MP2600iec Hardware_Manual.book

Transcription

1 MP2600iec Hardware Manual

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3 Table of Contents Table of Contents 1 Introduction 1.1 MP2600iec Features MP2600iec Appearance Dimensions Specifications 2.1 General Specifications MP2600iec Hardware Specifications Ordering Reference 3.1 Component Model Numbers Additional Model Numbers Mounting 4.1 Mounting Information Installation Standards Inputs/Outputs 5.1 CN13 Connection Diagram CN13 Connection Description External Encoder Interface On-Board Digital I/O Sigma-5 I/O Analog I/O DIP Switches 6.1 Switch Settings LED Outputs Battery 8.1 Battery Installation

4 9 Ethernet 9.1 Connectivity Information Ethernet Connector Details Ethernet Cable Ethernet Connection Examples Cable Diagrams 10.1 CBK-U-MP2B-xx (Terminal Block-Controller) CFC-U-MP2B-xx (Flying Lead-Controller) SBK-U-VBA-xx (Terminal Block-Servo Amp) JZSP-CSI02-x-E (Flying Lead-Servo Amp) Cable Shielding, Segregation & Noise Immunity Firmware Upgrade Procedure

5 1.1 MP2600iec Features 1 Introduction 1.1 MP2600iec Features MP2600iec is a single-axis machine controller option card that is attached to a Sigma-5 servo amplifier. The servo amplifier and controller are factory assembled, providing a compact, all-in-one servo/controller package with the following features: PLCopen for Motion Control, including indexing, camming, gearing, and servo parameter maintenance capability. Sigma-5 self-tuning, anti-vibration, and other high performance, easy-to-implement servo control features Ethernet (100Mbps) Auto crossover switching EtherNet/IP Modbus TCP Allows high-speed communications with MotionWorks IEC Enables communication with the application program by using a touch panel Enables communication with the application program from another controller Combined Amplifier/Controller I/O features 15 digital inputs 11 digital outputs 1 analog input 1 analog output 1 external encoder (quadrature, pulse + direction, up/down) 1 external encoder latch 3

6 1.2 MP2600iec Appearance 1.2 MP2600iec Appearance The following figure shows the external appearance of the MP2600iec controller (Note: The servo amplifier is not shown). LED (10 points) Ethernet Port A Ethernet Port B DIP Switch (6 points) CN13 Port Analog I/O, Digital I/O External Encoder (incremental) 3.6V Lithium Battery (preserves retained variables, absolute encoder offset, and real-time clock data) 4

7 1.3 Dimensions MP2600iec Controller 1.3 Dimensions MP2600iec Controller (22) (20) 97 Dimensions in mm. 5

8 1.3 Dimensions MP2600iec Controller 6

9 2.1 General Specifications 2 Specifications 2.1 General Specifications Environmental Conditions Item Ambient Operating Temperature Ambient Storage Temperature Ambient Operating Humidity Ambient Storage Humidity Protection Class/ Pollution Degree 0 to 55 C -20 C to +85 C Specifications 90% RH or less (with no condensation) 90% RH or less (with no condensation) Protection class: IP10, Pollution degree: 2 An environment that satisfies the following conditions. Free of corrosive or explosive gases Free of exposure to water, oil or chemicals Free of dust, salts or iron dust Mechanical Operating Conditions Operating Altitude Vibration Resistance 1,000 m above sea level or lower 4.9 m/s 2 Shock Resistance 19.6 m/s 2 Others Free of static electricity, strong electromagnetic fields, magnetic fields or exposure to radioactivity 7

10 2.2 MP2600iec Hardware Specifications 2.2 MP2600iec Hardware Specifications Item Specification CPU 200 MHz, 32 bit, ARM 9 Memory Operator interface User I/O Controller Side (CN13) Servo- Side (CN1) Network capability SDRAM SRAM Flash LED User Configuration Network Digital input Digital output Analog input Analog output Pulse Counter Sequence Input Sequence Output Programming standards Diagnostic and configuration interface Motion control performance Servo-Side Safety Functions Allocated* Fixed Allocated* Input Output * Allocated I/O can also be used as programmable I/O. 32 MB 512 kb with battery backup 4 MB flash. Code and parameter storage. 10 LEDs (red and green - operating mode, communication and error status) 6x DIP switch (operating mode and communication configuration) 2x 100baseTX Ethernet 8 programmable inputs 8 programmable outputs 1 ch., +/- 10V, 16 bit 1 ch., +/- 10V, 16 bit RS-422-compatible pulse counter input (quadrature, pulse and direction, and up/down counter modes) with 5, 12, and 24V position latch inputs Number of Inputs: 7 Functions: The signal allocation and positive/negative logic can be modified. Forward run prohibited (P-OT), reverse run prohibited (N-OT), forward torque limit (/P- CL), reverse torque limit (/N-CL), general-purpose input signal (/SI0 to /SI6) Servo Alarm (ALM) Number of Outputs: 3 Functions: The signal allocation and positive/negative logic can be modified. Positioning completion (/COIN), speed coincidence detection(/v-cmp), servomotor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), speed limit detection (VLT), brake (/BK), warning (/WARN), near (/NEAR) OPC (Client and Server required) Ethernet/IP Modbus/TCP IEC61131/PLCopen Web interface 1 controlled axis and one external position input at a trajectory update rate of 1 khz /HWBB1, /HWBB2: Baseblock signal for power module EDM1: Status monitor (fixed output) of built-in safety circuit 8

11 3.1 Component Model Numbers 3 Ordering Reference 3.1 Component Model Numbers SGDV R70 A E 1 A Current Voltage 100V 200V 400V Series SGDV SERVOPACK Code Applicable Servomotor Max. Capacity kw R R R R8 0.4 R70* 0.05 R90* 0.1 1R6* 0.2 2R8* 0.4 3R R5* R R R R R * These amplifiers can be powered with single or three-phase. SGDV-120A A008000, a special version of the 1.5kW amplifier can be used for single-phase operation. Option Module Code Specifications MP2600iec 1.5 Axis 300 Machine Controller Module Options (parameter) Code Specifications 0 standard Options (software) Code Specifications 00 standard Options (hardware) Code Specifications 000 Base-mounted (standard) Design Revision Order A, B Motor Type Code Specifications 1 Rotary Servomotors 5** Linear Servomotors ** Under Development Interface Options Code E Voltage Code F A D Specifications Communication Reference Specifications 100 VAC 200 VAC 400 VAC 9

12 3.2 Additional Model Numbers 3.2 Additional Model Numbers System Components Type Model Part Number Note Battery JZSP-BA01 Replacement Battery Holder Kit SGDV-OZC02A Replacement (does not include battery) Accessories/Cables CN13 (MP2600iec) Terminal Block Conversion Kit CN13 (MP2600iec) (Flying Leads) CN1 (Servo Amp) Terminal Block Conversion Kit CBK-U-MP2Bxx CFC-U-MP2Bxx SBK-U-MP2Bxx xx denotes cable length (m) A5 = = 1 03 = 3 CN1 (Servo Amp) Cable (Flying Leads) JZSP-CSI02-x-E x denotes cable length (m) A = 1 B = 2 C = 3 Communication Ethernet Cable N/A Use commonly available shielded Ethernet cable Software MotionWorks IEC Express MotionWorks IEC Pro OPC Server PDE-U-IECSx PDE-U-IECPx PDE-U-OPCPx x denotes number of software licenses A = 1 B = 5 C = 10 x denotes number of software licenses A = 1 B = 5 C = 10 D = 20 10

13 4.1 Mounting Information 4 Mounting 4.1 Mounting Information The MP2600iec controller is pre-assembled to the Sigma-5 servo amplifier by the factory. Do not disassemble the unit in the field. 11

14 4.2 Installation Standards 4.2 Installation Standards The SERVOPACK must be installed in a fully enclosed metal control panel. Observe the standards for mounting SERVOPACKs in control panels, including those for the mounting SERVOPACKs side by side in one control panel as shown in the following illustration. SERVOPACK Mounting Orientation Mount the SERVOPACK vertically to the wall, with the front panel (the side with the panel operator display) facing out. Cooling Refer to the following diagram and leave sufficient space for cooling by fans and natural convection. Mounting SERVOPACKs Side by Side in a Control Panel Fan Fan 40 mm or more 40 mm or more 30 mm or more Width varies with SERVOPACK model Leave sufficient space on each side and at the top and the bottom of each SERVOPACK. The width on each side varies in accordance with the models of the SERVOPACKs used. SERVOPACK Model SGDV- R70F, R90F, 2R1F, R70A, R90A, 1R6A, 2R8A Side Left Right 1 mm or more 2R8F, 3R8A, 5R5A, 7R6A 1 mm or more 10 mm or more 120A, 180A, 200A, 330A, 470A, 550A, 590A, 780A, 1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D, 210D, 260D, 10 mm or more 280D, 370D Top and bottom 40 mm or more Also install cooling fans above the SERVOPACKs to disperse local pockets of warmer air around the SERVOPACKs. Inside the Control Panel The conditions inside the control panel should be the same as the environmental conditions of the SERVOPACK. Refer to the environmental. conditions in 2.1 General Specifications During Operation Do not touch the connectors or IO cables during operation if the panel door is open.. 12

15 5.1 CN13 Connection Diagram 5 Inputs/Outputs 5.1 CN13 Connection Diagram CN V Analog Output V 1 AO 26 AO_GND External Device L V +15 V FG External Device Analog Input V 2 AI 27 AI_GND V V FG Encoder Interface 4 5 PA+ PA- 29 PB+ 30 PB- 6 GND 31 GND Pulse Generator Z-phase Latch Input 10 PILC(24V) 34 PILC(12V) 9 PILC(5V) 35 PIL FG Connect to pin 10, 34, or 9 based on signal level Latch Input +5V Digital Input 13 DICOM 38 DICOM 14 DI_00 39 DI_01 15 DI_02 40 DI_03 16 DI_04 41 DI_05 17 DI_06 42 DI_07 External Input Signal 21 DO_00+ L +24VDC DO_00- DO_01+ L 0V +24VDC DO_01- DO_02+ L 0V +24VDC L Load Digital Output DO_02- DO_03+ L 0V +24VDC External Fuse (installed by customer) DO_03- DO_04+ L 0V +24VDC Polyswitch Device: A self-resetting fuse if excessive current is drawn from the output DO_04- DO_05+ DO_05- DO_06+ L L 0V +24VDC 0V +24VDC DO_06- DO_07+ L 0V +24VDC 44 DO_07-0V FG Connector Shell) 7 + Battery 32 - Battery NOTE: For a more detailed circuit drawing, see section

16 5.2 CN13 Connection Description 5.2 CN13 Connection Description Numerical CN 13 Pin Code Description 1 AO Analog Output 2 AI Analog Input 3 n/c no connection 4 PA+ Encoder A phase + 5 PA- Encoder A phase - 6 GND Encoder ground 7 BAT + SRAM Positive Battery input 8 n/c no connection 9 PILC PC+ / External Encoder Latch +5V 10 PILC PC+ / External Encoder Latch +24V 11 DO_00- Digital Output 0-12 DO_02- Digital Output 2-13 DICOM Digital Input Common 14 DI_00 Digital Input 0 15 DI_02 Digital Input 2 16 DI_04 Digital Input 4 17 DI_06 Digital Input 6 18 DO_04- Digital Output 4-19 DO_06- Digital Output 6-20 n/c no connection 21 DO_00+ Digital Output DO_02+ Digital Output DO_04+ Digital Output DO_06+ Digital Output n/c no connection 26 AO_GND Analog Output Ground 27 AI_GND Analog Input Ground 28 n/c no connection 29 PB+ Encoder B phase + 30 PB- Encoder B phase - 31 GND Encoder ground 32 BAT - SRAM Negative Battery input 33 n/c no connection 34 PILC PC+ / External Encoder Latch +12V 35 PIL PC- / External Encoder Latch 36 DO_01- Digital Output 1-37 DO_03- Digital Output 3-38 DICOM Digital Input Common 39 DI_01 Digital Input 1 40 DI_03 Digital Input 3 41 DI_05 Digital Input 5 42 DI_07 Digital Input 7 43 DO_05- Digital Output 5-44 DO_07- Digital Output 7-45 n/c no connection 46 DO_01+ Digital Output DO_03+ Digital Output DO_05+ Digital Output DO_07+ Digital Output n/c no connection Alphabetical Description Code CN 13 Pin Analog Input AI 2 Analog Input Ground AI_GND 27 Analog Output AO 1 Analog Output Ground AO_GND 26 Digital Input 0 DI_00 14 Digital Input 1 DI_01 39 Digital Input 2 DI_02 15 Digital Input 3 DI_03 40 Digital Input 4 DI_04 16 Digital Input 5 DI_05 41 Digital Input 6 DI_06 17 Digital Input 7 DI_07 42 Digital Input Common DICOM 13 Digital Input Common DICOM 38 Digital Output 0 - DO_00-11 Digital Output 0 + DO_ Digital Output 1 - DO_01-36 Digital Output 1 + DO_ Digital Output 2 - DO_02-12 Digital Output 2 + DO_ Digital Output 3 - DO_03-37 Digital Output 3 + DO_ Digital Output 4 - DO_04-18 Digital Output 4 + DO_ Digital Output 5 - DO_05-43 Digital Output 5 + DO_ Digital Output 6 - DO_06-19 Digital Output 6 + DO_ Digital Output 7 - DO_07-44 Digital Output 7 + DO_ Encoder A phase - PA- 5 Encoder A phase + PA+ 4 Encoder B phase - PB- 30 Encoder B phase + PB+ 29 Encoder ground GND 6 Encoder ground GND 31 no connection n/c 3 no connection n/c 8 no connection n/c 20 no connection n/c 25 no connection n/c 28 no connection n/c 33 no connection n/c 45 no connection n/c 50 PC- / External Encoder Latch PIL 35 PC+ / External Encoder Latch+12V PILC 34 PC+ / External Encoder Latch+24V PILC 10 PC+ / External Encoder Latch +5V PILC 9 SRAM Negative Battery input BAT - 32 SRAM Positive Battery input BAT

17 5.3 External Encoder Interface 5.3 External Encoder Interface Item Number of channels Input circuit Counter modes Latch input Specification One channel (Phase A, Phase B, Index pulse, or SSI clock) Phase A & B: 5V differential input (RS-422 compatible), noninsulated. Maximum frequency 4MHz. Index pulse: 5V/12V/24V photo coupler input. Maximum frequency 500kHz. This signal is used for external encoder latch. Quadrature, pulse and direction, up/down Latch on index pulse or DI_01 digital input. Hardware latency: 5 s or less (index pulse) Two differential (RS-422 compatible) inputs are provided for encoder phases A and B, and one position latch input is provided for voltage levels: 5V, 12V, or 24V. CN13 Connector Pulse generator 4 PA+ Phase A +5V R 5 PB- PA- 0V 29 PB+ Phase B +5V R 30 6 GND 0V +5V 31 GND R 35 PIL R 9 PILC(5V) R 34 PILC(12V) R 10 PILC(24V) Encoder Input Circuit 15

18 5.4 On-Board Digital I/O Inputs 5.4 On-Board Digital I/O Inputs 8 general purpose Optically isolated 24 5 ma Entire bank is configurable as either current sinking or sourcing via connection of common Digital Input Circuit To configure all controller inputs as sinking, wire +24VDC to pins 13 and 38. To configure all controller inputs as sourcing, wire 0VDC to pins 13 and 38. Refer to diagram in Section

19 5.4.2 Outputs 5.4 On-Board Digital I/O Outputs 8 general purpose Optically isolated ma Current source or sink (connection to both emitter and collector are provided) Digital Output Circuit Connection Examples of Output Circuits Relay Circuit Example SERVOPACK 5 to 24 VDC Relay 0V Line Receiver Circuit Example SERVOPACK 5 to 12 VDC 17

20 5.5 Sigma-5 I/O Outputs 5.5 Sigma-5 I/O The Sigma-5 includes seven digital inputs and three digital outputs that can be monitored & controlled by the MP2600iec. SGDV SERVOPACK Photocoupler output Max. operating voltage: 30 VDC Max. operating current: 50 ma DC CN1 Control power supply for sequence signal *3 Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) Command option module input 3 *4 +24V 6 3.3kΩ /SI1 7 /SI2 8 /SI3 9 3 ALM+ 4 ALM- Servo alarm output (OFF for an alarm) 1 SO1+ / BK+ Brake output 2 SO1- / BK- (Brake released when ON) 23 /SO2+ 24 /SO2- General-purpose outputs 25 /SO3+ Command option module input 4 *4 Command option module input 5 *4 Command option module input 6 *4 General-purpose input 0 Backup battery *2 (2.8 to 4.5 V) /SI4 10 /SI5 11 /SI6 12 /SI0 13 BAT+ 14 BAT /SO3-17 PAO 18 /PAO 19 PBO 20 /PBO 21 PCO 22 /PCO 16 SG Encoder output pulses phase A Encoder output pulses phase B Encoder output pulses phase C Signal ground Applicable line receiver SN75ALS175 manufactured by Texas Instruments or an MC3486 equivalent * 1 18

21 5.6 Analog I/O Analog Input 5.6 Analog I/O Analog Input Item Analog input range -10V ~ +10V Number of input channels 1 Electrical isolation Absolute maximum input Input Impedance Resolution Accuracy Input filter Conversion time None ± 15V 20k 16 bit 25 C ±0.1% (± 10mV) 0 ~ 55 C ±0.3% (± 30mV) Time constant Delay time Specification =130 s (63.2% rise time) 1ms maximum (for full-range -10V to +10V slew) 50 s CN13 Connector To A/D Conversion 20K 10K 2 AI 10K 27 AI_GND GND Analog Input Circuit 19

22 5.6 Analog I/O Analog Output Analog Output Item Specification Analog output range -10V ~ +10V Number of output channels 1 Electrical isolation None Maximum load current ± 5mA Resolution 16 bit Accuracy 25 C ±0.3% (± 30mV) 0 ~ 55 C ±0.3% (± 30mV) Output delay time less than 1ms CN13 Connector +15 V V 1 26 AO AO_GND Analog Output Circuit 20

23 6.1 Switch Settings 6 DIP Switches 6.1 Switch Settings STOP SUP INT CNFG EINIT DHCP NO S11 Switch Name Setting Operating Mode Default Details 1 STOP 2 SUP 3 INIT 4 CNFG 5 E-INIT 6 DHCP ON OFF ON OFF ON OFF ON OFF ON User program stopped User program running Firmware Load Normal Operation For diagnostic purposes only For diagnostic purposes only Self-configuration Mode Normal Operation Force Ethernet address setting for Port A to and Port B to Normal Operation DHCP OFF OFF OFF OFF OFF Stops the user program execution. If set to ON, the controller boots up in the mode that can upgrade the firmare. See Section 17. Always set to OFF. Set to ON to execute self-configuration for connected devices and option card. When ON, transmission parameters such as an IP address are set to default at startup ( ). OFF ON Obtain IP settings from DHCP server OFF OFF Static IP Manual configuration of IP settings 21

24 6.1 Switch Settings 22

25 7 LED Outputs The following table shows the indicators that show the operating status of the controller and error information. RDY ALM BAT LINK A LINK B RUN ERR CTRL TRX A TRX B Indicator Color Status RDY Green Lit during normal operation. RUN Green Lit during execution of user program. ALM Red Lit when warning occurs. ERR Red Lit when malfunction occurs. CTRL Green Lit when option card is communicating to the servo amplifier. BAT Red Lit during battery alarm. TRX A Green Lit during Ethernet CN11A activity LINK A Green Lit during Ethernet CN11A link up. TRX B Green Lit during Ethernet CN11B activity LINK B Green Lit during Ethernet CN11B link up. 23

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27 8.1 Battery Installation 8 Battery 8.1 Battery Installation A 3.6V lithium battery must be used to retain SRAM data in the controller when the power is off. SRAM will last for one hour without the battery connected. The battery power can be applied through the battery connector (CN14), or through the I/O connector (CN13 pins 7[+] & 32[-]). The battery is necessary for preserving retained variables, absolute encoder offset, and real-time clock data. Option Case (snaps off unit) Metal plate for connection 1 Screw 3 Battery Holder 2 Battery 25

28 8.1 Battery Installation Battery Holder Installation Instructions: 1. Remove the plastic case from the controller by pressing the tabs at the top and bottom. 2. Insert the tab of the metal plate into the last vent slot on the bottom front of the case as shown. 3. Line up the hole in battery holder with the hole in the metal plate and secure the battery holder with the screw provided. 4. Attach the extension cable to the battery and place the battery into the battery holder with the cable facing forward. 5. Attach the plastic case to the controller. 6. Plug the battery extension cable into the battery connector (CN14). 26

29 9.1 Connectivity Information 9 Ethernet 9.1 Connectivity Information The MP2600iec supports 100MB speeds exclusively. Two separate networks are possible using both CN11A and CN11B. A default gateway can be specified only for the network attached to CN11A. 9.2 Ethernet Connector Details Ethernet Connector Specification and Pin Array The following table provides the Ethernet connector specifications. Connector Number Connector Model Name of Pins Module Side Cable Side Manufacturer Ethernet 8 RJ-45 CAT5 Socket RJ-45 CAT5 Plug Pulse Engineering The following table provides Ethernet connector pin array / indicator light details. Ethernet Pin Number Signal Name Description 1 TXD+ Transmitted data + side 2 TXD- Transmitted data side 3 RXD+ Received data + side RXD- Received data side

30 9.3 Ethernet Cable 9.3 Ethernet Cable For the Ethernet cable, use a twisted pair cable with RJ-45 connector. Yaskawa strongly recommends the use of shielded ethernet cables. Ethernet ports are capable of auto-crossover, so crossover cables are not necessary. 9.4 Ethernet Connection Examples Connection Example 1 (When using a repeater HUB) SGDV with MP2600iec Station* Station* 100Base-TX Up to 100m Up to 100m Up to 100m 100Base-TX Ethernet Switch Up to 100m 100Base-TX Ethernet Switch Up to 100m Station* Up to 100m Station* * Note: The MP2600iec can only be plugged into a 100Base-TX Ethernet port. Specification Item Cable Length between Node-HUB Cable Length between HUBs Number of HUBs between Nodes When Connecting to a Ethernet Switch 100 m or less 100 m or less Unlimited 28

31 9.4 Ethernet Connection Examples Connection Example 2 SGDV with MP2600iec 100 Base-TX (up to 100m) Note: The MP2600iec can only be plugged into a 100Base-TX Ethernet port. Caution High frequency wave noise from other devices in the installation environment may cause errors in communications. When designing a system, use protective measures to avoid the influence of high frequency wave noise as follows: 1. Wiring Wire Ethernet cables so that they are well-separated from other cable systems such as the main circuit or power lines. 2. Communication system (Ethernet) Communicate data to a remote device. Yaskawa strongly recommends shielded Ethernet cables. 3. Attach a ferrite core. This will help reduce the occurrence of electrical interference. Recommended ferrite core: Model E04SR Manufacturer Seiwa Electric Mfg. Co., Ltd 29

32 9.4 Ethernet Connection Examples Connection Example 3 SGDV with MP2600iec Station* * Note: The MP2600iec can only be plugged into a 100Base-TX Ethernet port Core 100Base-TX Core 100Base-TX Ethernet Switch Servomotor MotionWorks IEC 30

33 10.1 CBK-U-MP2B-xx 10 Cable Diagrams 10.1 CBK-U-MP2B-xx Terminal Block - Controller 31

34 10.2 CFC-U-MP2B-xx 10.2 CFC-U-MP2B-xx Flying Lead - Controller Dimensions in mm Model CFC-U-MP2B-A5 CFC-U-MP2B-01 CFC-U-MP2B-03 X =Cable Length 500 mm 1000 mm 3000 mm 32

35 10.3 SBK-U-VBA-xx 10.3 SBK-U-VBA-xx Terminal Block - Servo Amplifier 33

36 10.4 JZSP-CSI02-x-E 10.4 JZSP-CSI02-x-E Flying Lead - Servo Amplifier SERVOPACK End Connector EL (by Sumitomo 3M Ltd.) Shell A0-008 Cable (Ivory) SSRFPVV-SB AWG#28 13P UL20276 VW-1SC 3 Dia. Wire Markers L (6.3 Dia.) Dimensions in mm Model JZSP-CSI02-1-E JZSP-CSI02-2-E JZSP-CSI02-3-E Cable Length 1000 mm 2000 mm 3000 mm 34 Pin No SERVOPACK End Wire Signal Color Color /BK+ /BK ALM+ ALM +24VIN P-OT N-OT /DEC /EXT1 /EXT2 /EXT3 /SI0 BAT + BAT SG PAO /PAO PBO /PBO PCO /PCO /SO2+ /SO2 /SO3+ /SO3 Blue Blue Pink Pink Green Green Orange Orange Gray Gray Blue Blue Pink Pink Green Green Orange Orange Gray Gray Blue Blue Pink Pink Green Green Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Marking Dots Host Controller End Lead Marker Represents twisted-pair wires.

37 11 Cable Shielding, Segregation & Noise Immunity Proper a) SMC 3010 Connector Case Terminal Block Shields tied back at device Connector Case Terminal Block PROPER Shield connected across terminal block. Shields tied back at device b) Wrong Connector Case PROPER Shield tied back at terminal block. Terminal Block PROPER Shields of field cables grounded at one point Shields tied back at device a) Connector Case WRONG Shield grounded at more than one point. Terminal Block Shields tied back at device b) WRONG Shields of field cables ungrounded 35

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39 12 Firmware Upgrade It is possible to upgrade the Controller firmware in the field. For detailed instructions, please refer to Product Note PN.MCD : Upgrading the MP2 iec Controller Firmware. This document may be downloaded from our website, 37

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42 Yaskawa... A World of Automation Solutions Yaskawa Electric America, Inc. Chicago-Corporate Headquarters 2121 Norman Drive South Waukegan, Illinois YASKAWA Yaskawa Electric Europe Hauptstrasse 185, Eschborn, Germany Yaskawa Electric Corporation New Pier Takeshiba South Tower, Kaigan Minatoku, Tokyo 105 Japan Yaskawa Electric America, Inc., April, 2010 YEA-SIA-IEC-6 Printed in U.S.A.