YASKAWA MP3200iec User manual

YASKAWA MP3200iec

Machine Controller

Hardware Manual

MANUAL NO. YAI-SIA-IEC-5

To properly use the product, read this manual thoroughly and retain

for easy reference, inspection, and maintenance. Ensure the end user

receives this manual.

Type: MP3200iec

YASKAWA America, Inc. MP3200iec Hardware Manual YAI-SIA-IEC-5 3

Table of Contents

1. Definition of Terms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

2. System Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

3. Component Part Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

4. Power Supply Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

5. Power Supply Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

6. CPU Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

7. CPU External Appearance and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

8. Base Unit Installation and Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

9. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

10. DIP Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

11. LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

12. Self-Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

13. MECHATROLINK-III Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

14. MECHATROLINK-III Network Topologies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

15. MECHATROLINK-III Synchronization between Modules . . . . . . . . . . . . . . . . . . . . . .35

16. Devices Connectable via MECHATROLINK-III. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

17. Connecting the RLY OUT Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38

18. Ethernet Connector Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39

19. Option Module - AI-01 (Analog Input) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

20. Option Module - AO-01 (Analog Output) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . .48

21. Option Module - DO-01 (Digital Output) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

22. Option Module - LIO-01/02 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

23. Option Module - LIO-04/05 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

24. Option Module - LIO-06 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

25. Terminal Block Kit CBK-U-MP2A-xx. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86

26. Terminal Block Kit CBK-U-MP2B-xx. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87

27. Terminal Block Kit CBK-U-MP2C-xx. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88

28. Cable Shielding, Segregation and Noise Immunity . . . . . . . . . . . . . . . . . . . . . . . . . .89

4YASKAWA America, Inc. MP3200iec Hardware Manual YAI-SIA-IEC-5

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 constantly striving to improve its high-quality products, the information contained in this

manual is subject to change without notice. Every precaution has been taken in the preparation of this manual.

Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages

resulting from the use of the information contained in this publication.

1 Definition of Terms

YASKAWA America, Inc. MP3200iec Hardware Manual YAI-SIA-IEC-5 5

1 Definition of Terms

This section defines terms that have specific meanings in this manual.

Basic Units

“Basic Unit” is a collective term that refers to the three Units in the following table.

The Basic Units are typically connected as shown in the following examples.

Unit Name Primary Function

Power Supply Unit Supplies the power that is needed for the operation of the Units that are connected to each other and to

any Optional Modules that are connected in the Controller.

CPU Unit Stores the module definitions and programs, and interprets the programs. The CPU Unit also controls

the Optional Modules.

Base Unit Used to mount Optional Modules.

Power

Supply Unit CPU Unit

Power

Supply Unit CPU Unit Base Unit

6YASKAWA America, Inc. MP3200iec Hardware Manual YAI-SIA-IEC-5

2 System Configuration Example

The following figure shows a typical system configuration.

LIO-01

LIO-02

LIO-04

LIO-05

DO-01

LIO-06

AI-01

AO-01

I/O

MECHATROLINK-III

MotionWorks IEC version

2.4 or higher

Optional Modules

MECHATROLINK-III Cable



SERVOPACK with

MECHATROLINK-III

Communications



I/O Module with

MECHATROLINK-III

Communications

Servomotor Servomotor Servomotor

Up to 62 stations, including I/O

I/O Modules

External outputs

External inputs

Another PLC

Ethernet



Ethernet communications cables



RLYOUT

connector cable



MP3200iec

components

24-VDC power

supply, AC power

supply, or status

monitoring device



Power supply cable

24-VDC power

supply or AC

power supply



Battery



Front cover

for unused slot

3 Component Part Numbers

YASKAWA America, Inc. MP3200iec Hardware Manual YAI-SIA-IEC-5 7

3 Component Part Numbers

System Components

Type Part Number Description

CPU

PMC-U-MP32004 CPU, MP3200iec, 4 axis

PMC-U-MP32008 CPU, MP3200iec, 8 axis

PMC-U-MP32016 CPU, MP3200iec, 16 axis

PMC-U-MP32032 CPU, MP3200iec, 32 axis

PMC-U-MP32062 CPU, MP3200iec, 62 axis

Power Supply JEPMC-PSA3012-E POWER SUPPLY, 100V/200V, MP3200

JEPMC-PSD3012-E POWER SUPPLY, 24VDC, MP3200

Base Unit

JEPMC-BUB3003-E BASE UNIT, 3 SLOTS, MP3200

JEPMC-BUB3005-E BASE UNIT, 5 SLOTS, MP3200

JEPMC-BUB3008-E BASE UNIT, 8 SLOTS, MP3200

Option Card

JAPMC-AN2300 Analog Inputs (AI-01)

JAPMC-AN2310-E Analog Outputs (AO-01)

JAPMC-DO2300 Digital Output Module (DO-01)

JAPMC-IO2300-E Digital I/O Module (LIO-01)

JAPMC-IO2301-E Digital I/O Module (LIO-02)

JAPMC-IO2303 Digital I/O Module (LIO-04)

JAPMC-IO2304 Digital I/O Module (LIO-05)

JAPMC-IO2305-E Digital Multi-Function I/O Module (LIO-06)

MECHATROLINK

Network

JEPMC-MT2000-E HUB, MECHATROLINK-III NETWORK, 8 SLAVE PORTS

JEPMC-MT2020-E ADAPTER, ETHERNET TO MECHATROLINK

JEPMC-MTD2310-E I/O MODULE, MECHATROLINK NETWORK, 64 IN, 64 OUT

JEPMC-MTA2900-E ANALOG MODULE, MECHATROLINK NETWORK, 8 INPUT

JEPMC-MTA2910-E ANALOG MODULE, MECHATROLINK NETWORK, 4 OUTPUT

MECHATROLINK

Cables

JEPMC-W6012-A2-E MECHATROLINK-III CABLE, 0.2 M

JEPMC-W6012-A5-E MECHATROLINK-III CABLE, 0.5 M

JEPMC-W6012-01-E MECHATROLINK-III CABLE, 1.0 M

JEPMC-W6012-02-E MECHATROLINK-III CABLE, 2.0 M

JEPMC-W6012-03-E MECHATROLINK-III CABLE, 3.0 M

JEPMC-W6012-04-E MECHATROLINK-III CABLE, 4.0 M

JEPMC-W6012-05-E MECHATROLINK-III CABLE, 5.0 M

JEPMC-W6012-10-E MECHATROLINK-III CABLE, 10 M

JEPMC-W6012-20-E MECHATROLINK-III CABLE, 20 M

JEPMC-W6012-30-E MECHATROLINK-III CABLE, 30 M

JEPMC-W6012-40-E MECHATROLINK-III CABLE, 40 M

JEPMC-W6012-50-E MECHATROLINK-III CABLE, 50 M

Accessories

JEPMC-BA3001 Replacement Battery

JEPMC-OP2300 Option Slot Cover

JEPMC-OP3001 Replacement Power Supply Side Cover

JEPMC-OP3002 Replacement Option Base Side Cover

8YASKAWA America, Inc. MP3200iec Hardware Manual YAI-SIA-IEC-5

4 Power Supply Units

The Power Supply Unit supplies the connected Units and Optional Modules with the power needed to operate. There are

two Power Supply Units available: an AC Power Supply Unit and a DC Power Supply Unit.

This section shows the appearance and part names of the Power Supply Unit and describes the indicators and connectors.

Appearance and Part Names

The following figure shows the appearance of the Power Supply Unit and the part names.

Indicators

These indicators show the load on the Power Supply Unit.

Note: : Lit, : Not lit.

Output Current 8.9 A or less 9.0 to 11.4 A 11.5 to 13.9 A <1>

<1> Reduce the number of Optional Modules that are connected.

14.0 A or more <1>

Load Normal: Within power supply

capacity Normal: Maximum power

supply capacity Error: Over power supply

capacity

Indicator

Green

Appendix   

Yel lo w   

Red   

Indicators

RLYOUT connector

Power connector

Unit connector

4 Power Supply Units

YASKAWA America, Inc. MP3200iec Hardware Manual YAI-SIA-IEC-5 9

Connectors

The Power Supply Unit has three connectors: RLYOUT, power supply, and Unit connectors.

RLYOUT Connector

This connector outputs the operating status of the CPU Unit.

Model: 734-302

Pin Assignments

Power Connector

Connect the power supply to this connector.

Pin Assignments: AC Power Supply Unit

Pin Assignments: DC Power Supply Unit

No. Signal Label Description

1 OUT Normal operation: Circuit closed.

Error: Circuit open.

2 OUT

Type Model Color

AC Power Supply Unit 721-203/026-304 Black

DC Power Supply Unit 721-203/026-000 White

Pin No. Signal Label Description

3 AC AC input

2 AC AC input

1 FG Connects to the frame ground. (Ground to 100 W max.)

Pin No. Signal Label Description

3 24 VDC Power input wire for 24 VDC

2 0 VDC Power input wire for 0 VDC

1 FG Connects to the frame ground. (Ground to 100 W max.)

DC Power Supply UnitAC Power Supply Unit

10 YASKAWA America, Inc. MP3200iec Hardware Manual YAI-SIA-IEC-5

5 Power Supply Unit Specifications

The specifications of the Power Supply Unit are given in the following table.

Item Specification

AC Power Supply Unit DC Power Supply Unit

Model JEPMC-PSA3012-E JEPMC-PSD3012-E

Abbreviation PSA-12 PSD-12

Power Supply

Section

Input Voltage 100/200 VAC 24 VDC

Allowable Input Voltage

Range 85 to 132 VAC or 170 to 276 VAC 19.2 to 28.8 VDC

Allowable Frequency

Range 47 to 63 Hz -

Input Current 4.0 A max. (at rated input/output) 5.0 A max. (at rated input/output)

Inrush Current

25 A, 10 ms max. (fully discharged, 132-VAC

input, rated output) 50 A, 10 ms max. (fully discharged,

28.8-VDC input, rated output)

50 A, 10 ms max. (fully discharged, 276-VAC

input, rated output)

Allowable Momentary

Power Loss Time 20 ms 1 ms

Rated Voltage 5.15 V

Rated Current 12.0 A

Output Current Range 0 to 12.0 A 0.2 to 12.0 A

Constant Voltage

Accuracy 5.15 V ±2% max. (5.05 to 5.25 V)

Status Output

If the Power Supply Unit is mounted on the Main Rack, this output functions as normally closed

contacts that are synchronized with the status of the CPU Unit.

• Normal operation: Circuit closed.

• Error: Circuit open.

Contact Ratings

Connectors POWER: Power supply connector

RLY OUT: Relay contact connector

Indicators POWER

Refer to Indicators on page 12.

Input Conditions

Inrush Current

For Cold Start

50 A within 10 ms (fully discharged status)

275-VAC input, rated output

For Cold Start

(Through rate at input voltage value increase from

10% to 90% is at 10 ms min.)

50 A within 10 ms (fully discharged status)

28.8-VDC input, rated output

Rise Time 60,000 ms max. (The maximum time for the output control signals to maintain the specified timing

when the primary voltage rises linearly.)

Drop Time 60,000 ms max. (The maximum time that the controls, such as the power failure sequence, can be

maintained when the primary voltage drops linearly.)

Leakage Current 276 VAC 61 Hz: 0.5 mA max.

132 VAC 61 Hz: 0.25 mA max. -

Efficiency 70% minimum (for rated input voltage and

rated load)

65% minimum (for rated input voltage and rated

load)

Input Voltage Current Capacity

24 VDC 0.5 A (resistive load)

0.25 A (inductive load)

125 VAC 0.4 A (resistive load)

0.2 A (inductive load)

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