Yaskawa MP940 Reference Manual - Manual (Page 127)

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual
4-36
Connectable Slave Functions
The slave functions that can be connected to an MP940 selected by a master
are shown in the table below.
Note SCAN is set in the Mechatrolink definition parameter
setting window.
This function is used only as a simple I/O supported by the MP940
Mechatrolink. Mechatrolink servos and 216IF inverters cannot be
connected.
Control Data Structure
The data structure used in data transmission with each of the slave nodes is
shown below:
1. RIO-01
2. MP940
Device Name TYPE
SIZE
(Word)
SCAN
CP-816 remote I/O (RIO-01) RIO-01 1 L/H
MP940 MP940 8 L/H
Absolute Encoder ABS-CODER 4 L/H
MP930 I/O Unit JEPMC-IO3008 4 L/H
OWxxxx
Command Data (1 word)
IWxxxx
Command Data (1 word)
OWxxxx
OWxxxx+1
OWxxxx+2
OWxxxx+3
OWxxxx+4
OWxxxx+5
OWxxxx+6
OWxxxx+7
Command Data (8 words)
IWxxxx
IWxxxx+1
IWxxxx+2
IWxxxx+3
IWxxxx+4
IWxxxx+5
IWxxxx+6
IWxxxx+7
Command Data (8 words)