Yaskawa Electric America, Inc., December 2007 YEA-CHA-IEC-1 Printed in USA

Yaskawa Electric America Yaskawa Electric Europe Yaskawa Electric Corporation2121 Norman Drive South Am Kronberger Hang 2, 65824 New Pier TakeshibaWaukegan, IL 60085 Schwalbach, Germany South Tower, 1-16-1 Kaigon(800)-YASKAWA www.yaskawa.de Minatoku, Tokyo 105 Japanwww.yaskawa.com www.yaskawa.co.jp

Global Recognition

Programming Ease

Standard IEC61131-3

Many programming languages exist today.Few excel at providing an environment for easily coding ALL the functionality of 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, while Function Block Diagrams are best suited for motion control. These languages seamlessly and predictably cooperate with one another. Variables and outputs from a program structure can be referenced by other programs, providing the ultimate automation development environment.

Global Programming Standard™(**************** MP2300Siec Specifications ****************)

Axes_Maximum :=16; (* Plus additional nodes of remote I/O for maximum of 21 nodes *)Configuration_Method :='Automatic Configuration of the option card and devices on the MECHATROLINK-II network';Dimensions :='64mm x 130mm x 108mm (W x H x D)';Ethernet_Speed :=100; (* MB/sec *)Ethernet_Protocols :='EtherNet/IP and Modbus/TCP, OPC, and Webserver support';Expandable_IO :='Digital & Analog, third party devices including temperature controllers';Hardware_Configuration :='Built in Ethernet, MECHATROLINK-II network, one option card slot';Memory_Flash :=8; (* Megabytes *)Memory_SDRAM :=32; (* Megabytes *)Memory_SRAM :=512; (* Kbytes *)Motion_Interface :='Digital MECHATROLINK-II high speed deterministic network';Mounting :='DIN rail standard, mounting bracket optional';Power_Input :=24; (* VDC *) Processor_Speed :=240; (* MHz *)Servo_Update_Rate :=125; (* uSec, position loop closed in the amplifier *)

(*************** MotionWorks IEC Specifications ***************)

Motion_Interface :='PLCopen specification';Motion_Library :='Over 50 function blocks for motion control included';Program_Instances :=500; (* Per Task *)Program_Languages :='IEC 61131-3 languages LD, ST, FB';Program_Tasks :=1; (* Per Resource *)Variables_Global :=15000; Variables_Local :=15000;(* Per POU *)Maximum_POUs :=2000; (* Program Organizational Units *)Configuration :=’System tuning, monitoring, network data definition.’;Debug_Tools :=’On Screen values, Watch Window, Logic Analyzer, Single Step, Breakpoints’;

(*************** MotionWorks IEC Pro Additional Specifications ***************)

Program_Languages :='IEC 61131-3 languages LD, ST, FB, IL, SFC’;Program_Tasks :=16; (* Per Resource *)

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IECIECMMWW The New Standard in Mechatronics ControlThe New Standard in Mechatronics Control

MENU0:15:10 6:11:31

MECHATRONICS

KINEMATICS

MODULARITY

IEC

GPS10:16:07 6:11:31

DESTINATION: PROFITABILITY

MECHATRONICS

FLEXIBILITY

SOLUTION PACKAGES

MODULARITY

IEC

CONNECTIVITY

$RT121

RT75

RT30

RT111

QUALITY

Solution Packages

EtherNet/IP

Behavior

Environment

Deming Prize

YaskawaQuality

Global Standards

MP2300SiecMechatronics Controller

The Best Servos and_Drives

Proven Supplier Reliability

Kaizen Continuous Improvement

Worldwide

IEC61131-3 Programming

PLCopen Function Blocks

Modbus/TCP

Familiar

Common

Highest Performance

Reduced Cost of Ownership

Automation Profitability

Mechatronics Engine

Connectivity

RoHS

APPLICATIONAPPLICATION

PACK

AG

E

SO

LUTIO

N PACK

AG

E

SO

LUTIO

N

The Standard in Mechatronics Control

High-Speed Deterministic Motion and I/O Network

Linear ServosPeak Force:

85 – 6,000 NVelocity:

up to 5m/sSupply Voltage:

240, 480 VAC

Rotary Sigma ServosPeak Torque:

13.5 – 1,988 in-lbVelocity:

up to 5,000 rpmSupply Voltage:

110, 240, 480 VAC

Direct Drive ServosPeak Torque:

53 – 5,310 in-lbVelocity:

up to 500 rpmSupply Voltage:

240 VAC

MECHATROLINK I/O from Phoenix Contact

provides ultimate flexibility in your control design.

VFDsOutput:

V1000* (up to 25 hp)Velocity:

up to 3,600 rpm baseSupply Voltage:

240, 480 VAC* Future MECHATROLINK connectivity planned

ESC

RESET

RUN STOP

ENTER

LORE

V1000

F 50.00

Freq Reference:FWD/REV Sel :

Monitor :Verify :SetUpGuide :Program :Auto-Tuning :

Output Freq :Output Current:

F6000For

600000R00u

MonurFYSrUPPrG

ARUN

(Hz)

(Hz)(A)

(v)

! 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

!?

The MP2300Siec facilitates a new realm of possibilities in the world of machine control. By combining many proven technologies into one platform, Yaskawa offers a powerful system with ample flexibility.

Governed by internationally standardized functions, the MP2300Siec is a machine controller with a potent motion engine at its core. It includes a built-in web server and is compatible with the most popular network protocols.

Yaskawa’s superior-quality hardware driven by industry- standard programming tools maximizes the total automation system value.

Once again, Yaskawa Delivers the New Frontier in Servo Performance Highest Performance in the Industry • Frequency Response of 1.6 kHz

• Settling Time from 0 to 4 ms • Real-time Adaptive Autotuning Easy to Set Up and Use • One Parameter Fine Tuning • Configure and Tune from MotionWorks IEC

Vibration Control • Advanced Vibration Suppression Function

• Amplifiers up to 30% Narrower than Competition Reduced Size • Motors are a Minimum of 10% Shorter than Previous Sigma Series

Integrated Safety

• Safety Stop-0 to EN954 Category 3 and IEC61508 SIL2 with proper risk assessment and installation

Features and BenefitsCommunication Protocols – Open standards EtherNet/IP and Modbus/TCP for connectivity to nearly every HMI and PLC on the market.

Standard Programming Languages – IEC61131-3 means that programs are developed and executed with predictable behavior.

PLCopen Function Blocks – An integral component of MotionWorks IEC. Yaskawa developed the Motion Control interface to comply with PLCopen, yet preserves the motion algorithms developed over decades of motion control expertise.

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

Reusable Code – Libraries enable importation of previously developed logic.

Controller-Centric Commissioning – The MECHATROLINK motion network provides a channel for configuring the machine from a single location with one software tool. When servo systems are on the network, they make self-tuning servos a reality, resulting in minimal commissioning time.

A Multitude of Options – Choose from nine option cards offered for the expansion slot to accommodate most machine requirements.

Remote I/O – Numerous third-party remote I/O modules such as Phoenix, Wago, and Opto 22 can be interfaced with the system via MECHATROLINK and Ethernet.

MODULAR

CONNECTIVITYMODULAR

CONNECTIVITY

NS300

CN4

X10

X1

CN11

DR

MSNS

CN6

L1

L2

1+

2+

_

L1C

L2C

B1

B2

U

V

W

CN3

CN1

CN2

SGDH100V

01BE Y-114

Modbus/TCP

IECIECMMWW

20-BitEncoder

Amplifiers and Motors

1.6 kHz

Bandwidth

MP2300Siec LIO-04RDY

ERR

BAT

IP

ALM

MTX

TRX

RUNRUN FU

STOPSUPINIT

CNFGMONTEST

CN1

CN2

BATTERY

SW2

SW1

ON

ON

Ethernet

100M

RLYOUT

24V

OV

M-I/II

MP2300Siec LIO-04RDY

ERR

BAT

IP

ALM

MTX

TRX

RUNRUN FU

STOPSUPINIT

CNFGMONTEST

CN1

CN2

BATTERY

SW2

SW1

ON

ON

Ethernet

100M

RLYOUT

24V

OV

M-I/II

MP2300Siec LIO-04RDY

ERR

BAT

IP

ALM

MTX

TRX

RUNRUN FU

STOPSUPINIT

CNFGMONTEST

CN1

CN2

BATTERY

SW2

SW1

ON

ON

Ethernet

100M

RLYOUT

24V

OV

M-I/II

Settling Time 0 to 4 ms(∑− V)

POSITIONINGCOMPLETED

REFERENCE SPEED

Web Server

OPC MES

System ComponentsDESCRIPTION PART NUMBER NOTE PMC-U-MP23S04 . . . . . . . . . . . . . . . . . . . 4 axis, no I/O module PMC-U-MP23S08 . . . . . . . . . . . . . . . . . . . 8 axis, no I/O module PMC-U-MP23S16 . . . . . . . . . . . . . . . . . . . 16 axis, no I/O module PMC-U-MP23S04L1 . . . . . . . . . . . . . . . . . 4 axis, LIO-01 module PMC-U-MP23S08L1 . . . . . . . . . . . . . . . . . 8 axis, LIO-01 module PMC-U-MP23S16L1 . . . . . . . . . . . . . . . . . 16 axis, LIO-01 module PMC-U-MP23S04L2 . . . . . . . . . . . . . . . . . 4 axis, LIO-02 module PMC-U-MP23S08L2 . . . . . . . . . . . . . . . . . 8 axis, LIO-02 module PMC-U-MP23S16L2 . . . . . . . . . . . . . . . . . 16 axis, LIO-02 module

PDE-U-IECSx . . . . . . . . . . . . . . . . . . . . . . . x: Number of Software Licenses A : 1 B : 5 C : 10

PDE-U-IECPx . . . . . . . . . . . . . . . . . . . . . . . x: Number of Software Licenses A : 1 B : 5 C : 10 JEPMC-OP2300 . . . . . . . . . . . . . . . . . . . . Slot Cover JEPMC-OP2300S-E . . . . . . . . . . . . . . . . . . Metal Clips for Attachment - DIN rail mount standard JZSP-BA01 . . . . . . . . . . . . . . . . . . . . . . . Replacement Battery

JEPMC-W6080-xx (AI-01)

JEPMC-W6090-xx (AO-01)

JEPMC-W2063F-xx (CNTR-01) JEPMC-W2061-xx (LIO-01 / LIO-02)

JEPMC-W6060-xx (LIO-04 / LIO-05 / DO-01 / PO-01)

JAPMC-AN2300 Analog Inputs (AI-01) . . . . (8) channels; +/- 10V @ 16-bit resolution @ 20kΩ or 4~20mA @ 15-bit @ 250Ω JAPMC-AN2310-E Analog Outputs (AO-01) . . (4) channels; +/- 10V @16-bit resolution; 5mA max load current JAPMC-D02300 Output Module (DO-01) . . (64) 24VDC sinking outputs; 100mA/output JAPMC-I02300 I/O Module (LIO-01) . . . . (16) 24VDC sinking or sourcing inputs; (16) 24VDC sinking outputs; 100mA/output; (1) Encoder Counter; A/B/C channels; differential; latch response time 5µS; max frequency 500kHz JAPMC-IO2301 I/O Module (LIO-02) . . . . (16) 24VDC sinking or sourcing inputs; (16) 24VDC sourcing outputs; 100mA/output; (1) Encoder Counter; A/B/C channels; differential; latch response time 5µS; max frequency 500kHz JAPMC-IO2303 I/O Module (LIO-04) . . . . (32) 24VDC sinking or sourcing inputs; (32) 24VDC sinking outputs; 100mA/output JAPMC-IO2304 I/O Module (LIO-05) . . . . (32) 24VDC sinking or sourcing inputs; (32) 24VDC sinking outputs; 100mA/output JAPMC-PL2300-E Encoder Counter . . . . . (2) channels; 5V differential; 4MHz response frequency; (2) 24VDC (CNTR-01) . . . . . . . . . . . . outputs; 50mA/output; (2) 24VDC sourcing latch inputs JAPMC-PL2310-E Pulse Output Module . . . (4) axes, 4MHz response frequency; step & direction, (20) 24VDC (PO-01) sourcing inputs; (16) 24VDC sinking outputs

JEPMC-W6003-A5 . . . . . . . . . . . . . . . . . . 0.5 m JEPMC-W6003-01 . . . . . . . . . . . . . . . . . . 1.0 m JEPMC-W6003-03 . . . . . . . . . . . . . . . . . . 3.0 m JEPMC-W6003-05 . . . . . . . . . . . . . . . . . . 5.0 m JEPMC-W6003-10 . . . . . . . . . . . . . . . . . . 10.0 m JEPMC-W6003-20 . . . . . . . . . . . . . . . . . . 20.0 m JEPMC-W6003-30 . . . . . . . . . . . . . . . . . . 30.O m JEPMC-W6003-40 . . . . . . . . . . . . . . . . . . 40.0 m JEPMC-W6003-50 . . . . . . . . . . . . . . . . . . 50.0 m

JEPMC-W6022 . . . . . . . . . . . . . . . . . . . . Required for end of network (one included with MP2300Siec)

MP2300Siec Controller Base

Accessories

I/O OptionCards forPMC-U-MP23S04,PMC-U-MP23S08, PMC-U-MP23S16

MotionWorks IEC

MotionWorks IEC Pro

Option Card Cables

MECHATROLINK Cables

Network Termination Resistor

MECHATROLINK II, EtherNet/IP and Modbus/TCP

xx: Pigtail Length 05: 0.5 m 10: 1.0 m 30: 3.0 m

IECIECMMWW

IECIECMMWW

1.6 kHz Bandwidth

Advanced Autotuning

Vibration Suppression Technology

Sigma-5Servo System

Yaskawa Electric America, Inc., July 2008 YEA-CHA-S800-41 Printed in USA

Yaskawa Electric America Yaskawa Electric Europe GmbH Yaskawa Electric Corporation2121 Norman Drive South Europa-Zentrale New Pier TakeshibaWaukegan, IL 60085 Hauptstrasse 185 South Tower, 1-16-1 Kaigon1-800-YASKAWA 65760 Eschborn Minatoku, Tokyo 105 Japanwww.yaskawa.com 49.6196.569.300 81.3.5402.4511 www.yaskawa.de www.yaskawa.co.jp

Expandability Over 50 Years of Servo Technology Expertise

Product Line-up

A Rich Selection of Models and Options to Match Your Requirements

Extensive variety of motors to match any machine Medium-inertia servomotors improved control stability Low-inertia servomotors High-speed/pulse train reference or MECHATROLINK-II communications reference

Wide selection of option modules for various communication interfaces and feedback

Compliant with applicable safety standards Easy compliance with machine safety standards

ServomotorsServo

Amplifiers

Analog Voltage/Pulse Train Reference

Rotary Linear

Medium InertiaSeries

Low InertiaSeries

Direct Drive Series

Linear Series

Linear Slides -Trac Series

MECHATROLINK-II Communications

Reference

1958 1961 1966 1983 1990 1992 1997 2002 2006 2007

Minertia-MotorFirst DC servomotor

with low inertiaSpeed response:

100 times higher thanDC-shunt-wound motor

Cup-MotorFirst DC servo drivewith large capacity

SeriesVery compact

amplifiers and motors

SeriesHigh resolution serial encoder

Enhanced tuning functions International standards

SeriesFurther reduction in size

Higher performance

V SeriesImproved performanceAdvanced autotuningVibration resistance

Safety standardsPrint-Motor

First DC disc motorVery flat design

First AC Servo Drive Range

For machine tooland robotic market

JunmaEasy to use!

First servo drive that needs no

parameter setting!

First Full Digital AC Servo Drive

With precise torque, speed, and position control

OptionModule

The delivers the highest performance in the industry

The new “tuningless” function automatically adjusts for changes in load to rotor inertia mismatches up to 20:1.

Settling time: 100 to 150 ms level

Adjustment of the reference filter and feedback gain function has been simplified with the introduction of a new feed forward gain adjustment function. The friction compensation function automatically cancels out the effect of friction on machine characteristics.

Settling time: 10 ms level

Fine-tuning can tweak machine performance even further.

Settling time: 0 to 4 ms level

SelectionServomotor sizing software

SigmaJunmaSize+

Optimal selection for your application with consideration of moment of inertia, DB resistance, etc.

Motor Line-up to Handle a Broad Range of Markets and Applications

Faster Setup

Setup WizardSimple parameter set-up with wizard-aided input.

Wiring Check FunctionSigmaWin+ checks your wiring in a single operation.

Trace FunctionReal-time trace allows you to instantaneously monitor any adjustments.

1.6 kHz

Outstanding frequency response

Settling Time: 1/12th

International Standards

USB1.1 Support

Resolution 1,048,576 pulses/revolution

Wide Variety of Motors to Fit Your Needs

Small CapacitySGMJV/SGMAV Series

• Low Heating Improved motor constants have reduced both losses and heating.

• Better Cycle Time Peak torque has been boosted from 300% to 350%, contributing to shorter cycle times.

• Ease of Use Moment of inertia has been doubled with the SGMJV series, reducing the load inertia ratio and boosting gain for faster settling.

Medium CapacitySGMGV Series

• Compact Design Smaller package and about 20% lighter, but with the same inertia as the conventional model.

• Improved Vibration Resistance New coupling delivers typical 5G vibration resistance.

Get up and running quickly New “Tuningless” Function

Minimize settling time with less vibrationNew Advanced Autotuning

Fine-tuning is a mustNew “One-Parameter” Tuning

Simple Tuning

Semiconductors(Bonders)

SGMAV (20 bit)Low Inertia

Linear (High resolution)

SGMJV (20 bit)SGMGV (20 bit)Medium Inertia

SGMJV (20 bit)SGMGV (20 bit)Medium Inertia

Semiconductors(Probes)

Machine Tools, MC Lathes/Grinders

Electronic Components

Food Packaging

TextilesMaterial Handling

Moment of Inertia Ratio

Res

olut

ion

Injection Molding Machines

Metal Processing

Robot Articulated/Scalar/Extraction

LCD Scribers

LCD Coater/Dispensers

How many times have you heard people say servos need adjustment to work well? Yaskawa servos include a “tuningless” function that allows them to work as soon as you hook them up.

And if you want more performance than ever before, the series advanced autotuning function lets you accomplish it rapidly.

Additionally, servomotors feature a more compact size with increased efficiency.

Safety StandardsEN954-1: Safety Category 3 EN60204-1: Stop Category 0 IEC61800-5-2: Safe Torque Off (STO)

RoHS DirectiveRoHS Directive Stands for the EU directive on the Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment

Servo Adjustment Example

time

Settling Time 0 to 4 ms( )

POSITION ERROR

POSITIONING COMPLETED

REF

EREN

CE

SPEE

DPOSIT

ION

System Performance

Enhanced Vibration SuppressionExisting functions to minimize vibration have been enhanced, and new ones added, improving tracking and further improving settling time. Vibration and noise during operation have also been cut, along with vibration at machine edges when stopping.

Simplify withThe best amplifier response in the industry slashes settling time