Yaskawa MP940 Reference Manual - Manual (Page 126)

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function
4-35
Mechatrolink Specifications
Mechatrolink Communication Specifications
The Mechatrolink communication specifications in MP940 are shown below.
Master/Slave
The MP940 can be selected for use as a master or slave node. An axample is
given below of master/slave connection.
When the MP940 is used as a master
Connection Example
Number Item Specification
1 Transmission Path Status Bus Type
2 Transmission Path Electrical Bus
3 Baud Rate 4Mbps
4 Communication Period 1ms/2ms/4ms
5 Number of Nodes Connected 14
6 Transmission Control Format Cyclic
7 Data Conversion 1:N
8 Transmission Mode Control transmission
9 Error Control CRC check, number of expressions check, timer
MP940
SGDH
ST#1 ST#1 ST#1
14 Nodes
Max.
Master Node
Slave Node