OPEN FIELD NETWORK MECHATROLINK · OPEN FIELD NETWORK MECHATROLINK ... Commitment to International Standards / Safety Applications ... which is the fastest cycle time in the industry.
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The Beat of the MachineThe control network in a control unit is something like the central nerve in the human body, which is an important function to control the whole body.The master device in a control unit is finely connected to each distributed, internal slave device. The control network communicates the master's decision to all slaves, and conversely, all the slaves’states are reported to the master.The machine can work precisely and accurately only when the control network beats its rhythm accurately like a central nerve.
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MEC
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MECHATROLINK
Open Network1
MECHATROLINK-Ⅱ/Ⅲ Communications Specifications
The communication specification of MECHATROLINK is open to the public on a web site. All technical materials can be downloaded by a member, enabling the development of master and slave devices freely.
High Reliability2The ASIC assures synchronization of the internal system, which can realize the synchronization for the master controller. With a retry function, MECHATROLINK can detect a communication error automatically and process re-sending during the same communication cycle. In addition, new connectors and cables for industrial use, which have strong resistance to noise and vibration, are adopted.
Low Cost3For developers, all software such as ASIC's access drivers and sample applications, which are required for development, and standard circuit diagrams can be downloaded from the web site without any charge.For product users, MECHATROLINK offers a wire-saving system that is suitable for integration between the motion network and IO network, contributing to reduce system cost.
Easy development4Communication is realized by mounting ASICs to both master and slave devices.Communication processes can be easily embedded into the product, compared to a master device that implements all communication process by building software. Also, various tools required for development are available, which enables shortening the development time.
Various MECHATROLINK-Supported Products5Various companies sell the products supporting MECHATROLINK. These products from the world-leading manu-facturers can be assembled to build a system.
Network from Japan6MECHATROLINK is a network born in Japan. Japanese sophisticated technology and high reliability provides an environment that can be used without any concern.
Physical Layer Ethernet
Baud Rate 100Mbps
Transmission Cycle Time 31.25μsec~64msec
Data Size 8/16/32/48/64 bytes(Different data sizes can be used as the same time)
Number of Slaves 62 max.
Maximum Transmission Distance 100 m between stations
Minimum Distance between Stations 20cm
Topology Cascade, star
Cyclic/Event-driven Communications Cyclic and event-driven communications supported.
Message Communications Available
Multi-slave Function
MECHATROLINK-Ⅱ
10Mbps
250μsec~8msec17 bytes or 32 bytes
(Both data sizes cannot be used at the same time)
30 max.
50 m total (100 m with Repeater)
50cm
Bus
Cyclic communications possible
None
None Available
Function Specification
MECHATROLINK offers two network generations; MECHATROLINK-Ⅱ, which is for a standard type network and MECHATROLINK-Ⅲ, which can fully support high-speed and high-performance usage. This allows responding to various needs from such as manufacturing machines and production equipment.MECHATROLINK-Ⅱ is a bus connection network supporting communication cycles of 250 μsec to 8 msec and allowing to connect up to 30 nodes. Now many master and slave products are released from manufacturers, enabling a wide variety of product choices.MECHATROLINK-Ⅲ adopts Ethernet as the physical layer and supports a wide range of communication cycles from 31.25 μsec to 64 msec, which is the fastest cycle time in the industry. It is also capable of supporting up to 62 nodes and flexible topologies such as a cascade or star.
MECHATROLINK is positioned as a Field Network. A Field Network is a network that drives control elements of control system such as I/Os and actuators, and allows devices for input control information to be connected.
Field network
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MECHATROLINK is an open field network that connects a controller with a variety of devices. High-speed communications and data synchronization are provided to increase system speed and provide advanced functionality. Moreover, MECHA-TROLINK uses simple cable connections to reduce wiring, downsize the system, and enable easy system expansion.Because MECHATROLINK is an open network, there are many different MECHATROLINK compatible devices available on the market that can be flexibly combined to suit your application. Furthermore, you can freely develop your own master and slave devices for MECHATROLINK .Using MECHATROLINK is highly recommended to quickly achieve a variety of mechanical operations simply and at a low cost.
Positioning of MECHATROLINK
MECHATROLINK
Standard MECHATROLINK-Ⅱ and High-Speed MECHATROLINK-Ⅲ
・The cable can be extended to up to 100 m by using a repeater.
1. Keep the network cable lengths on both sides to a maximum of 30 m if 30 stations are connected.2. A repeater must be used in the following cases as well.・・
If 16 slave stations are used in a network that is more than 30 meters long. If more than 17 slave stations are used.
Cmd1 Rsp3Rsp2Rsp1 Cmd3Cmd2
Master
Servo Servo Servo
43Hex
43Hex
42Hex
42Hex
Station address 41Hex
41Hex
Sync SyncCmd1
Rsp1
Cmd2
Rsp2
Cmd3
Rsp3
Cyclic communicationTransmission cycle time
Retrycommunication
Network cable lengthon the master side : 50m max
Network cable lengthon the extension side : 50m max
Master
SlaveNo.14
SlaveNo.30
SlaveNo.1
SlaveNo.15 Repeater
Commands for MECHATROLINK-Ⅱ consist of commands for servo drives, stepping motor drives, inverter, and I/O.Commands are categorized into main commands and sub com-mands and these can be sent to slaves as a single packet. That is, two commands can be sent to slave devices at the same time.For example, it is possible to change gain parameters while sending a move command, contributing to reduce cycle time.
Note :1) This data in this table also serves as the
communication specifications for MECHATROLINK-Ⅱ.Some master devices may support fewer slaves than are listed here.
2) No retries or C2 master devices
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MECHATROLINK-Ⅱ is an open field network that connects up to 30 slave stations in perfect synchronization.Although MECHATROLINK-Ⅱ is specialized for motion control, it also provides remote I/O signals across to the same network.
Maximum Number of Slaves
MECHATROLINK-ⅡHardware
MECHATROLINK-ⅡSoftware
MECHATROLINK-Ⅱ Features・・・・
MECHATROLINK-Ⅱ
Temperaturecontroller
Maximum is 30 slaves
Servo drives I/Odevices
master controller
Setup tool
10Mbps
MECHATROLINK-Ⅱ System configuration
・・
High-speed communications at a baud rate of 10 Mbps and a minimum transmission cycle time of 250 μsec.The transmission cycle time can be set to the optimum value between 250 μsec and 8 msec according to the number of stations connected and amount of data transmitted.Perform high-reliability communications using a cyclic redundancy check (CRC) and other features in a communications ASIC.Assures high-reliability communications with each command from the master implemented alternately with a response from the corresponding slave.
Connects up to 30 slave stations to a single C1 master station.Support Tools can be connected as C2 master stations.
Bus connectionBus connectionConnects each device in parallel
Connect a terminator ateach end of the network.
C2 MasterC1 Master
Main command
Byte1
Byte16Byte17
Byte31
Sub command
MECHATROLINK-Ⅱ can transmit 17 or 32 bytes of data per slave. The following table shows the maximum number of slaves to be connected in accordance with data size and transmission cycle.
Com
mand
Possible to send a move command and a command to change parameters at the same time
ME
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ATR
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K-Ⅱ
MECHATROLINK-ⅡConnector
MECHATROLINK-ⅡTerminator
Master & Slave JL-080B(5V)Master only JL-098(3.3V)
20mm□
Slave onlyJL-052C(3.3V)
14mm□
The black squarerepresents a terminator
Stepping motor drivers
Three types of MECHATROLINK-Ⅱ communications ASICs are available, including a master ASIC, a master/slave ASIC, and a slave ASIC. The slave ASIC is compact and inexpensive, and ensures easy slave development.
A MECHATROLINK connector is similar to a USB connector with a locking mechanism that locks into the port.It can be easily and securely connected.
Master
Slave
MECHATROLINK-Ⅱ
MEC
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MECHATROLINK-ⅢMECHATROLINK-ⅢMECHATROLINK hub
Ethernet
Ethernet
Temperaturecontroller
Servo drive Inverter Steppingmotor drive
Slave controllerI/O
C2 Master
Master controller Master controller
Setup tool HMI
Maximum of 100 mbetween stations
Maximum of 62 slave stations
48bytecommunications
64bytecommunications
32bytecommunications
16bytecommunications
MasterMaster
One ASIC for communications between multiple slaves
MECHATROLINK
100Mbps
Master
Cascade connection(*1) (*2)Star connection
HUB
Replace Add AddRemove
48-byteServo
64-byteMulti-axis servo
32-byteStepping motor
16-byteI/O deviceSlave
No.1SlaveNo.2
SlaveNo.3
SlaveNo.62
Master & Slave JL-101 LQFP 20mm□
Master & SlaveJL-100 FBGA
Slave only JL-102 FBGA 12mm□
Slave only JL-103 LQFP 14mm□ Connector with
FA Specification RJ-45Industrial Mini I/O
ConnectorsMECHATROLINK-Ⅲ Cable
multi SlaveMaster
ASIC
MECHATROLINK-Ⅲ achieves high-speed communications at a baud rate of 100 Mbps by applying Ethernet technology to the physical layer.Furthermore, MECHATROLINK-Ⅲ controls 62 slaves in perfect synchronization using ASICs while achieving the high-speed cyclic communications required for motion control and high-capacity message communications.
Ultra high-speed communications at a baud rate of 100 Mbps and a minimum transmission cycle of 31.25 μsec.Connects up to 62 slave stations.Supports large- and small-scale systems with a maximum node-to-node distance of 100 m and a minimum station-to-station distance of 20 cm.
Allows combining the use of different data sizes (8, 16, 32, 48, and 64 bytes), making it possible to select the optimum size for each device.
The maximum number of slaves connected to MECHATROLINK-Ⅲ is determined by the transmission cycle time and data size.
A number of MECHATROLINK command sets are available for the application layer for different profile types.
The command set for the standard servo profile of MECHATROLINK-Ⅲ has been improved with the addition of new functions. For example, a new positioning command makes it possible to specify the acceleration/deceleration and torque limit at the same time.
MECHATROLINK-Ⅲcommunications ASICs are available. Commercially available parts are also specified or recom-mended for other components, and standard circuits are available so that you can design your own devices.
Two types of connectors are available for MECHATROLINK-Ⅲ
SlaveSlave
Slave Slave
Slave Slave Slave Slave
Slave Slave
31.2562.5125250500
10002000300040005000600070008000
16byte126
11193149626262626262
32byte126
11193149626262626262
48byte025
10182947616262626262
64byte0249
172845596262626262
TransmissionCycle Time
(μsec)
Number of Slaves
Note:1. The data in the left table is cascading connections
from the master product with two port, and each cable length is 0.2m.
2. Refer to individual product specifications for specific product information.
ME
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K-Ⅲ
MECHATROLINK-Ⅲ Features
MECHATROLINK-Ⅲ System Configurations
Maximum Number of Slaves
MECHATROLINK-Ⅲ Hardware
MECHATROLINK-Ⅲ Software
MECHATROLINK-III supports a variety of system configurations through cascade connections or star connections using a hub.
■
■
RJ-45 with FA SpecificationThe user assembles the RJ-45 with Cat5eSTP cable.Industrial Mini ConnectorsAssembled models available.
・・
Connects up to 62 slave stations to a single C1 master station.Support Tools can be connected as C2 master stations.
Note :*1) Cascade connection
A slave device can be easily connected to the master without using a hub.
*2) Star connectionDevices connected to a hub can be plugged or unplugged without shutting down the system.The number of nodes that can be connected per unit time is larger than that with a cascade connection.
・
・
Replace or add slaves while the machine is running. ・Use the multi-slave function to control multiple slaves with a single communication ASIC.
・・
A C1 master or C2 master can communicate with slaves by using message communications.Slaves can monitor the cyclic communications data of other slaves.
Different data sizescan be used.
Add slaves or replace/remove devices without system interruption
TOKYO ELECTRON DEVICE LIMITED YASKAWA CONTROLS Co., Ltd.
YASKAWA ELECTRIC CORPORATION
YASKAWA ELECTRIC CORPORATION
Development Parts
Sky Link Corporation YASKAWA INFORMATION SYSTEMS Corporation
Development Tools
A rich array of support tools that assist the development of MECHATROLINK-Ⅱ/Ⅲ compliant products is available. MECHATROLINK is a network technology ranked by international standards and can be used without any concern since the standards are certified globally.
International Standards (SEMI Standard, IEC Standard)
Commitment to International Standards
Commitment to Safety
MECHATROLINK Safety Protocols obtained the concept authorization!The Safety Technology group in the MECHATROLINK Members Association have conducted an activity to assemble the specifications of the MECHATROLINK Safety Protocols as communication protocols compliant to MECHATROLINK's Safety regulation.
Under MECHATROLINK Safety, communication between a MECHATROLINK-supported Standard Master and Standard Slaves and communication between a Safety Master and Safety Slaves are in the same network.
For this reason, the safety system can be established by just adding a Safety Master (such as a Safety PLC) and Safety Slaves(such as Safety I/Os) to the legacy system. Standard MECHATROLINK cables still can be used to connect MECHATROLINK Safety-supported devices, not cables dedicated to MECHATROLINK Safety.
・MECHATROLINK is a SEMI E54.19 Standard. It is much easier to implement on semiconductor/liquid crystal-related devices. MECHATROLINK was certified for E54.19 (sensor/actuator network) on March 2007.
・We are driving an activity to have MECHATROLINK certified by IEC International Standards. MECHATROLINK will become a world standard as an open field network.Compatible standard: IEC61158 field network protocol and service IEC61784 field network profile Acquired IEC International Standards in August 2014.
87215-95121-S0103An RS-232C port is requiredon the PC.
SK01-M3
* The source code for the ASIC driver software can be downloaded from the MMA website.
Can be used as a C1 master for MECHATROLINK-Ⅱslave development
Can be used as a C1 master for MECHATROLINK-Ⅲslave development
Enables online monitoring of communications status.The trace and trigger functions are provided.The Windows-based software for the Network Analyzer must be installed on the PC.
MECHATROLINK-ⅡSample Kits
For master, For slave(Supported for Spartan-6 LX or LXT FPGA.) (Includes CD-ROM.)
JAPMC-NT110(PCI)
JAPMC-NT112(PCI)
JEPMC-OPM2SK-1-E for JL-080JEPMC-OPM2SK-2-E for JL-052JEPMC-OPM2SK-3-E for JL-098
JEPMC-OPM3SK-1-E for JL-100JEPMC-OPM3SK-2-E for JL-101JEPMC-OPM3SK-3-E for JL-102JEPMC-OPM3SK-4-E for JL-103
Place icons in position and connect them with lines to easily design a system and then automatically calculate the transmission cycle.
MECHATROLINK-ⅢSample application
Includes a sample application in C-language source code as a support tool for software development.
MECHATROLINK-Ⅱ/Ⅲ Support tools
MEC
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Velocity control Position control Torque control positioncontrol
Changes accel rate during acceleration or deceleration
Switches to position controlduring velocity control
Switches to position controlduring torque control
Switches to torque controlduring position control
v
t
Velocity
Time
Etching
Ejection molding
Washing
Bonding
Molding
Mounting machine
Tester
Extraction robot
Liquid crystal glass processing
Press brake
Machine tool
Probing
Application Examples●
●
Injection molding machines : Velocity control → Torque control
Packing machines : Position control or Velocity control→ Velocity control
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MECHATROLINK has been used in diverse applications, such as those for machine tools, industrial robots, machines for mount-ing electronic parts and machines for transferring. It is especially suitable for synchronous and interpolated motion control.MECHATROLINK enables control of torque, positioning, and velocity – all of which are necessary to control your machine. Also, the control modes for velocity, torque, and position can be switched while the machine is running, so you can perfectly control the machine's complex motions.
Food packaging is a machine to pack productsthat flow on conveyor.
Food packaging
Temperaturecontrol
IO
Film axis
Servodrive
Packaging axis
Servodrive
Cutter axis
Servodrive
Supply axis
Inverter
HMI PC
Generic controllerMECHATROLINK commands are used ascommands to servos. The same line is usedfor temperature control and IO control.
Stick chips from a semiconductor waferand mount to IC circuit boards.
Bonding
〈Challenges solved〉
Food packaging
Servodrive
Servodrive
Servodrive
More than 10 axes
IO
Camera
・・・Image controller
HMI PC
Generic controller
①Alignment positioning information②Alignment collection information
Stepping drives
・
・・・
High speed process of alignment informationfrom image controllerImprovement of cycle timeCost down by one saving wireMixture of servo drives and stepping drives
【Online Switching Control Mode】
Application
MECHATROLINK Applications
MEC
HA
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〈Challenges solved〉・・・・
・・
Simplified wiringFrom dedicated controller to generic controllerHigh-speed field network MECHATROLINKRealized synchronization controlled by feedbackfrom supply axis via networkTemperature control and IO control are on the same lineWith options, it becomes easy to change system configuration.
Application 1
Application 2
408 MEC
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embers A
ssociation
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MECHATROLINK Members Association
The MECHATROLINK Members Association (MMA) is a group of MECHATROLINK product developers and users who promote the use of MECHATROLINK throughout the world. MMA has established four branches in the major markets overseas to support the construction and promotion of a larger MECHATROLINK family.
The following flowchart illustrates how to join the MECHATROLINK Members Association (MMA) and how MMA works with members to develop and release MECHATROLINK-compliant products.
The certification test guarantees your MECHATROLINK product to be compliant with MECHATROLINK specifications. The purpose of the certification test is to confirm conformance and interoperability on each product of multiple manufacturers. The certified product is allowed to use the MECHATROLINK logo for indication that it is a MECHATROLINK-compliant product.
A certification test is performed using limited MECHATROLINK specifications, which are defined by the specification of the product being tested. The original characteristics of the product such as the functions, performances, reliability, etc. are not subject to examination in the certification test. Each manufacturer must guarantee these characteristics themselves. In addition, the product conformance to the MECHATROLINK specifications is only applicable to the version of the hardware and software of the product when the test is performed. A general rule is that when the product version changes, another certification test is necessary.
The certification test includes the following items.・ Verification of MECHATROLINK communications circuit and components・ Noise resistance・ MECHATROLINK communication compliance・ Interconnectability
The MECHATROLINK logo for certification indicates that a product meets MECHATROLINK specifications. Any product that displays this logo can be safely used. MECHATROLINK products that have passed our certification test will be allowed to display this logo.
Certification TestLimitations
Certification TestDetails
MECHATROLINK Logo for Certification
MECHATROLINK Certification Test
From the MMA Membership Application to product Release
・・
・・
Discuss and determine policy and activitiesDiscuss and determine management policy andorganizationDiscuss and determine technical specificationsAudit and approve management costs
・・・
Chairman
Organization
MMA Executive Committee
Sub committee
MMA Members
Marketing sub committee
・・
Safety protocol developedDocumentation
Safety sub committee
・・
Promotion activitiesDevelopment promotion
PC tech sub committee
Product release
Production
MMA members MMA
TechnicalDocuments
Development
Sales
Web application or E-mai
Official notification of registration (by E-mail)
(Approx. 1 week)
Application for compliance / certification
Answers (by E-mail)
Technical question (by E-mail)
MembershipApplication
Compliance/certification testing
Mass production
Answer all inquiries・ Development, design, evaluation・ Production of prototype before production
Registration of MMA membership
Download from member's website・Technical documents・Requirements for compliance and certification
Submit completedMMA application form
Certification test sites are following 2 places.・ MMA Japan・ MMA China Shenyang
Applications for the certification test must be sent to the MMA secretariat.
Certification TestOrganization
MMA Secretariat(General secretary, Staff in charge of technical activities and public relations)
MMA Global・MMA Germany ・MMA US ・MMA Korea・MMA China ・MMA Taiwan ・MMA India
Promotion activities Event planningPreparation of leaflets and other promotionalmaterial
・・・
Creates and archives specificationSettles technical problemsPrepares and distributes technical documents
〈Technical Activities〉
・・
Distributes information in E-mail and internetDistributes catalog
〈User Support〉
・・・・・
・・
Provides support for presentation of products at exhibitionsPlans and manages seminarsDistributes information in E-mail and internetCreates and distributes catalogsSupports development of MECHATROLINK products byMMA membersOffers testing for compliance and certificationRegisters new members and collects annual fees
You can obtain MECHATROLINK specifications from the Members Association's web site.You can obtain technical support for all the processes including product development.You can participate in PR activities for MECHATROLINK-compliant products.You can participate in exhibitions in collaboration with MMA.You can take certification exams of MECHATROLINK-Supported products.You will be able to purchase the MECHATROLINK connector kit and make your own cable.You can participate in MMA general meetings and development seminars.You will be sent the E-mail magazine with the latest MECHATROLINK information.
Type of Members
Annual fee (April to March)
Annual fee (October to March)
Direct mails from the Association
Seminars
Product presentation at seminar
Technical inquiries (by e-mail or telephone)
Development support for vendors
Participation in committeeand general meetings
Serv
ices
Rig
hts
ofM
embe
rs
Participation in formulation of specifications
BoardMembers
Free
Free
Charged
Free
Free (charged for some cases)
Not authorized
Not authorized
ExecutiveMembers
RegularMembers
UserMembers
RegisteredMembers
500,000 yen
Free
Authorized to participatethe subcommittee and general meeting
Authorized to participate the executive committee,
subcommittee, and general meeting
200,000 yen 100,000 yen 20,000 yen
20,000 yen
50,000 yen 100,000 yen
Authorized
200,000 yen
Authorized
Authorized
Not authorized
Free
Free
AuthorizedNot authorized
(Possible to receive the information on experimental specifications. )
Not authorized (Possible to read
the formulated specifications.)
1/2 of the above annual fee
Not authorized
Not authorized
The MMA website provides the following information.
・・
・
・・
About MECHATROLINKGuide to the MECHATROLINK Members Association(Download the membership agreement and application form.)Members list(Includes only members who have given their permission.)MECHATROLINK compliant productsContract manufacturers
・・
・
・・
News & EventsTechnical information (Download the latest technical documents.)Compliance/Certification testing (Download the application form and test specifications.)MECHATROLINK Products of MMA Members BrochureQ & A
MECHATROLINK MEMBERS ASSOCIATIONURL : http://www.mechatrolink.org/
URL : http://www.mechatrolink.org/
2121 Norman Drive South; Waukegan, IL 60085; U.S.A.Tel : +1-847-887-7231 / e-mail : [email protected]
A MECHATROLINK products brochure can be downloaded from the MMA website.
【MECHATROLINK Members Association Website】
【MECHATROLINK Products of MMA Members Brochure】
The MECHATROLINK Members Association conducts various PR activities.
The activities of the MECHATROLINK Members Association
MECHATROLINK Members Association has six overseas branches and these are launching technical support that is conscious to local needs. Each branch positively works on promotions such as attending exhibitions, holding seminars, distributing mail maga-zines and news. Customers can adopt MECHATROLINK with confidence due to the global activities by the MECHATROLINK Members Association.
Global support
Mem
bership privileges
Benefits of joining MECHATROLINK membership are:
*Members ID and password are required for downloading each material.
Downloading the technical documents from the website
Introduction of products on the Association's website
Advertisement on the Association's website
Compliance certification test
Development of products
Sale of products
Free
Free Not authorized
Not authorized
Not authorized
Not authorized
RS2013 (China)MMA General Meeting (Japan)
SEMICON Singapore2014 (Singapore)
Taipei International Automation TechnologyExhibition 2013 (Taiwan)