Yaskawa MP940 Reference Manual - Manual (Page 128)

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function
4-37
3. MP930I/O Unit (IO350)
4. Absolute Encoder
When the MP940 is used as a slave node:
Connection Example
The MP940 cannot connect to the IO350 or distributed I/O if a slave node is
selected.
OWxxxx
OWxxxx+1
OWxxxx+2
OWxxxx+3
Command Data (4 words)
IWxxxx
IWxxxx+1
IWxxxx+2
IWxxxx+3
Command Data (4 words)
OWxxxx
OWxxxx+1
OWxxxx+2
OWxxxx+3
Meaningless
Response Data (4 words)
IWxxxx
IWxxxx+1
IWxxxx+2
IWxxxx+3
Response Data (4 words)
Master
Node
Slave
Nodes
Upper-Level
Controller
MP940
SGDH
MP940
SGDH
MP940
SGDH
ST#1
14 nodes
max.