YASKAWA MP3200iec User manual

Type
User manual
MotionWorks IEC
PLCopenPlus Function Blocks for
Motion Control - 2013-04-12
iii
Table Of Contents
Overview .................................................................................... 1
Introduction ............................................................................. 1
The State Diagram .................................................................... 3
Error Handling .......................................................................... 6
Function block interface ............................................................. 8
Data Types ................................................................................ 29
Data Types ............................................................................. 29
Data Type: AXIS_REF ............................................................... 30
Data Type: CONTINUOUS_REF .................................................. 32
Data Type: INPUT_REF ............................................................. 34
Data Type: OUTPUT_REF .......................................................... 36
Data Type: PATTERN_REF ......................................................... 38
Data Type: PrmStruct .............................................................. 39
Data Type: RTC_STRUCT .......................................................... 40
Data Type: TRIGGER_REF ......................................................... 41
Data Type: Y_DISENGAGE_DATA ............................................... 43
Data Type: Y_ENGAGE_DATA .................................................... 44
Data Type: Y_MS_CAM_STRUCT ................................................ 45
iv
Enumerated Types ...................................................................... 47
Function Block List ...................................................................... 49
Function Block List ................................................................... 49
Function Blocks for Motion Control ................................................ 61
MC_AbortTrigger ..................................................................... 61
MC_FinishHoming .................................................................... 65
MC_GearIn ............................................................................. 68
MC_GearInPos ......................................................................... 74
MC_GearOut ........................................................................... 83
MC_MoveAbsolute .................................................................... 86
MC_MoveRelative..................................................................... 92
MC_MoveSuperImposed ........................................................... 97
MC_MoveVelocity ................................................................... 109
MC_Power ............................................................................. 114
MC_ReadActualPosition ........................................................... 121
MC_ReadActualTorque ............................................................ 123
MC_ReadActualVelocity .......................................................... 126
MC_ReadAxisError ................................................................. 128
MC_ReadBoolParameter.......................................................... 132
v
MC_ReadParameter ................................................................ 135
MC_ReadStatus ..................................................................... 138
MC_Reset ............................................................................. 142
MC_SetPosition...................................................................... 146
MC_StepLimitSwitch ............................................................... 150
MC_StepRefPulse ................................................................... 155
MC_Stop ............................................................................... 160
MC_TorqueControl ................................................................. 165
MC_TouchProbe ..................................................................... 176
MC_WriteBoolParameter ......................................................... 185
MC_WriteParameter ............................................................... 188
Y_CamFileSelect .................................................................... 191
Y_CamIn .............................................................................. 197
Y_CamOut ............................................................................ 210
Y_CamScale .......................................................................... 215
Y_CamShift ........................................................................... 220
Y_CamStructSelect ................................................................ 227
Y_ClearAlarms ....................................................................... 231
Y_DirectControl ..................................................................... 233
vi
Y_HoldPosition ...................................................................... 239
Y_ProbeContinuous ................................................................ 242
Y_ReadAlarm ........................................................................ 248
Y_ReadCamTable ................................................................... 250
Y_ReadDriveParameter ........................................................... 254
Y_ReadMultipleParameters ...................................................... 258
Y_ReadStringParameter .......................................................... 261
Y_RebootController ................................................................ 264
Y_ReleaseCamTable ............................................................... 266
Y_ResetAbsoluteEncoder ......................................................... 268
Y_ResetMechatrolink .............................................................. 273
Y_SetRTC ............................................................................. 276
Y_SlaveOffset ........................................................................ 278
Y_VerifyParameters ................................................................ 285
Y_WriteCamTable .................................................................. 290
Y_WriteDriveParameter .......................................................... 293
Y_WriteParameters ................................................................ 297
Controller AlarmID List .............................................................. 301
Function Block ErrorID List ........................................................ 333
vii
Axis Parameter List ................................................................... 341
High Speed Output ................................................................... 349
Timing Diagram ........................................................................ 350
Camming ................................................................................. 353
Camming Introduction ............................................................ 353
CamState ............................................................................. 353
Cam Masters ......................................................................... 355
Master Cycle ......................................................................... 355
Camming Function Blocks ....................................................... 356
Creating a Cam Table ............................................................. 357
Externally Created Cam Data .................................................. 358
Transferring Cam Files to an MPiec Controller ............................ 359
User File Storage ................................................................... 362
Configuring FileName Input for Y_CamFileSelect ........................ 363
Internally Created Cam Data ................................................... 365
Cam Table Types ................................................................... 367
On-The-Fly Adjustments ......................................................... 368
Camming Block Diagram ......................................................... 369
Engage / Disengage Window ................................................... 370
viii
Cam Transitions Matrix ........................................................... 371
Motion Details .......................................................................... 375
Acceleration/Deceleration Limits .............................................. 375
Position Limits ....................................................................... 377
Velocity Limits ....................................................................... 379
Moving Average Filter (S-Curve) .............................................. 380
Determining When Motion is Complete ..................................... 383
External Encoder Block Diagram .............................................. 385
Commanded Position Output ................................................... 386
Command Filtering (MPiec with MECHATROLINK interface) .......... 387
Command Filtering (MP2600iec - Dual Port RAM interface) .......... 388
PLCopenPlus Function Blocks for Motion Control 2013-04-13 1
Overview
This document contains instructions for using the PLCopenPlus and
YMotion firmware library function blocks integrated in the MPiec Series
Controllers.
Introduction
This manual is adopted from the PLCopen for motion control specification
at www.plcopen.org, and includes additional information for functionality
with Yaskawa and other components.
Each function block is listed in alphabetical order, and is also linked to the
feature or function from the software environment. A comprehensive list
of axis parameters and error codes is at the back of the manual. A subset
of specific errors that each function block may generate is included under
each function block description.
The other main concepts covered in this manual are the Motion State
Diagram, and documentation concerning the Data Types supplied with the
PLCopenPlus Firmware Library.
The Firmware Library is the set of all PLCopen function blocks, plus
Yaskawa specific functions. The firmware library is called PLCopen Plus,
and is automatically loaded when a new project is created.
Model
The PLCopenPlus Function Block (FB) library is designed for the purpose of
controlling axes via the language elements consistent with those defined in
the IEC 61131-3 standard. It provides a set of command oriented function
PLCopenPlus Function Blocks for Motion Control 2013-04-13 2
blocks that have a reference to the axis, e.g. the abstract data type ‘Axis’,
which offers flexibility, ease of use and reusability.
PLCopenPlus Function Blocks for Motion Control 2013-04-13 3
The State Diagram
The state diagram shown defines the behavior of the axis at a high level
when motion control function blocks are "simultaneously" activated. This
combination of motion profiles is useful in building a more complicated
profile or to treat exceptions within a program.
The basic rule is that motion commands are always taken sequentially.
These commands act on the axis' state diagram. The axis is always in one
of the following defined states:
Standstill (no movement)
Homing (movement to reference position)
Discrete Motion (movement towards target position)
Continuous Motion (jogging)
Synchronized Motion (synchronized movement of master and slave)
Stopping (axis is stopped)
ErrorStop (axis error occurred)
Any motion command is a transition that changes the state of the axis and,
as a consequence, modifies the way the current motion is computed. A
normal procedure would start in Standstill. In this state, the power can be
switched on per axis (via the Power command). Also, one can access the
Homing state (via the issue of the Home command per axis), which after
normal completion returns to Standstill. From here, one can transfer an
axis to either Discrete Motion or Continuous Motion. Via the Stopping state,
one can return to Standstill. ErrorStop is a state to which the axis
transfers in case of an error. Via a Reset command, one can return to
Standstill, from which the machine can be moved to an operational state
again. Please note that the states define the functionality of the Function
Blocks.
PLCopenPlus Function Blocks for Motion Control 2013-04-13 4
The diagram is focused on the states of a single axis. The multiple axis
function blocks such as MC_CamIn and MC_GearIn change the state
whereas these axis can have specific states.
Connecting a slave axis to a master axis has no influence on the master
axis.
PLCopenPlus Function Blocks for Motion Control 2013-04-13 5
PLCopenPlus Function Blocks for Motion Control 2013-04-13 6
Error Handling
All access to the drive/motion control is via Function Blocks. Internally
these Function Blocks provide basic error checking on the input data.
If the device itself has an error, it can be read using the MC_ReadAxisError
block.
PLCopenPlus Function Blocks for Motion Control 2013-04-13 7
PLCopenPlus Function Blocks for Motion Control 2013-04-13 8
Function block interface
General rules
The following table provides general rules about the interface of the Motion
Control function blocks.
Rule applies to
Rule
Output exclusivity
When 'Execute' is true, the outputs ‘Busy’,
‘Done’, ‘Error’, and ‘CommandAborted’ are
mutually exclusive.
Output status
The 'Done', 'InGear', 'InSync', 'InVelocity',
'Error', 'ErrorID' and 'CommandAborted' outputs
are reset with the falling edge of
'Execute'. However, the falling edge of 'Execute'
does not stop or even influence the execution of
the actual FB. The corresponding outputs are
set for at least one cycle if the situation occurs,
even if execute was reset before the FB
completed. If an instance of a FB receives a
new 'Execute' before it finishes (as a series of
commands on the same instance), the FB won’t
return any feedback, like ‘Done’ or
‘CommandAborted’, for the previous action.
Input parameters The parameters are read at the rising edge of
the 'Execute' input. To modify any parameter, it
is necessary to change the input parameter(s)
and trigger the 'Execute' again.
Missing input
parameters
According to IEC 61131-3, if any parameter of a
function block input is missing (“open”) then the
PLCopenPlus Function Blocks for Motion Control 2013-04-13 9
value from the previous invocation of this
instance will be used. In the first invocation the
default value is applied.
Position versus
distance
'Position' is a value defined within a coordinate
system. 'Distance' is a relative measure, the
difference between two positions.
Sign rules
The 'Velocity', 'Acceleration', 'Deceleration' and
'Jerk' are always positive values. 'Position' and
'Distance' can be positive or negative.
Error Handling
Behavior
All blocks have two outputs, which deal with
errors that can occur while executing that
Function Block. These outputs are defined as
follow:
Error: Rising edge of 'Error' indicates that an
error occurred during the execution of the
Function Block.
ErrorID: Error number - see the Error Code List
at the end of the manual.
'Done', 'InVelocity', 'InGear', and 'InSync'
indicate successful completion, so these signals
are logically exclusive to “Error”.
Types of errors:
• Function Block Error (e.g. parameters out of
range, state machine violation attempted)
• Communication Error
• Amplifier/Axis Error
Instance errors do not always result in an axis
error (forcing the axis to 'StandStill'). The error
outputs of the relevant FB are reset with falling
PLCopenPlus Function Blocks for Motion Control 2013-04-13 10
edge of 'Execute'.
Behavior of Done
output
The “Done” output (as well as 'InGear',
'InSync', ..) is set when the commanded action
has been completed successfully. With multiple
Function Blocks working on the same axis in a
sequence, the following applies:
When one movement on an axis is interrupted
with another movement on the same axis
without having reached the final goal, 'Done' of
the first FB will not be set.
Behavior of
CommandAborted
output
'CommandAborted' is set when a commanded
motion is interrupted by another motion
command. The reset-behavior of
'CommandAborted' is like that of 'Done'. When
'CommandAborted' occurs, the other output-
signals such as 'InVelocity' are reset.
Inputs exceeding
application limits
If a FB is commanded with parameters which
result in a violation of application limits, the
instance of the FB generates an error. The
consequences of this error for the axis are
application specific and thus should be handled
by the application program.
Behavior of Busy
output
'Busy' output indicates that the FB is not
finished. 'Busy' is SET at the rising edge of
'Execute' and RESET when one of the outputs
'Done', 'Aborted', or 'Error' is set. It is
recommended that this FB should be kept in the
active loop of the application program for at
least as long as ‘Busy’ is true, because the
PLCopenPlus Function Blocks for Motion Control 2013-04-13 11
outputs may still change. For one axis, several
Function Blocks might be busy, but only one can
be active at a time. Exceptions are
'MC_SuperImposed' and 'MC_Phasing', where
more than one FB related to one axis can be
active.
Output ‘Active
The 'Active' output is available on Function
Blocks with buffering capabilities. This output is
set at the moment the function block takes
control of the axis. For unbuffered mode the
outputs “Active” and “Busy” can have the same
value.
Enable and Valid
Status
The 'Enable' input is coupled to a 'Valid' output.
'Enable' is level sensitive, and 'Valid' shows that
a valid set of outputs is available at the FB. The
'Valid' output is TRUE as long as a valid output
value is available and the 'Enable' input is
TRUE. The relevant output values are refreshed
while the input 'Enable' is TRUE. If there is a FB
error, the output is not valid (“Valid” set to
FALSE). When the error condition disappears,
the values will reappear and 'Valid' output will
be set again.
PLCopenPlus Function Blocks for Motion Control 2013-04-13 12
The behavior of the “Execute” / “Done” style FBs is as follows:
Why the command input is edge sensitive
The “Execute” input always triggers the function with its rising edge. New
input values may be commanded during execution of a previous command
because the inputs are only read once. The 'Done' output can be used to
trigger the next part of the movement. The example given below is
intended to explain the behavior of the Function Block execution.
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YASKAWA MP3200iec User manual

Type
User manual

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