MACHINE CONTROLLERS MACHINE …...Built-in EtherNet/IP and Modbus TCP (master and slave) connect to most PLC’s and expanded I/O. An OPC server is available to easily connect to PC’s,

M-I/ II

(4.5

)

13

0

12

14

.5

111120

4.5(4.5)

3

218IF-01ERR

COL

RX

RUN

STRX

TX

INITTEST

OFF ON

PORT

10Base-T

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

RUN

ERR

BAT

SW1OFF

RDY

ALM

TX

STOPSUP

INITCNFG

MONTEST

ON

BATTERY

CPU I/O

POWER

DC 0V

DC24V

Machine cOnTROLLeRSMachine cOnTROLLeRSMachine cOnTROLLeRS

Machine cOnTROLLeRS

Machine cOnTROLLeRS

MotionWorks® IEC SOFTWAREGLOBAL PROGRAMMING STANDARD

EN

DE

ES

FR

IT

2 YASKAWA MotionWorks® IEC

M-I/ II

(4.5

)

13

0

12

1

4.5

111120 4.5

(4.5)

3

218IF-01ERR

COL

RX

RUN

STRX

TX

INITTEST

OFF ON

PORT

10Base-T

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

RUN

ERR

BAT

SW1OFF

RDY

ALM

TX

STOPSUP

INITCNFG

MONTEST

ON

BATTERY

CPU I/O

POWER

DC 0V

DC24V

Global Programming Standard

Many programming languages exist today. Only a few

languages provide an environment for simply coding all of

the functionality of a modern automated machinery.

That’s where Yaskawa’s IEC61131-3 programming

environment shines. MotionWorks® IEC encourages the

programmer to take advantage of the best of several

programming languages within one development package.

Ladder Logic is perfect for representing digital sensory data.

Structured Text is a great solution for mathematical algorithms and assignments.

Function Block Diagrams are best suited for motion control.

Sequential Function Charts enhance program organization to simplify troubleshooting.

Object oriented structure promotes programming flexibility and reusable code.

Hardware and Software SpecificationsMotionWorks® IEC Express Specifications

Motion InterfaceMotion Library Program Languages Program Instances Program Tasks Variables Global Variables Local Maximum POUs Configuration Debug Tools

PLCopen specification Over 50 function blocks for motion control included IEC 61131-3 languages LD, ST, FB 500 per task 1 per resource 15000 15000 per POU 2000 Program Organizational Units System tuning, monitoring, network data definition On Screen values, Watch Window, Logic Analyzer, Single Step, Breakpoints

MotionWorks® IEC Pro Additional Specifications

Program LanguagesProgram TasksPassword Protection

IEC 61131-3 languages LD, ST, FB, IL, SFC 16 per resource Yes

MP2000iec General Specifications

Ethernet SpeedEthernet ProtocolsExpandable I/OVirtual Axes

100 MB/s EtherNet/IP and Modbus TCP, OPC, and web server support Digital and Analog, third party devices including temperature controllers Six

MP2300Siec Specifications

Axes MaximumNumber of Option CardsConfiguration MethodDimensionsHardware ConfigurationMotion InterfaceMountingPower InputProcessor SpeedServo Update Rate

16 plus additional nodes of remote I/O for a maximum of 21 nodes 1 Automatic Configuration of the option card and MECHATROLINK-II network 64 mm x 130 mm x 108 mm (W x H x D) Built-in Ethernet, MECHATROLINK-II network, one option card slot Digital MECHATROLINK-II high speed deterministic network DIN rail standard, panel mounting clamp optional 24 VDC 240 MHz 125 µs, position loop closed in the amplifier

MP2310iec Specifications

Axes MaximumNumber of Option CardsConfiguration MethodDimensionsHardware ConfigurationMotion InterfaceMountingPower InputProcessor SpeedServo Update Rate

16 plus additional nodes of remote I/O for a maximum of 21 nodes 3 Automatic Configuration of the option card and MECHATROLINK-II network 120 mm x 130 mm x 108 mm (W x H x D) Built-in Ethernet, MECHATROLINK-II network, three option card slots Digital MECHATROLINK-II high speed deterministic network Mounting screws, DIN rail optional 24 VDC 240 MHz 125 µs, position loop closed in the amplifier

MP2600iec Specifications (1.5 Axis Motion Controller Integrated with the Sigma-5 Servo Amplifier)

Axes MaximumConfiguration MethodDimensionsHardware ConfigurationMotion InterfaceMountingPower InputProcessor SpeedServo Update Rate

1 servo, 6 virtual, 1 external (Encoder) Fixed configuration: Servo Axis, Local Digital & Analog I/O and External Encoder See individual Sigma-5 servo amplifier dimensions Two Ethernet connections, on board I/O Motion control integrated with Sigma-5 servo amplifier Panel mounting, see individual Sigma-5 servo amplifier mounting dimensions 200/400 V depending on Sigma-5 servo amplifier, no other DC input required for controller power supply 200 MHz 125 µs, position loop closed in the amplifier

3

M-I/ II

(4.5

)

13

0

12

1

4.5

111120 4.5

(4.5)

3

218IF-01ERR

COL

RX

RUN

STRX

TX

INITTEST

OFF ON

PORT

10Base-T

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

RUN

ERR

BAT

SW1OFF

RDY

ALM

TX

STOPSUP

INITCNFG

MONTEST

ON

BATTERY

CPU I/O

POWER

DC 0V

DC24V

Sequential Function Chart.

Sequential Function Chart (SFC) is one of the standardized

languages available in IEC61131-3 and is supported in the

Professional version of MotionWorks® IEC.

SFC allows the programmer to graphically create program

organization in terms of steps, actions, and transitions. Active

steps are indicated in red, which simplifies troubleshooting of

complex operations.

also includes the following:

• Password Protection

• Project Comparison

• POU Grouping

• Configurable Task Priority

• Configurable I/O Task Assignment

• Auto Save Setting

• Debug Powerflow

Cam Data Management Y_CamFileSelect Y_CamStructSelect Y_ReleaseCam

Cam Engagement Y_CamIn Y_CamOut

On-the-Fly Adjustments Y_CamShift Y_CamScale Y_SlaveOffset

Cam Data Transfer Y_ReadCamTable Y_WriteCamTable

YTABLE OF MOTION COORDINATES

CAM DISK

90˚ 180˚ 270˚ 360˚

CAM

Y

CAMCAM DISKDISK

MASTER ENCODER INPUT (STANDARD)

360

Time

Slav

e Po

sitio

n

Mas

ter P

ositi

on

Master0

3672

108144180216252288324360

Slave6.504.504.254.505.004.754.204.104.505.256.50

T_Active

Step1

Step2

Step3

N

N

N

Action1

Start N Init

Cancel N Abort

Action2

Action3

T_002

T_003

T_004

Logical Step

Action taken while in Step

Transition conditionbetween Steps

MotionWorks® IEC includes 10 Function Blocks dedicated to camming. These are customized by Yaskawa based on the

PLCopen specification, previous controller cam technology, and decades of synchronized motion experience.

The function blocks fall into one of four functional topics:

Electronic camming controls

the positional relationship of

a pair of axes based on a

master/slave lookup table

YTABLE OF MOTION COORDINATES

CAM DISK

90■ 180■ 270■ 360■

CAM

Y

CAMCAM DISKDISK

MASTER ENCODER INPUT (STANDARD)

360

Time

Sla

ve P

ositio

n

Mas

ter

Pos

itio

n

Master0

3672

108144180216252288324360

Slave6.504.504.254.505.004.754.204.104.505.256.50

Tasks

IEC61131-3 Languages

1 16

Ladder DiagramFunction BlocksStructured Text

Ladder DiagramFunction BlocksStructured TextSequential Function ChartInstruction List

Express and Pro Versions for Simplicity and Flexibility

MotionWorks® IEC Software

Camming Function Blocks

EXPRESS PROFESSIONAL

PROFESSIONAL


The MP2000iec series multi-axis controller give

many possibilities in the world of machine control. By

combining many proven technologies in one platform,

Yaskawa offers a powerful system with maximum

flexibility.

Governed by internationally standardized functions,

MP2000iec machine controllers incorporate a potent

motion engine at their core. They include a built-in

web server and are compatible with the most popular

network protocols.

Yaskawa’s superior-quality hardware coupled with

industry-standard programming tools, maximizes the

total automation system value.

Linear ServosPeak Force:85 – 6,000 N Velocity:up to 5m/s Supply Voltage: 200, 400 VAC

Direct Drive ServosPeak Torque:6 – 600 Nm

Velocity:up to 500 rpm

Supply Voltage:200 VAC

VFDs Output:V1000 (up to 18.5 kW)

A1000 (up to 630 kW)

Velocity:up to 3,600 rpm base

Supply Voltage:200, 400 VAC

Rotary Sigma ServosPeak Torque:0.5 – 224 Nm

Velocity:up to 5,000 rpm

Supply Voltage:200, 400 VAC

M-I/ II

(4.5

)

13

0

12

1

4.5

111120 4.5

(4.5)

3

218IF-01ERR

COL

RX

RUN

STRX

TX

INITTEST

OFF ON

PORT

10Base-T

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

RUN

ERR

BAT

SW1OFF

RDY

ALM

TX

STOPSUP

INITCNFG

MONTEST

ON

BATTERY

CPU I/O

POWER

DC 0V

DC24V

The Standard in Mechatronics Control

Modular Connectivity

High-Speed Deterministic Motion and I/O Network

!? !?

Web Server

OPC MES

!? !?

Web Server

OPC MES

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! WARNING Risk of electric shock.• Read manual before installing.• Wait 1 minute for capacitor discharge after disconnecting power supply.• To conform to CE requirements, make sure to ground the supply neutral for 400V class.

ALM

DRV FOUT

REV

MECHATROLINK I/O

from Phoenix Contact

provides ultimate

flexibility in your

control design.

5

Features and Benefits of Mechatronics Control

Network Communication:

Built-in EtherNet/IP and Modbus TCP (master and slave) connect to most PLC’s and expanded I/O.

An OPC server is available to easily connect to PC’s, HMI’s, or business systems like MES, ERP, or databases.

Standard Programming Languages:MotionWorks® IEC Software complies to the IEC 61131-3 standard, assuring that programs can be developed

and executed with predictable behavior.

PLCopen Function Blocks:Yaskawa developed the motion control interface to comply with PLCopen, yet preserved

the motion algorithms developed over decades of accumulated motion control experience.

Reusable Code:

Libraries enable import and reuse of previously developed logic.

Web ServerAll controllers have a built in web server which greatly reduces

field maintenance time and allows users to load new programs

and update controller firmware without the need for special software.

Controller-Centric Commissioning:The MECHATROLINK motion network gives a simple route to configuring the machine from a single location with one

software tool, resulting in minimum commissioning time.

Remote I/O: Numerous third-party remote I/O modules such as Phoenix and Wago can be interfaced with the system via

MECHATROLINK or Ethernet.

Local I/O: Choose from eight option cards offered for the expansion slot to accommodate most automation requirements.

IEC on the DriveThe Sigma-5 servo amplifier with 1.5 Axis MP2600iec Motion Controller option module offers a compact controller/servo

combination, providing standardized programming on Yaskawa’s latest high quality servo system.

ScalabilityOne software platform for the MP2000iec series allows applications to scale up from single to multi-axis control.

Programmable Amplifier Outputs: The controller can operate local outputs. This reduces panel cost and space requirements when just a couple of outputs

are necessary.

M-I/ II

(4.5

)

13

0

12

1

4.5

111120 4.5

(4.5)

3

218IF-01ERR

COL

RX

RUN

STRX

TX

INITTEST

OFF ON

PORT

10Base-T

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

RUN

ERR

BAT

SW1OFF

RDY

ALM

TX

STOPSUP

INITCNFG

MONTEST

ON

BATTERY

CPU I/O

POWER

DC 0V

DC24V

RoHS

APPLICATIONAPPLICATION

PACK

AG

E

PACK

AG

SOLU

TION PA

CK

AG

E

SOLU

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RoHS


PACK

AG

E

PACK

AG

SOLU

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CK

AG

E

SOLU

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PACK

AG

E

PACK

AG

SO

LUTIO

N PACK

AG

E

SO

LUTIO

N

RoHS


PACK

AG

E

PACK

AG

SO

LUTIO

N PACK

AG

E

SO

LUTIO

N


and Sigma-5 Servo Drives

IEC 61131-3 on the Sigma-5 Servo Amplifier

• One software platform, MotionWorks® IEC, allows applications to scale up from single to multi-axis control within a standard IEC 61131-3 environment.

• Built-in EtherNet/IP and Modbus TCP (master and slave) connect to most PLC’s and expanded I/O.

• PLCopen Function Blocks in MotionWorks IEC simplify programming.• Diagnostic Web server reduces field maintenance time.• Optional OPC server allows for HMI or Data Acquisition.• Sigma-5 autotuning and vibration suppression algorithms facilitate easy setup.• Wide product range of Sigma-5 (200/400 VAC from 50 W to 15 kW) enables flexible designs.

Highest Performance • Frequency Response of 1.6 kHz in the Industry • Settling Time from 0 to 4 ms

Ease of Use • Real-time Adaptive Autotuning • One Parameter Fine Tuning • Configure and Tune from MotionWorks® IEC • 20:1 Inertia Mismatch

Vibration Control • Advanced Vibration Suppression Function

Reduced Size • Amplifiers and Motors up to 30% Smaller than the Competition

Integrated Safety • Integrated Safety Tested According to EN954-1 Safety Category 3 and IEC 61508-1 SIL2

Settling Time 0 to 4 ms( )

REFERENCE SPEED

FOLLOWING ERROR

POSITIONING COMPLETED

Best-in-Class Servo DrivesM-I/ II

(4.5

)

13

0

12

1

4.5

111120 4.5

(4.5)

3

218IF-01ERR

COL

RX

RUN

STRX

TX

INITTEST

OFF ON

PORT

10Base-T

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

RUN

ERR

BAT

SW1OFF

RDY

ALM

TX

STOPSUP

INITCNFG

MONTEST

ON

BATTERY

CPU I/O

POWER

DC 0V

DC24V

Yaskawa Continues to Deliver the New Frontier in Servo Performance

The Sigma-5 servo system fits in motion applications demanding high dynamic and accuracy, fast positioning and perfect multi-axes synchronisation.

• Speed Loop Bandwidth of 1.6 kHz• 20 bit encoder resolution (incremental/absolute)• Vibration Suppression• Advanced Functional Safety SS1, SS2, SLS, STO

IEC on the Drive - MP2600iec 1.5 Axis Machine Controller

7

System ComponentsM-I/ II

(4.5

)

13

0

12

1

4.5

111120 4.5

(4.5)

3

218IF-01ERR

COL

RX

RUN

STRX

TX

INITTEST

OFF ON

PORT

10Base-T

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

RUN

ERR

BAT

SW1OFF

RDY

ALM

TX

STOPSUP

INITCNFG

MONTEST

ON

BATTERY

CPU I/O

POWER

DC 0V

DC24V

Description Part Number Note

MP2300Siec Controller Base PMC-U-MP23S04PMC-U-MP23S08PMC-U-MP23S16

4 axis, no I/O module8 axis, no I/O module16 axis, no I/O module

MP2310iec Controller Base PMC-U-MP23104PMC-U-MP23108PMC-U-MP23116

4 axis, no I/O module8 axis, no I/O module16 axis, no I/O module

MP2600iec Controller Option with Sigma-5 Servo Amp

SGDV-xxxxE1A(xxxx denotes output capacity and voltage)

Servo amplifier with controller attached(EtherNet/IP and Modbus TCP communications)

MotionWorks IEC 2 Express PDE-U-IE2Sx x: Number of Software LicensesA : 1 B : 5 C : 10

MotionWorks IEC 2 Pro PDE-U-IE2Px x: Number of Software LicensesA : 1 B : 5 C : 10 H: Floating license copy

MotionWorks IEC OPC Server PDE-U-OPCPx x: Number of Software LicensesA : 1 B : 5 C : 10 D : 20

Terminal Block Conversion Kits CBK-U-MP2A-xx (LIO-01/02)CBK-U-MP2B-xx (LIO-04/05/06/MP2600iec)SBK-U-VBA-xx (SGDV Servo Amp- CN1)

xx: Cable LengthA5: 0.5 m 01: 1.0 m 03: 3.0 m

Accessories JEPMC-OP2300JEPMC-OP2300S-EJEPMC-OP300JZSP-BA01

Slot Cover (for MP2300Siec or MP2310iec)Panel Mounting Bracket (for screw mounting MP2300Siec)Extra DIN Rail Clips for MP2310iec (2 per set)Replacement Battery

I/O Option Cards for MP2300Siec and MP2310iec

JAPMC-AN2300 Analog Inputs (AI-01)JAPMC-AN2310 Analog Outputs (AO-01)JAPMC-D02300 Output Module (DO-01)JAPMC-I02300-E I/O Module (LIO-01)

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

JAPMC-IO2303 I/O Module (LIO-04)JAPMC-IO2304 I/O Module (LIO-05)JAPMC-IO2305-E Multi-Function (LIO-06) I/O Option Module

8 channels; +/- 10 V 16-bit resolution4 channels; +/- 10 V 16-bit resolution64 sinking outputs 24 VDC16 sinking or sourcing inputs 24 VDC; 16 sinking outputs 24 VDC; 1 Encoder Counter; max frequency 500 kHz 16 sinking or sourcing inputs 24 VDC; 16 sourcing outputs 24 VDC; 1 Encoder Counter; max frequency 500 kHz32 sinking or sourcing inputs 24 VDC; 32 sinking outputs 24 VDC;32 sinking or sourcing inputs 24 VDC; 32 sourcing outputs 24 VDC;Analog/Digital/Encoder

Flying Lead Cables for I/O Option Cards

JEPMC-W6080-xx (AI-01)JEPMC-W6090-xx (AO-01)JEPMC-W2061-xx (LIO-01/02)JEPMC-W6060-xx (LIO-04/05, DO-01)JEPMC-W2064-xx-E (LIO-06)

xx: Cable Length05: 0.5 m 10: 1.0 m 30: 3.0 m

Flying Lead Cables and Terminal Blocks for MP2600iec

JEPMC-W2064-xx-E (MP2600iec)CFC-U-MP2B-xx (MP2600iec)

xx: Cable LengthA5: 0.5m 01: 1.0 m 03: 3.0m

MECHATROLINK-II Cables(MP2300Siec / MP2310iec)

JEPMC-W6003-A5-EJEPMC-W6003-01-EJEPMC-W6003-03-EJEPMC-W6003-05-EJEPMC-W6003-10-EJEPMC-W6003-20-E

0.5 m1.0 m3.0 m5.0 m10.0 m20.0 m

Network Termination Resistor(MP2300Siec / MP2310iec)

JEPMC-W6022 Required for ends of MECHATROLINK-II network (one included with MP2300Siec, MP2310iec has a network terminator on board)

MECHATROLINK II, EtherNet/IPand Modbus TCP Communications

M-I/ II

(4.5

)

13

0

12

14

.5

111120

4.5(4.5)

3

218IF-01ERR

COL

RX

RUN

STRX

TX

INITTEST

OFF ON

PORT

10Base-T

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

LIO-01LD5

LD6

LD7

LD8LD4

LD3

LD2

LD1

MODE

I/O

RUN

ERR

BAT

SW1OFF

RDY

ALM

TX

STOPSUP

INITCNFG

MONTEST

ON

BATTERY

CPU I/O

POWER

DC 0V

DC24V

Machine cOnTROLLeRS

YASKAWA Europe GmbHDrives & Motion Division Hauptstr. 18565760 EschbornGermany

+49 6196 [email protected]

Specifications are subject to change without noticefor ongoing product modifications and improvements.© YASKAWA Europe GmbH. All rights reserved.

Literature No. YEU_Controller_MotionWorksIEC_EN_v1_0811 Printed in Germany, August 2011

Documents

MACHINE CONTROLLERS MACHINE …...Built-in EtherNet/IP and Modbus TCP (master and slave) connect to most PLC’s and expanded I/O. An OPC server is available to easily connect to PC’s,