of
extended-side slave stations increases.
• Operation Example of LED Indicators
In this example, CN1 is connected to the Master-side network.
%   

% 
 $ 
 $&
 
!
 " 
  
 #  $"  
 " 
    !%

 #  $"  
 " 
  
 #  $"  
 " 
  
 #  $"  


! "#
 !%

11 

  
"
  

   
   


  
  
 
 

1. TX2 lights when the MECHATROLINK-II Master station is transmitting data.

2. TX2 lights also when receiving response from Slave 1, 2, or 3.
Because the signals sent from Slave 1, 2, and 3 are the CN1 receiving signals for the REP2000.
3. When Slave 4 returns a response, TX1 lights.
As a result, TX2 lights 8 times while TX1 lights once in 1 transmission cycle.

8-10
 9
Connections

This chapter explains the connections between MECHATROLINK devices.

9.1 Connections between MECHATROLINK Devices - - - - - - - - - - - - - - - - - - 9-2

9.1.1 MECHATROLINK Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.2 MECHATROLINK Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
9.1.3 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10

9.2 External Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17

9.2.1 Wiring in a Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
9.2.2 Indoor Wiring Between Panels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
9.2.3 Outdoor Wiring Between Panels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
9.2.4 Grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
9.2.5 Grounding Control Panels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21

Connections

9-1
 9 Connections
9.1.1 MECHATROLINK Connectors

9.1 Connections between MECHATROLINK Devices

9.1.1 MECHATROLINK Connectors
(1) Connector Types
The MECHATROLINK connectors for Master Modules differ as shown below.
Number of
Master Module Appearance Connector Name
Connectors

PORT1

ISA 2

PORT2

MP910

PORT1

C-PCI 4

PORT2

MP920
2 CN1
(SVB-01)

MP930 1 CN1

MP940 2

MP2100 1 M-I/II

MP2300 1 M-I/II

CN1
MP2200/
MP2300 2
(SVB-01)
CN2

9-2
 9.1 Connections between MECHATROLINK Devices

INFO • There are two of each type of connector built into the MP910, so you can create two independent MECHATROLINK
networks.
• There are two designs of MECHATROLINK connector, those that connect top and bottom, and those that connect left
and right. Their function, however, remains the same.

(2) Internal Connections

The MECHATROLINK connectors are connected as shown below.
1
NC
2
/DATA
3
DATA
4
SH

1 1
NC NC
2 2
/DATA /DATA
3 3
DATA DATA
4 4
SH SH

1
NC
2
/DATA
3
DATA
4
SH

1
NC
2
/DATA
3
DATA
4
SH

Insert an USB terminator (JEPMC-W6020 for M-I, JEPMC-W6022 for M-II) into both ends of the system.

(3) Connector Specifications

The specifications for the above connectors are shown below.
Number of Connector Model
Name
Pins Module Connector Cable Connector Manufacturer
MECHATROLINK
4 1903814-1 2040305-1 Tyco Electronics Japan G.K.
Connections

Connectors

Signal
No. Description
4 Name
1 (NC) Not used
2 /DATA Signal minus (-) side 9
3 DATA Signal plus (+) side
1 4 SH Not used
Shell Shield Connect a shielded cable.

9-3
 9 Connections
9.1.1 MECHATROLINK Connectors

(4) Connection Method

(a) Master Station

ドライバ
Master Module
モジュール

T T

Slave
スレーブ Slave
スレーブ
station
局 station
局
T Terminator
：ターミネータ

(b) Slave Station

ドライバ
Master
モジュール Module

Slave station

スレーブ局

T T

Master Slave
スレーブ Slave
スレーブ
マスタ局 station station
station 局 局
T Terminator
：ターミネータ

INFO • If there is only one connector, a terminator is not required.

• If there are two connectors, you can connect either. Connectors that operate top to bottom and connectors that operate
left to right both function the same.

9-4
 9.1 Connections between MECHATROLINK Devices

9.1.2 MECHATROLINK Cables

(1) Standard Cable List
Yaskawa manufactures the following standard cables.
(a) For MP900 Series
Cable Name and Specifications Model Length (m)
JEPMC-W6000-A3 0.3
JEPMC-W6000-01 1
JEPMC-W6000-03 3
MECHATROLINK Cable
JEPMC-W6000-05 5
USB connector to USB connector
JEPMC-W6000-10 10
JEPMC-W6000-20 20
JEPMC-W6000-30 30
JEPMC-W6001-A3 0.3
JEPMC-W6001-01 1
JEPMC-W6001-03 3
MECHATROLINK Cable JEPMC-W6001-05 5
USB connector to USB connector JEPMC-W6001-10 10
(with ferrite core) JEPMC-W6001-20 20
JEPMC-W6001-30 30
JEPMC-W6001-40 40
JEPMC-W6001-50 50
JEPMC-W6010-07 7
JEPMC-W6010-10 10
JEPMC-W6010-15 15
MECHATROLINK Cable
JEPMC-W6010-20 20
USB connector to loose wire
JEPMC-W6010-30 30
JEPMC-W6010-40 40
JEPMC-W6010-50 50
Terminator (Terminating resistor) 120 Ω JEPMC-W6020 −

INFO If there is transmission problems such as noise interference, use a cable with ferrite core.

Connections

9-5
 9 Connections
9.1.2 MECHATROLINK Cables

(b) For MP2000 Series

Cable Name and Specifications Model Length (m)
JEPMC-W6002-A5 0.5
JEPMC-W6002-01 1
JEPMC-W6002-03 3
JEPMC-W6002-05 5
MECHATROLINK Cable
JEPMC-W6002-10 10
USB connector to USB connector
JEPMC-W6002-20 20
JEPMC-W6002-30 30
JEPMC-W6002-40 40
JEPMC-W6002-50 50
JEPMC-W6003-A5 0.5
JEPMC-W6003-01 1
JEPMC-W6003-03 3
JEPMC-W6003-05 5
MECHATROLINK Cable
JEPMC-W6003-10 10
USB connector to USB connector (with ferrite core)
JEPMC-W6003-20 20
JEPMC-W6003-30 30
JEPMC-W6003-40 40
JEPMC-W6003-50 50
JEPMC-W6011-A5 0.5
JEPMC-W6011-01 1
JEPMC-W6011-03 3
JEPMC-W6011-05 5
MECHATROLINK Cable
JEPMC-W6011-10 10
USB connector to loose wires
JEPMC-W6011-20 20
JEPMC-W6011-30 30
JEPMC-W6011-40 40
JEPMC-W6011-50 50
Terminator (Terminating resistor) 130 Ω JEPMC-W6022 −

INFO If there is transmission problems such as noise interference, use a cable with ferrite core.

9-6
 9.1 Connections between MECHATROLINK Devices

(c) Cable Appearance

• MECHATROLINK cables
Model: JEPMC-W6000-††, JEPMC-W6002-††

Model: JEPMC-W6001-††, JEPMC-W6003-††

Model: JEPMC-W6010-††, JEPMC-W6011-††

• USB terminator
Model: JEPMC-W6020, JEPMC-W6022

JEPMC-W6020 JEPMC-W6022

Pin No. Pin No.

Name Name

(NC) 1 (NC) 1

/DATA 2 /DATA 2
120Ω 130Ω
DATA 3 DATA 3

SH 4 SH 4

Shield Shell Shield Shell

IMPORTANT • Use the MECHATROLINK standard cables.

• The cables and terminators for MP900 and those for MP2000 must not be mixed together.
Connections

9-7
 9 Connections
9.1.2 MECHATROLINK Cables

(2) Internal Cable Connections

The following figure shows the internal connections for the cables with USB connectors at both ends between the
Modules.

Cable model: JEPMC-W6000-††

JEPMC-W6001-††
Pin No.
Name JEPMC-W6002-††
Name
JEPMC-W6003-††
(NC) 1 1 (NC)

/DATA 2 2 /DATA

DATA 3 3 DATA

SH 4 4 SH

Shield Shell Shell Shield

The following figure shows the SGD-†††N and SGDB-††AN SERVOPACK connections to the Master
Module.
(a) For MP900 Series
Cable model: JEPMC-W6010-††
Master SERVOPACK SERVOPACK SERVOPACK
Module (terminator)
USB MR MR MR
connector connector connector connector
Name Name Name Name

(NC) 1 1 /DATA 1 /DATA 1 /DATA

/DATA 2 2 DATA 2 DATA 2 DATA

DATA 3 3 3 3

TERM
SH 4 4 TERM 4 TERM 4

Shield Shell 5 FG 5 FG 5 FG

/DATA /DATA /DATA

6 6 6

DATA DATA
7 7 7 DATA

8 8 8

Note: Red lead: DATA

Black lead: /DATA

9-8
 9.1 Connections between MECHATROLINK Devices

(b) For MP2000 Series

Cable model JEPMC-W6011-††

SERVOPACK SERVOPACK SERVOPACK (Terminator)
SVB-01 Module
USB connector MR connector MR connector MR connector
Name Name Name Name

(NC) 1 1 /DATA 1 /DATA 1 /DATA

/DATA 2 2 DATA 2 DATA 2 DATA

DATA 3 3 3 3

TERM
SH 4 4 TERM 4 TERM 4

Shield Shell FG FG
5 5 5 FG

/DATA /DATA /DATA

6 6 6
Externally install
DATA DATA a terminator
7 7 7 DATA between pins
6 and 7.
Resistance:
8 8 8 130Ω ±5% 1/2W

Note: Red lead: DATA

Black lead: /DATA

IMPORTANT • JEPMC-W6010-†† has an USB connector on one end and a loose wire on the other end. Create the 1:N
cable connection using the MR connector and the wire material.
• For a MP2000-series system with a SGD-†††N or SGDB-††AN at the terminal, install a terminator of
130Ω.
• Normally, you can also wire the shield as specified in the SERVOPACK manual, but if combining the shield
with the MP900/MP2000 series, we recommend the connection as shown in the above diagram.
• Connect the cables in accordance with the MECHATROLINK-I specifications. The cable connections out
of the specifications causes reflected waves, resulting in erroneous communications.
Total network length: 50 m max.
Distance between stations: 0.3 m min.
Connections

9-9
 9 Connections
9.1.3 Connection Example

9.1.3 Connection Example

(1) MP910 Connection Example
A connection example for a system using the MP910 is shown below.

MPE720 MP910

Windows NT CN1
JAPMC-MC100
JAPMC-MC150 CN2 General-purpose input
General-purpose output
JRMSP-120XCP9600 Battery
Module for Absolute Encoder
JAPMC-MC101 JRMSP-120XCP9600

JAPMC-MC151
PORT1

PORT2

JEPMC-IO350
SGD-†††N J5
CN1
U
CN1 3CN
V M
W
IN1 General-pur-
pose input Machine FG
1CN
General-pur- input
OUT1 pose output Machine 2CN PG
output
IN2 General-pur- J6
+24V +24V pose input R
0V 0V General-pur- T
OUT2 pose output
FG FG

SGDB-††AM J5
U
3CN
V M
W
Machine J7 FG
input 1CN
Machine
output 2CN PG
r r J6
t t
R1 R
S1 S
T1 T
FG

9-10
 9.1 Connections between MECHATROLINK Devices

(2) MP920 (SVB-01) Connection Example

A connection example for a system using the SVB-01 is shown below.
(a) Connecting MECHATROLINK Devices

Inverter I/O350

216IF/G5
Module or
CP-916B
I/O

IM MECHATROLINK
SERVOPACKs
Inverter

IM

IMPORTANT There are two connectors on the SVB-01 Module, but only one input port on MECHATROLINK. Both right
and left sides of the connector are the same, so it does not matter which side you connect. A maximum of 14
stations can be connected.
Connections

9-11
 9 Connections
9.1.3 Connection Example

(b) Connecting an IO350 Unit to an SVB-01 Module

SVB-01

STATUS

TRX

CN1 JEPMC-W6000-A3

d
I/O350 I/O350

• If connecting an IO350 Unit to an SVB-01 Module, or an IO350 Unit to an IO350 Unit, use a JEPMC-
W6000-A3 Standard Cable.

IMPORTANT Make sure to insert a JEPMC-W6020 USB Terminator into the terminal connector (c and d in the above dia-
gram).
Refer to 9.1.2 MECHATROLINK Cables for appearance and internal connection diagrams.

9-12
 9.1 Connections between MECHATROLINK Devices

(c) Connecting Multiple MECHATROLINK SERVOPACKs

SVB-01

STATUS

TRX

CN1

MECHATROLINK
SERVOPACKs

1CN 1CN 1CN 1CN

R R R R
T T T T
P P P P
N N N N

U 2CN U 2CN U 2CN U 2CN

V V V V
W W W W
E E E E

Create the connection between the SVB-01 Module and MECHATROLINK SERVOPACKs such as
SGD-†††N and SGDB-††AN using the JEPMC-W6010-†† Standard Cables, MR Connectors, and wir-
ing material, as shown below.

HONDA HONDA HONDA HONDA

MR-8L MR-8L MR-8L MR-8L

• Refer to 9.1.2 MECHATROLINK Cables for appearance and internal connection diagrams.
Connections

9-13
 9 Connections
9.1.3 Connection Example

(3) MP930 Connection Example

Connect the MC Unit to the I/O Unit, and the I/O Unit to the SERVOPACKs using the following MECHA-
TROLINK cables.

JEPMC-W6000-A3

Connect to
serial port 1

！ ！ ！ ！

JEPMC-W6010-□□
For connection to the servomotor, refer to MP930
Machine Controller User’s Manual Design and Mainte-
nance (SIEZ-C887-1.1).

Set the SERVOPACK and I/O Unit station numbers according to the MECHATROLINK settings.

Set to 3.
3にセット

Set to 1.
1にセット

Set to 2.
2にセット

！ ！

9-14
 9.1 Connections between MECHATROLINK Devices

(4) MP940 Connection Example

(a) Connecting an MP940 to an I/O Unit
A connection example for the MP940 Machine Controller and a network-compatible I/O Module is shown
below.

MP940 S#1
MP940
TX
IOIOユニット
350
I/O（IO350）
Unit
BAT
RX

RDY YASKAWA
RUN
JEPMC-IO350
ALM
1
BAT
PRT1
PRT2 M
E
RUN C CN1
IN1 OUT1 IN2 OUT2

1 2 3 4 5 6
H
INIT
A
TEST T
FLASH R
2 O
PP L
COPY I
→ NO
A1 B1 A1 B1 A1 B1 A1 B1
N
K
PORT1
SW1

I/O IN2
SW2 IN1
OUT2
OUT1

DC24V

PORT2

DC 0V

POWER

+24V LED

GND
FG

14Max14ステーション
stations max.

S#2 ST#3

The following example shows how to connect two IO350 Units to an MP940 Module.
MP940
TX
BAT R
X
RDY
RUN
ALM
1
BAT
PRT1
M
PRT2
E
C
RUN
1 2 3 4 5 6

H
INIT A
TEST T
FLASH R
2
PP O
COPY L
→ NO I
N
PORT1 K

I/O ①

PORT2

JEPMC-W6000-A3
POWER

+24V LED
GND
FG

②
I/O350 I/O350

If connecting an IO350 Unit to an MP940 Module, or an IO350 Unit to an IO350 Unit, use a JEPMC-
W6000-A3 Standard Cable.

IMPORTANT Make sure to insert a JEPMC-W6020 USB Terminator into the terminal connector (c and d in the above dia-
gram).
Connections

Refer to 9.1.2 MECHATROLINK Cables for appearance and internal connection diagrams.

9-15
 9 Connections
9.1.3 Connection Example

(b) Using an MP940 as the Master Station

SGDH
MP940

Master station

14 stations
max.
Slave
station
ST#1 ST#2 ST#3

IMPORTANT • Simple I/O is the only function supported by the MECHATROLINK MP940. You cannot connect a
MECHATROLINK Servo or 216IF Inverter.
• For connectable slaves, refer to 1.2 MECHATROLINK System Configuration.

(c) Using an MP940 as a Slave

Host
controller
Master station

14 stations
MP940 MP940 MP940
SGDH SGDH SGDH max.

Slave station
ST#1

IMPORTANT If you select an MP940 as a slave, you cannot connect an IO350, Distributed I/O Unit, or other such
devices.

9-16
 9.2 External Wiring

9.2 External Wiring

This section explains the external wiring.

9.2.1 Wiring in a Panel

As shown below, separate the communication cable from other wiring, and wire the communication cable sepa-
rately.
(1) Separation from Low-voltage Cables
Keep the communication cable completely separate from the low-voltage cable (recommended distance: 100 mm
min.)

(2) Separation from Operation Circuit Cables

Keep the communication cable completely separate from the low-voltage cable (recommended distance: 100 mm
min.)

(3) Separation from Main Circuit Cables

Keep the communication cable completely separate from the main circuit cables (refer to the table below), or
shield the main circuit cables.
Table 9.1 Recommended Separation Distance

Main Circuit Recommended Distance

125 V, 10 A 300 mm min.
250 V, 50 A 450 mm min.
440 V, 200 A 600 mm min.
3 to 6 kV, 800 A 1,200 mm min.

Connections

9-17
 9 Connections
9.2.2 Indoor Wiring Between Panels

9.2.2 Indoor Wiring Between Panels

This section explains how to separate the wiring when wiring between panels indoors.
• Pass the communication cable independently through a metal conduit or metal duct with no other wiring
before installation.

O clump
Metal conduit Metal duct

Commu- Commu-
nication nication
cable cable

Metal conduit Metal duct

Communica- Communica-
Metal conduit tion cable Metal conduit tion cable

Low-voltage Low-voltage
control circuit control circuit

General General
control circuit control circuit

Low-voltage Low-voltage
main circuit main circuit

Metal conduit (in pit) Metal duct (in pit)

Fig 9.1 Laying the Communication Cable

• Make sure to ground both ends of the metal conduit or metal duct, and also ground as many points as pos-
sible in between.

9-18
 9.2 External Wiring

9.2.3 Outdoor Wiring Between Panels

PROHIBITED
• Each Module is not protected against lightning surge. Do not employ overhead wiring.
There is a risk of device damage due to lightning.

(1) Laying the Communication Cable

For laying the communication cable, refer to 9.2.2 Indoor Wiring Between Panels. Pay particular attention to
the following points.
• If laying the communication cable outdoors, make sure to lay it along overground structural elements,
such as a steel framing.
If there are no overground structural elements, lay the cable through an underground pit or underground
tunnel, or lay an underground railing or similar structure.
The following diagram shows an example of laying a communication cable between buildings.
Overground structural Overground structural
element (metal frame) element (metal frame)
Power wiring
conduit Metal duct
Communica-
tion cable
Communica-
tion cable

Fig 9.2 Laying the Cable Alongside Structural Elements

Power wring Metal duct

conduit Communication
cable
Communication
Low-voltage cable
control circuit Low-voltage
control circuit
General control
circuit General control
circuit
Low-voltage
main circuit Low-voltage
main circuit

Fig 9.3 Wiring Using an Underground Pit or Underground Tunnel

• Do not string the bare communication cable overhead, because it may pick up inductive noise from air-
borne electrical waves, resulting in communication errors.

Ground surface
Connections

60 cm min.
Trough

Communication
cable

Fig 9.4 Laying the Communication Cable Underground

9

9-19
 9 Connections
9.2.4 Grounding

9.2.4 Grounding
• Grounding Method
(a) Mounting the Device
For the mounting base to which to mount the PLC Modules, use a base (frame) that is of one-piece metal con-
struction.

(b) Ground Wire

Install an “E” terminal for grounding to the control panel, and then connect terminal E to the control panel
case. Next, connect terminal E to terminal FG on the Power Supply Module.
Make sure to use a ground wire that is 8 mm2 minimum (8 AWG) between terminal E and the ground pole,
and make the wiring as short as possible.
If the distance of the wiring to the ground pole is long, use a thicker ground wire to make sure that the sum
total of the grounding resistance and the ground wire resistance is maintained at 100 Ω.

Power Supply Module

AC1
AC2 Control panel
ACG
FG

Ground wire inside the control panel

1.5 mm2 to 2.5 mm2

Ground wire outside the control

panel (8 mm2 min.)

Ground pole (ground to 100 Ω min.)

Fig 9.5 Ground Wiring

(c) Ground Pole

Install the ground pole as close as possible to the control panel controlling the PLC, and as far as possible (15
m min.) from the ground poles for other power panels (Group B in the following table).
Make sure the grounding resistance is 100 Ω max.

(d) Shared Ground

As a rule, ground each PLC independently. If the ground wire and ground pole need to be shared with other
control panels, however, refer to the following table.
Table 9.2 Shared Ground Wires and Ground Poles

Classification Compatible Devices Shared Ground

Computer panels, instrument control panels, I/O relay
Group A Possible
panels, general control circuits, etc.
High-voltage main control panels, high capacity thy-
Group B Not possible
ristors, etc.

(e) Communication Cables

Use a both-end ground for the communication shield cable.

(f) Metal Power Wire Conduit and Metal Ducts

Make sure to ground both ends of the metal power wire conduit or metal duct, and also ground as many
points as possible in between.

9-20
 9.2 External Wiring

9.2.5 Grounding Control Panels

(1) Grounding Power Panels
Do not mount PC panels side-by-side with power panels (refer to Group B in the table on the preceding page). If
grounding PC panels near power panels is unavoidable, ground the PC panel as far as possible from the power
panel (60 cm min.), and separate as far as possible the ground wire and ground pole for each.
Make sure the ground wires are separated by 60 cm minimum, and that the ground poles are separated by approx-
imately 15 m.

Group B panel Group A

panel

Power FG FG
panel

E E E

60 cm min. Building
Ground pole for
Ground pole for
power panel PC panel
15 m min.

Fig 9.6 Separation from Power Panel

(2) Side-by-side Mounting with Other Control Panels

You can mount PC panels next to the Group A panels listed in the table on the previous page.
If mounting panels side-by-side, however, the control panels pass power using a channel base, so to make sure of
the grounding, connect a wire that is 8 mm2 minimum between the E Terminals on the control panels.
Next, wire a ground pole to one of the E terminals.

Group A panel Group A panel Group A panel Group A panel

FG FG

E E E E

Building
Ground pole

Fig 9.7 Mounting Group A Panels Side-by-side

Connections

9-21
 9 Connections
9.2.5 Grounding Control Panels

(3) PC Panel Isolation

If grounding the PC panel to a steel-framed building, the PC panel will be grounded via the building, but this
does not normally hinder the panel from functioning.
If the PC panel is located close to a power panel, however, ground each control panel on the PC panel separately
to the building to prevent ground noise due to the ground current from the power panel.
Connect terminal E on the PC panel to the special ground pole for the PC panel.

PC panel Group A panel

Group B panel

FG
Power
panel

Insulating E E
E material
Chanel base

Building
Ground pole
Ground pole for
for PC panel
power panel

Fig 9.8 PC Panel Isolation

9-22
 Appendix A
Dimension Diagrams of the Modules

This chapter provides the dimension diagrams of the modules corresponding to the MECHA-
TROLINK systems.

A.1 I/O Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2

A.1.1 64-point I/O Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.2 Relay Contact 8-point Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1.3 100-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
A.1.4 200-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
A.1.5 100/200-VAC 8-point Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
A.1.6 24-VDC 8-point I/O Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
A.1.7 24-VDC 16-point Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
A.1.8 24-VDC 16-point Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
A.1.9 Analog Input Module (±10 V, 4 Channels) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-6
A.1.10 Analog Output Module (±10 V, 2 Channels) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-6

A.2 Reversible Counter Module with Preset Function - - - - - - - - - - - - - - - - - A-7

A.3 Pulse Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-8
A.4 MECHATROLINK-II Repeater - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-9

App

A-1
 Appendix A Dimension Diagrams of the Modules
A.1.1 64-point I/O Module

A.1 I/O Modules

This section shows the external appearances of the Digital I/O Modules.

A.1.1 64-point I/O Module

Model Number: JEPMC-IO350

120 (4.73) 54.1 108 (4.25)

4.5 111 (4.37) 4.5
4.5

13.7

YASKAWA
JEPMC-IO350

CN
1
IN1 OUT1 IN2 OUT2
130 (5.12)
121 (4.76)

A1 B1 A1 B1 A1 B1 A1 B1

SW1

IN2
SW2 IN1
OUT2
OUT1

DC24V

DC 0V
(0.18)
4.5

Dimensions in mm (inch)

A.1.2 Relay Contact 8-point Output Module

Model Number: JAMSC-120DRA83030/JAMSC-IO2950-E
4.5 152 (5.99)
(0.18)
61 (2.40)
42 (1.65)
72 (2.83)

R
UNTX 1 2 3 4 5 6 7 8 120 DR
A 830 30
(0.37)
9.5

161(6.34)
4.5 152 (5.99)
(0.18)
RUN 1 2 3 4 5 6 7 8 120 DR
A 830 30
44 (1.73)

30 (1.18)

C
N
1

C
N
(0.37)

2
9.5

YASKAWA

Dimensions in mm (inch)

A-2
 A.1 I/O Modules

A.1.3 100-VAC 8-point Input Module

Model Number: JAMSC-120DAI53330
4.5 152 (5.99)
(0.18)

42 (1.65)
61 (2.40)
72 (2.83)

R
UNTX 1 2 3 4 5 6 7 8 120 DR
A 533 30
(0.37)
9.5

161 (6.34)
4.5 152 (5.99)
(0.18)
RUN 1 2 3 4 5 6 7 8 120 DR
A 533 30
44 (1.73)
30 (1.18)

C
N
1

C
N
(0.37)

2
9.5

YASKAWA

Dimensions in mm (inch)

A.1.4 200-VAC 8-point Input Module

Model Number: JAMSC-120DAI73330
4.5 152 (5.99)
(0.18)
61 (2.40)
42 (1.65)
72 (2.83)

R
UNTX 1 2 3 4 5 6 7 8 120 DAI 733 30
(0.37)
9.5

161 (6.34)
4.5 152 (5.99)
(0.18)
RUN 1 2 3 4 5 6 7 8 120 DAI 733 30
44 (1.73)
30 (1.18)

C
N
1

C
N
(0.37)

2
9.5

YASKAWA

Dimensions in mm (inch)

App

A-3
 Appendix A Dimension Diagrams of the Modules
A.1.5 100/200-VAC 8-point Output Module

A.1.5 100/200-VAC 8-point Output Module

Model Number: JAMSC-120DAO83330
4.5 152 (5.99)
(0.18)
61 (2.40)
42 (1.65)
72 (2.83)

R
UNTX ER
R1 2 3 4 5 6 7 8 120 DAO 833 30
(0.37)
9.5

161 (6.34)
4.5 152 (5.99)
(0.18)
R
UNTX ER
R1 2 3 4 5 6 7 8 120 DAO 833 30
44 (1.73)
30 (1.18)

C
N
1

C
N
(0.37)

2
9.5

YASKAWA

Dimensions in mm (inch)

A.1.6 24-VDC 8-point I/O Module

Model Number: JAMSC-IO2920-E
4.5 152 (5.99)
(0.18)
42 (1.65)
61 (2.40)
72 (2.83)

RUN TX ERR 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 IO2920

(0.37)
9.5

161 (6.34)
4.5 152(5.99)
(0.18)
RUN TX ERR 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 IO2920
30 (1.18)
44 (1.73)

C
N
1

C
N
(0.37)

2
9.5

YASKAWA

Dimensions in mm (inch)

A-4
 A.1 I/O Modules

A.1.7 24-VDC 16-point Input Module

Model Number: JAMSC-120DDI34330/JAMSC-IO2900-E
4.5 152 (5.99)
(0.18)
72 (2.83)

61 (2.40)
42 (1.65)

R
UNTX 1 2 3 4 5 6 7 8 120 DDI 343 30
(0.37)
9.5

161 (6.34)
4.5 152 (5.99)
(0.18)
R
UNTX 1 2 3 4 5 6 7 8 120 DDI 343 30
44 (1.73)
30 (1.18)

C
N
1

C
N
(0.37)

2
9.5

YASKAWA

Dimensions in mm (inch)

A.1.8 24-VDC 16-point Output Module

Model Number: JAMSC-120DDO34340/JAMSC-IO2910-E
4.5 152 (5.99)
(0.18)
42 (1.65)
61 (2.40)
72 (2.83)

R
UNTX ER
R1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 120 DDO 343 40
(0.37)
9.5

161 (6.34)
4.5 152 (5.99)
(0.18)
R
UNTX ER
R1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 120 DDO 343 40
44 (1.73)
30 (1.18)

C
N
1

C
N
(0.37)

2
9.5

YASKAWA

Dimensions in mm (inch)

App

A-5
 Appendix A Dimension Diagrams of the Modules
A.1.9 Analog Input Module (±10 V, 4 Channels)

A.1.9 Analog Input Module (±10 V, 4 Channels)

Model Number: JAMSC-120AVI02030/JEPMC-AN2900
4.5 152 (5.99)
(0.18)
79 (3.11)

60 (2.36)
89.8 (3.54)

R
DYTX ER
RX
R FLT CH
CH
12 CH
CH
34 120 AV
I 020 30
(0.37)
9.5

161 (6.34)
4.5 152 (5.99)
(0.18)
RDY ER
RX
R FLT CH
CH
12 CH
CH
34 120 AV
I 020 30
44 (1.73)

30 (1.18)

C
N
1

C
N
2
(0.37)
9.5

YASKAWA

Dimensions in mm (inch)

A.1.10 Analog Output Module (±10 V, 2 Channels)

Model Number: JAMSC-120AVO01030/JEPMC-AN2910
4.5 152 (5.99)
(0.18)
60 (2.36)
79 (3.11)
89.8 (3.54)

RD
YTX ERR
RX FLT 120 AV
O 010 30
(0.37)
9.5

161 (6.34)
4.5 152 (5.99)
(0.18)
RDY ERR
RX FLT 120 AV
O 010 30
44 (1.73)

30 (1.18)

C
N
1

C
N
(0.37)

2
9.5

YASKAWA

Dimensions in mm (inch)

A-6
 A.2 Reversible Counter Module with Preset Function

A.2 Reversible Counter Module with Preset Function

This section shows the external appearances of the Reversible Counter Module with Preset Function.

Model Number: JAMSC-120EHC21140/JEPMC-PL2900

4.5 (0.18) 152 (5.99)
60 (2.36)
79 (3.11)
89.8 (3.54)

RDY TX RX ERR FLT PA1 PB1 EN1 RS1 L1 N1 PA2 PB2 EN2 RS2 L2 N2 120 EHC 211 40
(0.37)
9.5

161 (6.34)
4.5 (0.18) 152 (5.99)

RDY TX RX ERR FLT PA1 PB1 EN1 RS1 L1 N1 PA2 PB2 EN2 RS2 L2 N2 120 EHC 211 40
30 (1.18)
44 (1.73)

C
N
1

C
N
2
(0.37)
9.5

YASKAWA

Dimensions in mm (inch)

App

A-7
 Appendix A Dimension Diagrams of the Modules

A.3 Pulse Output Module

This section shows the external appearances of the Pulse Output Modules.

Model Number: JAMSC-120MMB20230/JEPMC-PL2910

4.5 152 (5.99)

(0.18)
79 (3.11)

60 (2.36)
89.8 (3.54)

RDY
TX ERR
RX FLT FW1
RV
1 ER1 FW2
2
RV ER2 120 MMB 202 30
(0.37)
9.5

161 (6.34)
4.5 152 (5.99)
(0.18)
RDY ERR
RX FLT FW1
1
RV ER1 FW2
2
RV ER2 120 MMB 202 30
44 (1.73)

30 (1.18)

C
N
1

C
N
2
(0.37)
9.5

YASKAWA

Dimensions in mm (inch)

A-8
 A.4 MECHATROLINK-II Repeater

A.4 MECHATROLINK-II Repeater

This section shows the external appearances of the MECHATROLINK-II Repeaters.

Model Number: JEPMC-REP2000

Bottom

Rear

(5) (0.20)
77 (3.03) (20) (0.79) 30 (1.18)
(6)
(5) (0.20)

(12) 50 (1.97) 15 (0.24) 14 10

(0.47) (0.59) (0.55) (0.39)

φ4.

(0 4.8
9)
8(

.1
0.1

φ
9)
JEPMC-REP2000 POWER
POWER
OP OP
SP
SW D2
SP
D2
SW
D1 D1

TX1 TX1

Nameplate
CN1 CN1

150 (5.91)
150 (5.91)
160 (6.30)

TX2 TX2

CN2 CN2

CN3
24 VDC 24VDC
Operation lever
CN3 0 VDC 231-131 0VDC
1

YASKAWA

Cable-end connector (3P)

721-203/026-000
4.8 (0.19)
(0.20)

(0.20)

4.8 (0.19) 4.8

5

(12) 50 (1.97) 15 (0.19)

5

(0.47) (0.59)

Dimensions in mm (inch)

App

A-9
 Appendix B
MECHATROLINK Simple I/O Communications
Commands

This chapter provides an overview of the MECHATROLINK Simple I/O communications

commands and explains the data link layer.

B.1 Simple I/O Communications Commands - - - - - - - - - - - - - - - - - - - - - - - B-2

B.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2
B.1.2 Modules that Support Simple I/O Communications Commands - - - - - - - - - - - - - - - - B-2

B.2 Applicable Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-3

B.3 Data Link Layer Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-4
B.3.1 MDS Command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-4
B.3.2 CDRW Command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-6

App

B-1
 Appendix B MECHATROLINK Simple I/O Communications Commands
B.1.1 Overview

B.1 Simple I/O Communications Commands

B.1.1 Overview
There are two types of I/Os that are connected to the MECHATROLINK: Simple I/O and Intelligent I/O.
This section describes the specifications of Simple I/O communications commands.
In the Simple I/O communications, I/O services and communications processings are carried out only with hard-
wares without processor intervention. Therefore, it is connection-less communications. The application layer
does not exist, and I/O data are received or transmitted in the data link layer. This type of MECHATROLINK
communications specifications is called as MECHATROLINK-DIO.

B.1.2 Modules that Support Simple I/O Communications Commands

The table below lists the modules that support the Simple I/O communications commands.
Classification Module Model Number
Relay contact Module JAMSC-120DRA83030
Wide-voltage, 8-point output /JAMSC-IO2950-E
AC Input Module
JAMSC-120DAI53330
100 VAC, 8-point input
AC Input Module
JAMSC-120DAI73330
200 VAC, 8-point input
Distributed I/O AC Output Module
JAMSC-120DAO83330
Modules 100/200 VAC, 8-point output
DC I/O Module
JAMSC-IO2920-E
24 VDC, 8-point input, 8-point output
DC Input Module JAMSC-120DDI34330
24 VDC, 16-point input /JAMSC-IO2900-E
DC Output Module JAMSC-120DDO34340
24 VDC, 16-point output /JAMSC-IO2910-E
64-point I/O Module
24 VDC, 64-point input, 64-point output JEPMC-IO350
(sinking)
64-point I/O Module
I/O Modules 24 VDC, 64-point input, 64-point output JEPMC-IO2310
(sinking)
64-point I/O Module
24 VDC, 64-point input, 64-point output JEPMC-IO2330
(sourcing)

B-2
 B.2 Applicable Commands

B.2 Applicable Commands

The table below lists the commands used for the Simple I/O communications.
Code Commands/
Direction Meanings
(Hexadecimal) Responses
04 MDS Master station → Slave station Reads the ID of a slave station
Link transmission: Sends the output data of master
03 CDRW Master station → Slave station
station.
Positive response to CDRW:
01 ACK Slave station → Master station At the same time, returns the input data from the
slave station.
Response to MDS:
90 S (0) Slave station → Master station
Returns the ID information of the slave station.

The table below shows the relation between commands and responses.
Table B.1 MECHATROLINK I/O Specifications
(Genuine MECHATROLINK I/O Protocol)

Master Station (Commands) Slave Station (I/O) (Responses)

MDS (04H） → ← S (0) (90H)
CDRW （03H） → ← ACK (01H)

The above explained relation between commands and responses does not apply to the I/O module JEPMC-IO350 that had
INFO
been developed with the old MECHATROLINK protocol I/O specifications: A slave station returns the response S (0)
(90H) without ID information (all the fields are set to 0).
Table B.2 NON MECHATROLINK I/O Specifications
(Old MECHATROLINK Protocol I/O Spec)

Primary Station (Commands) Secondary Station (I/O) (Responses)

S (0) (90H)
MDS (04H) → ←
Without ID information
CDRW (03H) → ← ACK (01H)

App

B-3
 Appendix B MECHATROLINK Simple I/O Communications Commands
B.3.1 MDS Command

B.3 Data Link Layer Commands

The data link layer commands and responses are set in the control field.
There are two types of commands:
• MDS: Reads out the ID.
• CDRW: Refreshes the I/O data.

B.3.1 MDS Command

The table below shows the data format of MDS command.
Table B.3 Data Format of MDS Command

Byte Command Response Remarks

0 MDS (04H) S (0) (90H)
1 ID Refer to y ID Codes on the next page.
2
3 0 is set in the command data undefined
field. 0 is set in the response data unde-
4
fined field.
5
6
7
8
9
10
11
12
13
14
15
16

B-4
 B.3 Data Link Layer Commands

• ID Codes
The details of ID code is shown below.

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

ID DO-PTS DI-PTS
Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8
I/S SPECIAL AO-PTS AI-PTS

Table B.4 Meaning of Each Bit

Bit No. Name Meanings

3 to 0 DI-PTS Number of discrete input points: See the table below for details.
7 to 4 DO-PTS Number of discrete output points: See the table below for details.
Number of analog input (numerical value data input) points: See the table
10 to 8 AI-PTS
below for details.
13 to Number of analog output (numerical value data output) points: See the
AO-PTS
11 table below for details.
0 Standard
14 SPECIAL
1 Special
15 I/S 0 Simple I/O (Always 0)

Table B.5 Number of Discrete I/O Points

Bit No. Number of Number of Bit No. Number of Number of

3 to 0/ Discrete Input Discrete Output 3 to 0/ Discrete Input Discrete Output
7 to 4 Points Points 7 to 4 Points Points
0H 0 0 8H For future use For future use
1H 4 4 9H For future use For future use
2H 8 8 AH For future use For future use
3H 16 16 BH For future use For future use
4H 24 24 CH For future use For future use
5H 32 32 DH For future use For future use
6H 64 64 EH For future use For future use
7H 128 128 FH For future use For future use

Table B.6 Number of Analog I/O Points

Bit No.
Number of Analog Number of Analog
10 to 8/
Input Points Output Points
13 to 11
0H 0 0
1H 1 1
2H 2 2
3H 4 4
4H 8 8
5H For future use For future use
6H For future use For future use
7H For future use For future use

App

B-5
 Appendix B MECHATROLINK Simple I/O Communications Commands
B.3.2 CDRW Command

B.3.2 CDRW Command

The table below shows the data format of CDRW command.
Table B.7 Data Format of CDRW Command

Byte Command Response Remarks

0 CDRW (03H) ACK (01H)
1 Output data: Lowest Input data: Lowest The array of output data is different from
that of input data.
2
Little endian format
3
4
5
6
7
8
9
10
11
12
13
14
15
16 Output data: Highest Input data: Highest

B-6
 Appendix C
MECHATROLINK Intelligent I/O Communica-
tions Commands

This chapter provides an overview of the MECHATROLINK Intelligent I/O communications

commands and explains the application layer commands.

C.1 Intelligent I/O Communications Commands - - - - - - - - - - - - - - - - - - - - - C-2

C.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2
C.1.2 Modules that Support Intelligent I/O Communications Commands - - - - - - - - - - - - - - C-2

C.2 Applicable Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-3

C.3 Application Layer Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-4
C.3.1 No Operation: NOP (00H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-4
C.3.2 Read ID Command (ID_RD: 03H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-6
C.3.3 Read Alarm/Warning Command (ALM_RD: 05H) - - - - - - - - - - - - - - - - - - - - - - - - - - C-7
C.3.4 MECHATROLINK Connection Command: CONNECT (0EH) - - - - - - - - - - - - - - - - - - C-8
C.3.5 DISCONNECTION Command: DISCONNECT (0FH) - - - - - - - - - - - - - - - - - - - - - - - C-9
C.3.6 Read/Write I/O Data Command: DATA_RWA (50H) - - - - - - - - - - - - - - - - - - - - - - - - C-10

App

C-1
 Appendix C MECHATROLINK Intelligent I/O Communications Commands
C.1.1 Overview

C.1 Intelligent I/O Communications Commands

C.1.1 Overview
There are two types of I/Os that are connected to the MECHATROLINK: Simple I/O and Intelligent I/O.
This section describes the specifications of Intelligent I/O communications commands.
The Intelligent I/O carry out connection type communications in accordance with the MECHATROLINK com-
munications specifications.
The Simple I/O carry out connection-less simple MECHATROLINK communications (MECHATROLINK-
DIO).

C.1.2 Modules that Support Intelligent I/O Communications Commands

The table below lists the modules that support the Intelligent I/O communications commands.
Classification Module Model Number
A/D Module analog input
JAMSC-120AVI02030
–10 to +10V, 4 channels
A/D Module analog input
JEPMC-AN2900
Distributed I/O –10 to +10V, 4 channels
Modules D/A Module analog output
JAMSC-120AVO01030
–10 to +10V, 2 channels
D/A Module analog output
JEPMC-AN2910
–10 to +10V, 2 channels
Counter Module
JAMSC-120EHC21140
Counter Mod- Reversible counter, 2 channels
ules Counter Module
JEPMC-PL2900
Reversible counter, 2 channels
Pulse Output Module
JAMSC-120MMB20230
Pulse Output Pulse output, 2 channels
Modules Pulse Output Module
JEPMC-PL2910
Pulse output, 2 channels
PLC Module
JEPMC-MC400
MP940
Motion Module
Others JAPMC-MC2310
SVB-01
Machine Vision System
JEVSA-YV250
MYVIS YV250

C-2
 C.2 Applicable Commands

C.2 Applicable Commands

The table below shows the commands used for the Intelligent I/O communications.
Code Processing Synchronization
Command Function
(Hexadecimal) Classification Type
00 NOP No Operation Network command
Data communications
03 ID_RD Read ID
command
Data communications
05 ALM_RD Read ALARM/WARNING Asynchronous
command
commands
0E CONNECT MECHATROLINK-II Connection Network command
0F DISCONNECT Disconnection Network command
Data communications
50 DATA_RWA Read/Write I/O Data
command

App

C-3
 Appendix C MECHATROLINK Intelligent I/O Communications Commands
C.3.1 No Operation: NOP (00H)

C.3 Application Layer Commands

C.3.1 No Operation: NOP (00H)
This command is sent as a no operation command when managing the network.
A slave station returns the current status (ALARM, STATUS) as the response.
(1) Completion Confirmation (Process on Master-side)
The completion of the command execution is confirmed by the response byte 1 = NOP, STATUS, and CMDRDY
= 1.

(2) Command Classification

• Group classified by device: Common command group
• Group classified by function: Network command group
• Synchronization classification: Asynchronous command

(3) Data Format

The table below shows the data format of NOP command and response.
Table C.1 Data Format of NOP
Byte Command Response Remarks
0 NOP (00H) NOP (00H) −
1 ALARM See C.3.1 (4) Alarm and Error Codes.
2
STATUS See C.3.1 (5) STATUS.
3
4
5
6
7
8
9 −
10
11
12
13
14
15 WDT RWDT −

(4) Alarm and Error Codes

The following codes are set in the response ALARM when a communications error (detected by a slave station)
occurs.
Error Code
Name Description
(Hex)
00 Communication Completed −
01 Invalid Command • Command is not supported.
• Command inconsistency with communications phase
02 Command Not Allowed
• Command execution conditions not met
The data in the command is not correct.
• Outside setting range
03 Invalid Data • Outside allowable range
• Not supported
• Illegal data in undefined area (must be 0)

C-4
 C.3 Application Layer Commands

(5) STATUS
The bit configuration in the STATUS field is shown below. STATUS indicates the state of the YV250 when the
response is sent.
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
− − − − − CMDRDY WARNG ALARM

bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8

− − − − − − − −

(a) ALARM Bit (STATUS Field Bit 0)

• Definition
1: Alarm
0: No alarm
• Description
• The ALARM bit indicates the alarm state of a slave station. The ALARM bit in the STATUS field is set
to 1 when an alarm occurs.
• The ALARM bit is set to 0 when the slave station changes from alarm state to normal state.

(b) WARNG Bit (STATUS Field Bit 1)

• Definition
1: Warning
0: Not warning
• Description
• The WARNG bit indicates the warning state of a slave station. The WARNG bit in the STATUS field is
set to 1 when a warning occurs.
• The WARNG bit is set to 0 when the slave station changes from warning state to normal state.

(c) CMDRDY Bit (STATUS Field Bit 2)

• Definition
1: Command reception enabled
0: Command being executed
• Description
• When the CMDRDY bit is 0, command processing is in progress. While the CMDRDY bit is 0, the slave
station continues process of the current command. The DISCONNECT command will be executed imme-
diately, regardless of the value of CMDRDY.
• The completion of command execution is confirmed using the completion confirmation method for each
command.
• The time that the CMDRDY bit is kept at 0 is determined by the slave station product specifications. If
this time is exceeded, the C1 master station will detect a command timeout.
• The CMDRDY bit is set to 0 whenever command execution is possible, even if alarm or warning state
exists.

App

C-5
 Appendix C MECHATROLINK Intelligent I/O Communications Commands
C.3.2 Read ID Command (ID_RD: 03H)

C.3.2 Read ID Command (ID_RD: 03H)

This command requests reading the ID of the device. The product information are read out as the ID data.
The details of ID data are specified by DEVICE_CODE.
(1) Completion Confirmation (Process of Master Station)
The completion of the command execution is confirmed by the response byte 1 = ID_RD, CMDRDY=1,
DEVICE_CODE, OFFSET, and SIZE.

(2) Command Classification

• Group classified by device: Common command group
• Group classified by function: Network command group
• Synchronization classification: Asynchronous command

(3) Data Format

The table below shows the data format of ID_RD command and response.
Table C.2 Data Format of ID_RD

Byte Command Response Remarks

1 ID_RD (03H) ID_RD (03H) −
2 ALARM See C.3.1 No Operation: NOP (00H).
3
STATUS See C.3.1 No Operation: NOP (00H).
4
DEVICE_CODE DEVICE_CODE: 00H: Product model
5 DEVICE_CODE
(Copy of command) 01H: Manufacturer’s serial number (Not
OFFSET implemented)
6 OFFSET
(Copy of command) 02H: Versions (Hardware version - System
software version - Boot software version)
xxxx − yyyyy − zzzzz
SIZE 03H: Vendor code (Not implemented)
7 SIZE
(Copy of command)
OFFSET: ID read offset
SIZE: Read data size (1 to 8 bytes)
8
9
10
11
ID −
12
13
14
15
16 WDT RWDT −

C-6
 C.3 Application Layer Commands

C.3.3 Read Alarm/Warning Command (ALM_RD: 05H)

This command requests reading the alarm or warning state.
An alarm or warning code is set in the response to indicate the current alarm or warning state.
Some codes are overlapped with ALARM of the byte 2.
(1) Completion Confirmation (Process on Master-side)
The completion of command execution is confirmed by the response byte 1 = ALM_RD, and STATUS.
CMDRDY = 1

(2) Command Classification

• Group classified by device: Common command group
• Group classified by function: Control command group
• Synchronization classification: Asynchronous command

(3) Data Format

The table below shows the data format of ALM_RD command and response..
Table C.3 Data Format of ALM_RD
Byte Command Response Remarks
1 ALM_RD (05H) ALM_RD (05H) −
2 ALARM See C.3.1 No Operation: NOP (00H).
3
STATUS See C.3.1 No Operation: NOP (00H).
4
ALM_RD_MODE 0 Read the current alarm or warning state.
5 ALM_RD_MODE
(Copy of command) 1 Read the alarm history.
6
7
8
9
ALM_DATA
10
(new) −
11
12
13
14
15 (old)
16 WDT RWDT −

App

C-7
 Appendix C MECHATROLINK Intelligent I/O Communications Commands
C.3.4 MECHATROLINK Connection Command: CONNECT (0EH)

C.3.4 MECHATROLINK Connection Command: CONNECT (0EH)

This command requests opening a MECHATROLINK connection. After the completion confirmation, commu-
nications between the master station and the slave station will be possible.
(1) Completion Confirmation (Process on Master-side)
The completion of command execution is confirmed by the response byte 1= CONNECT, STATUS.CMDRDY =
1, and the set data (VER, COM_MODE, COM_TIME).

(2) Command Classification

• Group classified by device: Common command group
• Group classified by function: Network command group
• Synchronization classification: Asynchronous command

(3) Data Format

The table below shows the data format of CONNECT command and response.
Table C.4 Data Format of CONNECT

Byte Command Response Remarks

1 CONNECT (0EH) CONNECT (0EH) −
2 ALARM See C.3.1 No Operation: NOP (00H).
3
STATUS See C.3.1 No Operation: NOP (00H).
4
VER
5 VER (= 21H) Version VER=21H
(Copy of command)
COM_MODE: For M-I, always 00H (Single transfer asynchronous
communications)
COM_MODE For M-II (17-byte), always 00H (Single transfer
6 COM_MODE
(Copy of command) asynchronous communications)
For M-II (32-byte), always 80H (Single transfer
asynchronous communications, byte 17 to 31 used.)
Transmission cycle (ms)
COM_TIME
7 COM_TIME The applicable modules support only asynchronous communications,
(Copy of command)
so it is not necessary to set a value.
8
9
10
11
−
12
13
14
15
16 WDT RWDT −

C-8
 C.3 Application Layer Commands

C.3.5 DISCONNECTION Command: DISCONNECT (0FH)

This command requests disconnection. The connection between the C1 master station and the designated slave
station will be disconnected. This command has the priority over any other commands. The slave station stops
execution of any other command and is disconnected from the master station immediately when receiving this
command.
This command can be received in any phase.
(1) Completion Confirmation (Process on Master-side)
The completion of command execution is confirmed by the response byte 1 = DISCONNECT,
STATUS CMDRDY = 1. (The confirmation is not compulsory.)
The master station sends this command for 2 transmission cycles or more.

(2) Command Classification

• Group classified by device: Common command group
• Group classified by function: Network command group
• Synchronization classification: Asynchronous command

(3) Data Format

The table below shows the data format of DISCONNECT command and response.
Table C.5 Data Format of DISCONNECT
Byte Command Response Remarks
1 DISCONNECT (0FH) DISCONNECT (0FH) −
2 ALARM See C.3.1 No Operation: NOP (00H).
3
STATUS See C.3.1 No Operation: NOP (00H).
4
5
6
7
8
9
10 −
11
12
13
14
15
16 WDT RWDT −

App

C-9
 Appendix C MECHATROLINK Intelligent I/O Communications Commands
C.3.6 Read/Write I/O Data Command: DATA_RWA (50H)

C.3.6 Read/Write I/O Data Command: DATA_RWA (50H)

This command refreshes I/O data.
(1) Completion Confirmation (Process on Master-side)
The completion of command execution is confirmed by the response byte 1 = DATA_RWS, STATUS.CMDRDY
= 1.

(2) Command Classification

• Group classified by device: Common command group
• Group classified by function: Data communications command group
• Synchronization classification: Asynchronous command

(3) Data Format

The table below shows the data format of DATA_RWA command and response.
Table C.6 Data Format of DATA_RWA
Byte Command Response Remarks
1 DATA_RWA (50H) DATA_RWA (50H) −
2 ALARM See C.3.1 No Operation: NOP (00H).
3 OPTION STATUS: See C.3.1 No Operation: NOP (00H).
STATUS
4 OPTION: Depends on the product specifications
5
6
7
8
9
10 OUTPUT data INPUT data Physically non-existing I/O data = 0
11
12
13
14
15
16
17 Used for data area in 32-byte mode
18
19
20
21
22
23
24
−
25
26
27
28
29
30
31

C-10
 Appendix D
Supplemental Information

This chapter provides information on a network where Simple I/O and Intelligent I/O are used.

D.1 Using Simple I/O and Intelligent I/O Together - - - - - - - - - - - - - - - - - - - - D-2

D.1.1 Master Station State Transition Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-2
D.1.2 Event Matrices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-3
D.1.3 ID of Intelligent I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-4

App

D-1
 Appendix D Supplemental Information
D.1.1 Master Station State Transition Diagram

D.1 Using Simple I/O and Intelligent I/O Together

This chapter provides information on a network where Simple I/O and Intelligent I/O are connected to Master
station.

D.1.1 Master Station State Transition Diagram

The state transition diagram of Master station to which Simple I/Os and Intelligent I/Os are connected.

Start

Communications error Power ON

N times consecutively∗
(No Res) Confirmation of
connecting station
[Issues MDS CMD]

Simple IO
Intelligent IO

Sends/Receives I/O data Disconnection

Sends CDRW+Output Sends CDRW+DISCONNECT CMD
data

Communications error Completion

Receives ACK+Input data less than N times consecutively∗
(No Res)
MECHATROLINK Connection
Sends CDRW+CONNECT CMD

Completion Disconnection
Sends CDRW+
DISCONNECT CMD]

Read ID
Sends CDRW+ID_RD CMD

Communications error
Completion N times consecutively∗
(No Res)

Sends/Receives IO data
CDRW+DATA_RWA
Sends output data

Communications error
less than N times consecutively∗
(No Res)

Receives CDRW+ACK + input data

* N (number of times) depends on the product specifications of the master station.

D-2
 D.1 Using Simple I/O and Intelligent I/O Together

D.1.2 Event Matrices

The event matrices for Simple I/Os and Intelligent I/Os are as shown below.
(1) Event Matrix for Simple I/Os
Event Communications Possible Communications Failed
Power ON Initialized state −
Reception of MDS
S(0)+ID response −
CMD
Data Reception of ACK + IN Data response
Link −
CDRW CMD (I/O processing)
(DL)
Layer Communications will be possible after returning
CMD error −
NOP + Null.
Lack of statement − −

(2) Event Matrix for Intelligent I/Os

Phase∗ P1 P2, P3 P1, P2, P3
Waits for MDS Waits for con- Sends/Receives Communica-
Event Waits for ID_RD
CMD nection I/O data tions failed
Power ON Initialized state − − − −
Data
Waits for connec-
Link Reception of
tion after having − − − −
(DL) MDS CMD
returned the ID.
Layer
Waits for ID_RD Communications Communications Returns to the
failed failed original state after
Reception of
− having returned
CONNECT
an error RES
(response).
Reception of DIS- Waits for connec- Waits for connec-
− − −
CONNECT tion tion
Sends/Receives I/ Sends the ID
O data after hav- information such
Applica- Reception of
− − ing sent the ID as model. −
tion ID_RD
information such
(APL)
as model.
Layer
Reception of Out- Returns input data
− − − (I/O processing) −
put Data
Communications Communications Returns to the
failed failed original state after
Reception of in-
− − having returned
valid CMD or data
an error RES
(response).
Lack of statement − − − − −
* The details of phases are as shown in the table below.
Table D.1 Meanings of Each Phase

Phase Symbol Meanings

0 P0 Transits to P1 immediately after the power turns ON.
1 P1 Waits for connection
Asynchronous communications possible. Only asynchronous commands
2 P2
can be used.
Synchronous communications possible. Asynchronous and synchronous
3 P3
commands can be used.
4 P4 Stops communications. Disconnected state. App
5 P5 Power OFF

D-3
 Appendix D Supplemental Information
D.1.3 ID of Intelligent I/O

D.1.3 ID of Intelligent I/O

The ID information when Intelligent I/O and Simple I/O are connected to the Master station is explained below.
The ID is read out using a MDS command. Refer to B.3.1 MDS Command for details.
• ID Codes

      


   

 
 
 



 ! "
       

The details of ID code are as shown in the table below.

Table D.2 Meaning of Each Bit

Bit No. Name Meanings

9 to 0 Details code For future use: 0
13 to 10 Group code For future use: 0
0 Standard
14 SPECIAL
1 Special
15 I/S 1 Intelligent I/O (Always 1)

D-4
 Index

Index ladder program example- - - - - - - - - - - - - - - - - - - - - - - - -

monitoring the current value - - - - - - - - - - - - - - - - - - - - - -
monitoring the current value set value - - - - - - - - - - - - - - -
5-55
5-38
5-41
monitoring the external latch data - - - - - - - - - - - - - - - - - - 5-38
monitoring the mode setting value - - - - - - - - - - - - - - - - - - 5-39
Numerics monitoring the notch points - - - - - - - - - - - - - - - - - - - - - - 5-40
monitoring the status - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
120AVI02030 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
operation flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-49
120AVO01030 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-62
120DAI53330 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14 output coils - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
output registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
120DAI73330 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20
precautions on wiring - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
120DAO83330 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26
120DDI34330 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40 related reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50
terminal block terminal layout- - - - - - - - - - - - - - - - - - - - - 5-10
120DDO34340 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46
120DRA83030 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7 D
64-point I/O Module
differential voltage output- - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
DIP switch for setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
DIP switch settings
external wiring terminals - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
100/200-VAC 8-point Output Module- - - - - - - - - - - - - - - - 3-27
I/O indicator switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
100-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-15
I/O signal connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
200-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-21
input signal connector IN2 - - - - - - - - - - - - - - - - - - - - - - - 4-13
24-VDC 16-point Input Module - - - - - - - - - - - - - - - - - - - 3-41
MECHATROLINK connector - - - - - - - - - - - - - - - - - - - - - - 4-3
24-VDC 16-point Output Module - - - - - - - - - - - - - - - - - - 3-47
output signal connector OUT1 - - - - - - - - - - - - - - - - - - - - - 4-14
24-VDC 8-point I/O Module- - - - - - - - - - - - - - - - - - - - - - 3-34
output signal connector OUT2 - - - - - - - - - - - - - - - - - - - - - 4-16
Analog Input Module- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-54
slave address setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
Analog Output Module - - - - - - - - - - - - - - - - - - - - - - - - - 3-63
station number switch- - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
Counter Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
A MP940 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
Pulse Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
AN2900 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
Relay Contact 8-point Output Module - - - - - - - - - - - - - - - - 3-8
AN2910 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-62
Analog Input Module E
input characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-57
external appearance and configuration
Analog Output Module
100/200-VAC 8-point Output Module- - - - - - - - - - - - - - - - 3-26
output characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-66
100-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-14
automatic disconnection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
200-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-20
automatic restart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
24-VDC 16-point Input Module - - - - - - - - - - - - - - - - - - - 3-40
C 24-VDC 16-point Output Module - - - - - - - - - - - - - - - - - - 3-46
24-VDC 8-point I/O Module- - - - - - - - - - - - - - - - - - - - - - 3-33
circuit configuration
64-point I/O Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
100/200-VAC 8-point Output Module - - - - - - - - - - - - - - - - 3-30
100VAC 8-point Input Module- - - - - - - - - - - - - - - - - - - - - 3-18 Analog Input Module- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
Analog Output Module - - - - - - - - - - - - - - - - - - - - - - - - - 3-62
200-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-23
Counter Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
24-VDC 16-point Input Module - - - - - - - - - - - - - - - - - - - - 3-44
24-VDC 16-point Output Module- - - - - - - - - - - - - - - - - - - 3-50 MP940 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
Pulse Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
24-VDC 8-point I/O Module - - - - - - - - - - - - - - - - - - - - - - 3-37
Relay Contact 8-point Output Module - - - - - - - - - - - - - - - - 3-7
Analog Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-58
Analog Output Module- - - - - - - - - - - - - - - - - - - - - - - - - - 3-67 external current value reset
circuit configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
Counter Module - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20, 5-22
connection examples - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
Relay Contact 8-point Output Module- - - - - - - - - - - - - - - - 3-11
specification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
connection example
external latch
100/200-VAC 8-point Output Module - - - - - - - - - - - - - - - - 3-31
circuit configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
100VAC 8-point Input Module- - - - - - - - - - - - - - - - - - - - - 3-18
connection examples - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
200-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-24
specification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
24-VDC 16-point Input Module - - - - - - - - - - - - - - - - - - - - 3-44
external notch output
24-VDC 16-point Output Module- - - - - - - - - - - - - - - - - - - 3-51
circuit configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
24-VDC 8-point I/O Module - - - - - - - - - - - - - - - - - - - - - - 3-38
connection example- - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31
Analog Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-59
specification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
Analog Output Module- - - - - - - - - - - - - - - - - - - - - - - - - - 3-67
external view and components
IO2310 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
REP2000 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
Relay Contact 8-point Output Module- - - - - - - - - - - - - - - - 3-12
Counter Module G
example of system configuration - - - - - - - - - - - - - - - - - - - 5-11 general specifications
examples of ladder programming - - - - - - - - - - - - - - - - - - - 5-54 Counter Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
input registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37 Distributed I/O Modules- - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
input relays- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36 MP940 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
interface with the host controller - - - - - - - - - - - - - - - - - - - 5-12 Pulse Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

Index-1
 Index

REP2000 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 MP910 connection example - - - - - - - - - - - - - - - - - - - - - - - - - 9-10

grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20 MP920 (SVB-01) connection example - - - - - - - - - - - - - - - - - - 9-11
grounding power panels - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21 MP930 connection example - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
MP940 connection example - - - - - - - - - - - - - - - - - - - - - - - - - 9-15
H
hardware specifications N
Counter Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14 notch signal output function - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
MP940 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
Pulse Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
O
REP2000 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-7 open-collector output (12-VDC connection)- - - - - - - - - - - - - - - 5-26
high-speed pulse counting function - - - - - - - - - - - - - - - - - - - - - - 5-2 open-collector output (24-VDC connection)- - - - - - - - - - - - - - - 5-25

I P
I/O allocations PC panel isolation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
100/200-VAC 8-point Output Module - - - - - - - - - - - - - - - - 3-32 performance specifications
100-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-19 100/200-VAC 8-point Output Module - - - - - - - - - - - - - - - - 3-29
200-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-25 100-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-17
24-VDC 16-point Input Module - - - - - - - - - - - - - - - - - - - - 3-45 200-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-23
24-VDC 16-point Output Module - - - - - - - - - - - - - - - - - - - 3-52 24-VDC 16-point Input Module - - - - - - - - - - - - - - - - - - - - 3-43
24-VDC 8-point I/O Module - - - - - - - - - - - - - - - - - - - - - - 3-39 24-VDC 16-point Output Module- - - - - - - - - - - - - - - - - - - 3-49
Analog Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-61 24-VDC 8-point I/O Module - - - - - - - - - - - - - - - - - - - - - - 3-35
Analog Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68 Analog Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-56
Counter Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32 Analog Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - 3-65
Pulse Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 Counter Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
Relay Contact 8-point Output Module - - - - - - - - - - - - - - - - 3-13 IO350 I/O Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
I/O map - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11 Pulse Output Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
I/O register configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13 Relay Contact 8-point Output Module- - - - - - - - - - - - - - - - 3-10
I/O register number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 phase-A pulse
IO2310 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 circuit configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
IO2900 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40 connection examples - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
IO2910 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46 external input signal specifications - - - - - - - - - - - - - - - - - - 5-19
IO2950 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7 phase-B pulse
IO350- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 circuit configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
connection examples - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
L external input signal specifications - - - - - - - - - - - - - - - - - - 5-19
latch mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 Pulse Output Module
leading and end I/O register numbers setting - - - - - - - - - - - - - - - 2-4 circuit configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
connection example - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
M connection example with stepping motor driver - - - - - - - - - 6-19
master devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5 example of system configuration - - - - - - - - - - - - - - - - - - - - 6-8
master module definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 external appearance and configuration - - - - - - - - - - - - - - - - 6-4
maximum number of connectable slaves - - - - - - - - - - - - - - - - - - 1-5 external input signal specifications - - - - - - - - - - - - - - - - - - 6-14
MECHATROLINK external output signal specifications - - - - - - - - - - - - - - - - - 6-13
compatible devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5 input registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
transmission specifications - - - - - - - - - - - - - - - - - - - - - - - - 1-2 input relays- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25
transmission status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12 interface with the host controller - - - - - - - - - - - - - - - - - - - - 6-9
MECHATROLINK cables JOG operation function - - - - - - - - - - - - - - - - - - - - - - 6-2, 6-37
appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7 monitor function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
internal cable connections - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
monitoring parameters - - - - - - - - - - - - - - - - - - - - - - - - - - 6-28
MP2000 series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
monitoring the alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
MP900 series- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5 monitoring the current position - - - - - - - - - - - - - - - - - - - - 6-27
MECHATROLINK connectors
output coils- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
connection method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
output registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
connector specifications - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3 parameter setting function - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
connector types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
internal connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
positioning function - - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 6-32
master station - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
terminal block terminal layout - - - - - - - - - - - - - - - - - - - - - - 6-7
slave station - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
MECHATROLINK definitions window - - - - - - - - - - - - - - - - - - - 2-6 zero point return function - - - - - - - - - - - - - - - - - - - - - 6-3, 6-40
module configuration pulse output operation example - - - - - - - - - - - - - - - - - - - - - - - 6-12
MP2000 series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 pulse output timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
MP900 series- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 pulse timing and counting - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
motion control function specifications pulse waveform - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
MP940 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8
mounting directions
Distributed I/O Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

Index-2
 Index

R
REP2000
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
DIP switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
LED indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
mounting orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-9
restrictions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
system configuration example - - - - - - - - - - - - - - - - - - - - - - 8-5
repeater for MECHATROLINK-II (REP2000) - - - - - - - - - - - - - - 8-2

S
side-by-side mounting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21
slave address settings
100/200 VAC 8-point Output Module - - - - - - - - - - - - - - - - 3-28
100-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-16
200-VAC 8-point Input Module - - - - - - - - - - - - - - - - - - - - 3-22
24-VDC 16-point Input Module - - - - - - - - - - - - - - - - - - - - 3-42
24-VDC 16-point Output Module- - - - - - - - - - - - - - - - - - - 3-48
24-VDC 8-point I/O Module - - - - - - - - - - - - - - - - - - - - - - 3-34
Analog Input Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
Analog Output Module- - - - - - - - - - - - - - - - - - - - - - - - - - 3-64
Relay Contact 8-point Output Module- - - - - - - - - - - - - - - - - 3-9
slave devices- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
sourcing-voltage output (5-VDC connection) - - - - - - - - - - - - - - 5-27
special state mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
state mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12

T
terminator (terminating resistor)- - - - - - - - - - - - - - - - - - - - - - - - 1-4
transmission parameters setting
MP2000 series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
MP900 series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

W
wildcard I/O Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
wiring between panels
indoors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
outdoor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19

Index-3
Revision History

The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.‫ޓ‬SIE-C887-5.1D
Published in Japan February 2008 00-9 7 -1
WEB revision number
Date of Revision number
publication Date of original publication

WEB
Date of Rev.
Publication No. Rev. Section Revised Contents
No.
July 2014 1 4.2 Revision: Information on the number of words that can be set : 8 bits → 16 bits
14
March 2014 0 – SIE-C887-5.1G<13>-2, available on the Web.
Back cover Revision: Address
January 2013 2 1.2.1(2) Deletion: Information about the following models
13
JAPMC-IO2900-E, JAPMC-IO2910-E, JAPMC-IO2950-E
Addition: Information about the following models
JAMSC-IO2900-E, JAMSC-IO2910-E, JAMSC-IO2950-E
2.1.3, 3.7.2, 3.8.2, Revision: Model numbers
A.1.2, A.1.7, A.1.8, JAPMC-IO2900-E → JAMSC-IO2900-E
B.1.2 JAPMC-IO2910-E → JAMSC-IO2910-E
JAPMC-IO2950-E → JAMSC-IO2950-E
Back cover Revision: Address
December 2012 1 3.9.2, 3.10.2, 5.4.2 Revision: Specifications of external power supply
6.4.2 (1) Revision: Specification of internal current consumption
6.4.2 (5) Revision: Specifications of output voltage drop of CW and CCW pulse outputs and
general-purpose outputs
6.4.2 (6) Revision: Specifications of standard operating range and input delay times of zero
point signal
Back cover Revision: Address
July 2012 0 – Printed version of the user’s manual that is available on the web (web version: SIE-
C887-5.1F<12>-2)
April 2012 2 9.1.1 (3) Revision: Connector Model
12
Back cover Revision: Address
March 2011 1 4.1.3 (5) Revision: Diagram
November 2010 0 – Based on Japanese user’s manual, SI-C887-5.1G<16>-1 published in July 2010.
Front cover Revision: Format
Back cover Revision: Address, format
August 2010 0 – SIE-C887-5.1E<10>-1, available on the Web.
11
Back cover Revision: Address
September 2009 1 Preface Addition: Warranty
10
Back cover Revision: Address
September 2008 0 Chapter 3 Addition: Description of 24-VDC 16-point Input Module IO2900 and 24-VDC
16-point Output Module IO2910
August 2008 0 Preface Addition: PL on fumigation
9
6.6.3 Revision: Setting range of positioning acceleration/deceleration time
Back cover Revision: Address
April 2008 0 – Published version of the user’s manual, SIE-C887-5.1D<7>-1, available on the Web.
8

February 2008 1 4.1.2(2)(b) Revision: Output Circuit

7
4.1.3 Addition: Standard Cable Wire Table
Revision: Output Signal Connector OUT1: Typical Connection of the IO2330
Output Signal Connector OUT2: Typical Connection of IO350 and IO2310
5.5.6 Revision: Description of “ACK”, “ERR”
6.6.3 Addition: Note about setting range of positioning speed (Parameter 05)
Back cover Revision: Address
October 2005 0 – Based on Japanese user’s manual, SI-C887-5.1E<7>-1, available on the Web.
 WEB
Date of Rev. Rev. Section Revised Contents
Publication No.
No.
May 2005 – – Based on Japanese user’s manual, SI-C887-5.1E<6> printed in May 2005.
6
All chapters Addition: I/O Module model: JEPMC-IO2330
3.1.3 Deletion: DIP switch settings
3.2 to 3.9 Addition: DIP switch settings used for each module
Chapter 4 Completely revised
September 2004 – – Based on Japanese user’s manual, SI-C887-5.1D<4> printed in February 2004.
5
Chapter 8 Addition: MECHATROLINK-II Repeater
Appendix B Addition: MECHATROLINK Simple I/O Communications Commands
Appendix C Addition: MECHATROLINK Intelligent I/O Communications Commands
Appendix D Addition: Supplemental Information
May 2004 – Chapters 4 and 8 Slightly revised
4
Back cover Revision: Address
November 2003 – – Based on Japanese user’s manual, SI-C887-5.1C<3> printed in May 2003.
3
All sections Addition: Description of MP2000 series Machine Controller
Distributed Analog I/O Module JEPMC-AN2900/AN2910
Revision: MECHATROLINK was classified into MECHATROLINK-I and
MECHATROLINK-II.
Driver Module was changed to Master Module.
Chapter 1 Completely revised
1.2.1 Addition: Section of MECHATROLINK-compatible devices
1.2.2 Addition: Section of maximum number of connectable slaves
1.2.3 Addition: Description of system configuration precautions
Chapter 2 Deleted
Chapter 2 (Chapter Completely revised
3 before deletion
above)
3.1.3 Addition: Description of DIP switches used for Analog I/O Module
Chapter 4 Deleted
5.5.2 Addition: Section of connection examples of external I/O terminals
5.6.1 Addition: Section of external pulse input circuit
5.6.2 Addition: Section of external input circuit
5.6.3 Addition: Section of external output circuit
6.4.2 (7) Addition: Circuits for external I/O signals
6.5.1 Addition: Connection example of general-purpose I/O and zero-point input
Back cover Revision: Address
July 2003 – Back cover Revision: Address
2

February 2003 – Preface Revision: Related manuals

1

September 2000 – – – First edition:

Based on Japanese user’s manual, SI-C887-5.1 printed in February 2000.
Machine Controller MP900/MP2000 Series
Distributed I/O Module
USER'S MANUAL
MECHATROLINK System

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MANUAL NO. SIE-C887-5.1H

Published in Japan July 2014 00-9 14 -1
13-6-9