Yaskawa MotionWorks User Manual
MotionWorks+™ Windows Software and
Icon-Based Programming Manual
MotionWorks+™
WARNING
YASKAWA manufactures component parts that can be used in a wide variety
of industrial applications. The selection and application of YASKAWA
products remain the responsibility of the equipment designer or end user.
YASKAWA accepts no responsibility for the way its products may be incorporated into the final system design.
Under no circumstances should any YASKAWA product be incorporated into
any product or design as the exclusive or sole safety control. Without
exception, all controls should be designed to detect faults dynamically under
all circumstances. All products designed to incorporate a component part
manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to that part’s safe use and operation. Any
warnings provided by YASKAWA must be promptly provided to the end user.
YASKAWA offers an express warranty only as to the quality of its products in
conforming to standards and specifications published in YASKAWA’s
manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED.
YASKAWA assumes no liability for any personal injury, property damage,
losses, or claims arising from misapplication of its products.
i
Notes
MotionWorks+™
ii
MotionWorks+™
Contents
1. MotionWorks+™............................................................................................. 3
1.1 System Requirements ...............................................................................................3
1.2 Installation.................................................................................................................3
1.3 Introduction To Software Features.........................................................................4
1.4 Creating A Project ....................................................................................................6
1.5 Saving A Project........................................................................................................8
1.6 The Project Explorer ................................................................................................9
1.6.1 HMI Data .........................................................................................................38
1.6.2 Import/Export Initiation...................................................................................42
1.7 Scope ........................................................................................................................51
1.8 The Block Toolbar ..................................................................................................58
1.9 The Properties Window..........................................................................................59
1.10 The Program Window ............................................................................................60
1.11 Expression Builder..................................................................................................62
1.12 Cross Reference.......................................................................................................65
1.13 Search and Replace.................................................................................................66
1.14 Connecting To The Controller...............................................................................67
1.15 Compiling A Program ............................................................................................71
1.16 Downloading a Project ...........................................................................................72
1.17 Saving a Project to Flash........................................................................................73
1.18 Electronic Cam Tool...............................................................................................74
1.19 Archive...................................................................................................................101
2. Icon-Based Motion Control Programming ...............................................103
2.1 Programming Tools ..............................................................................................103
3. Programming Concept ................................................................................ 105
iii
MotionWorks+™
3.1 User Unit Conversion ...........................................................................................127
3.2 Block Reference.....................................................................................................130
3.2.1 CALL SUBROUTINE...................................................................................132
3.2.2 CAM ..............................................................................................................133
3.2.3 CAM SHIFT ..................................................................................................135
3.2.4 CHANGE DYNAMICS ................................................................................137
3.2.5 DEFINE POSITION ......................................................................................138
3.2.6 END ...............................................................................................................139
3.2.7 GEAR.............................................................................................................140
3.2.8 GEAR RATIO ..............................................................................................141
3.2.9 HOME AXIS .................................................................................................142
3.2.10 IF EVENT......................................................................................................144
3.2.11 IF FAULT ......................................................................................................145
3.2.12 INPUT............................................................................................................146
3.2.13 JOG AXIS......................................................................................................147
3.2.14 LATCH ..........................................................................................................148
3.2.15 LATCH TARGET .........................................................................................150
3.2.16 LAUNCH PROGRAM ..................................................................................153
3.2.17 MOVE AXIS .................................................................................................154
3.2.18 PLS.................................................................................................................156
3.2.19 RESET FAULT .............................................................................................158
3.2.20 SCALE CAM.................................................................................................159
3.2.21 SERVO ..........................................................................................................160
3.2.22 SET VARIABLE ...........................................................................................161
3.2.23 SLAVE OFFSET ...........................................................................................162
3.2.24 START...........................................................................................................163
3.2.25 STOP MOTION.............................................................................................164
3.2.26 SUSPEND PROGRAM.................................................................................165
3.2.27 TIMER ...........................................................................................................166
3.2.28 TORQUE .......................................................................................................167
Appendix A Operational Examples .......................................................................................169
Appendix B Standardized Template Project........................................................................177
B.1 Summary........................................................................................................178
B.2 Programs ........................................................................................................179
B.3 Subroutines ....................................................................................................186
Appendix C MW+ Camming 101...........................................................................................201
Index......................................................................................................225
iv
MotionWorks+™
Introduction
This manual is divided into two sections. The first section covers the user interface and other features
of the Windows application. The second section covers machine functions in general, and contains
details about the icon-based programming environment and its interface to the controller. Program
examples are included in the appendix.
This manual was updated to correspond with the software version 2.83.
1
Notes
MotionWorks+™
2
MotionWorks+™ System Requirements
1. MotionWorks+™
1.1 System Requirements
* Microsoft(R) 95/98/NT/2000 operating systems.
* Minimum - 133MHz, 64MB memory, 100MB hard disk space.
* Recommended 350MHz, 128MB memory, 500MB hard disk space.
* High Color (16-bit) Color Palette display setting.
* Microsoft (R-compatible mouse).
* 100MB of free disk space to install the application and all supporting libraries.
1.2 Installation
The installation of MotionWorks+™ consists of three separate programs, which are
automatically installed by the Install Wizard. They are: MotionWorks+™, Electronic
CamTool, and CimScope.
First, remove any previous versions. When removing MotionWorks+™, these three
programs must be removed using the Add/Remove Programs feature of the Windows
control panel. After installation, Windows must be restarted for the installation to be
complete.
3
Introduction To Software Features MotionWorks+™
1.3 Introduction To Software Features
MotionWorks+™ incorporates the following features and tools to aid in the creation of
motion control programs.
1. Project Window
Displays and allows editing of application information in a file manager-type
structure.
2. Properties Window
Used to edit and view block information. These are called properties.
3. Program Window
Shows the graphical program layout; i.e., motion control programs are created by
connecting blocks together.
4. Block Toolbar
Used to drag and drop blocks on the Program Window.
4
MotionWorks+™ Introduction To Software Features
5. Expression Builder (below)
Accessible by double-clicking on block properties. It aids in creating calculations for
a variety of purposes.
6. The Debugging Tools consist of the following:
• Monitoring / Data - View and change data values online.
• Monitoring / I/O - Displays a graphical view of I/O data and other system variables
for verification of hardware connections and debugging.
• Monitoring / Program - Displays current block numbers for all active programs and
shows the program and subroutine names.
• Monitoring/Scope - Records specific information in the controller, then uploads it to
MW+ for display as a graph.
5
Creating A Project MotionWorks+™
1.4 Creating A Project
A project is a collection of files, all of which pertain to a specific job. Each project
occupies its own directory for easy portability.
Accessibility
To access the New Project dialog box select:
• From the Main Menu > File > New Project
• From the Standard Toolbar > New > New Project (from the drop down list)
• Hot Key: Ctrl+N
1. Input the project name and file system location. The length of the project name may be up
to 255 characters, including spaces. Characters not allowed in the project name are /, \, :,
*, ?, “, <, >, and |.
2. Display the New Program dialog box to add a program to the project. This can be done
either from the main menu, or from the Project Explorer by selecting Project > Add - Program > New Program. The following window appears:
3
2
4
5
1
6
MotionWorks+™ Creating A Project
1. New Program Name
The character restrictions applying to the project name apply to the program name.
Characters not allowed in the project name are /, \, :, *, ?, “, <, >, and |.
2. Program Number
In addition to creating a name, select a program number. Add programs to empty
locations or replace existing programs by clicking any of the program numbers in the
list.
3. Scan Type
There are two choices for scan speed: high and low. Priority levels must be
considered when selecting scan speed. For example, high speed is recommended for
critical I/O that must be monitored frequently. Low speed is sufficient for low priority
events such as operator push buttons. Each program executes one block in the scan
period.
Note: High and low scans must be an even multiple of each other. For eaxmple: 2/10,
4/16, etc.
4. Active
Select the Active checkbox to indicate whether the program is to be incorporated
during project compilation. During project debugging, it may be helpful to deactivate
certain programs to isolate problems. Deactivated programs will not be compiled or
downloaded.
5. Autostart
The Autostart checkbox indicates whether the program automatically executes its
START block when the power is initially turned on. If Autostart is not selected,
programs can be launched later by incorporating a LAUNCH PROGRAM block in
another program. At least one program in the project must be selected for autostart in
order to ensure execution.
7
Saving A Project MotionWorks+™
1.5 Saving A Project
All files contained in the project are saved when the SAVE icon is pressed. If the project
is not saved before exiting MotionWorks+™, a Save Project window appears. All the
files that have been changed are displayed. Select the files to be saved at this time. (The
default is to save all changed files.) The user must de-select the names of any files that
are not to be saved. The Cancel button aborts closing MotionWorks+™, and does not
save any files.
Accessibility
To save a project, select
• From the Main Menu > File > Save Project
• From the Standard Toolbar > Save
8
MotionWorks+™ The Project Explorer
1.6 The Project Explorer
Project Explorer is used to navigate among windows in the main programming area.
This window can be dragged, resized, docked, and undocked. All folders and their
documents are shown below. To view any of the items below, double-click on the file.
Accessibility
To open the Project Explorer, select
• From the Main Menu View > Project Explorer
Programs
This folder contains a list of all programs within the project. A maximum of eight
programs can be created.
Accessibility
To view programs and create new programs:
• Right-click on the project name or the Programs folder. Select New Program from
the sub-menu.
9
The Project Explorer MotionWorks+™
Program Definition
The Program Definition window displays the properties of each program within the
project. The properties may be edited on this screen.
Accessibility
The Program Definition window is displayed as follows:
• Automatically appears when a new program is created
• From Project Explorer > right-click on the project name > select Program Definition
from the sub-menu
• From Project Explorer > right-click on Programs > select Program Definition from
the sub-menu
• From the Main Menu > Project > Program > Definition
Scan Type
Select either High or Low scan for each of the projects programs. This configuration
determines the interval that blocks are executed.
Active
This setting controls if a program is included in the compile & download. Useful for
debugging.
10
MotionWorks+™ The Project Explorer
Auto Start
The setting controls which programs start executing automatically when the power is
applied. Programs set to “Auto Start=false” can be started later using the LAUNCH
block.
Subroutine Definition
When New Subroutine is selected, a new untitled program window is added to the
project; the START and END blocks automatically appear. The File > Save Subroutine
As function is recommended at this time. The new subroutine does not appear in Project
Explorer until it has been named.
Accessibility
To access the subroutine definitions, select:
• From the Main Menu > Project > New
• From the Standard Toolbar > New > Subroutine
• From the Project Explorer > right-click on the project name > Subroutine > New
Configuration
System Parameters
The system parameters are mainly comprised of tuning gains and limit settings. The
tool tip of each parameter shows the operation mode in which each gain applies. The
parameters can be written to the hard disk. Parameters can also be read from or written to the controller.
Accessibility
To access the system parameters, select:
• From the Project Explorer > Configuration > System Parameters
• From the Main Menu > Project > Configuration > System Parameters
11
The Project Explorer MotionWorks+™
Important Note!!
Parameters are updated in the controller after a value is changed if MotionWorks+™ is online with the controller. However, if the new values are to be saved
with the project and retained after power cycle, the project must be downloaded.
12
MotionWorks+™ The Project Explorer
System Properties
Systems properties allow the controller to be configured using the windows shown
below.
Accessibility
To access the System Properties, select
• From the Project Explorer > Configuration > System Properties
• From the Main Menu > Project > Configuration > System Properties
• System Properties already open, but not visible; From the Main Menu > Window
List
Right clicking on any of the modules will display a menu with following choices:
• Get from the controller
• Import
• Export
• Restore default
• Send to controller
These menu items are available when right clicking on any of the components in system
properties. Their actions affect only the component selected.
Important Note: Performing “Send to Controller” will suffice when making changes that
are to be permanently stored in controller memory with the exception of the MP940 and
External Encoder properties. For these two modules only, the changes are only
temporary, meaning that the power on values will be from the last project download.
Machine Cycles
MW+ does not support support machine cycles with fractional pulses. This may present
a problem for applications such as flying shear / web handling / camming. In general,
axes that are set to “Rotary” mode will suffer from fractional pulses being “lost” each
machine cycle. To determine if the system has fractional pulses, perform the following
check:
Encoder
Resolution
131072
Gear Box Machine
43 Input
--------------------------
× 17×
11 Output
Cycle
Feed
Constant
360 Units
-------------------------
÷ 8710330.188888=
1 rev
Machine Cycle Counts
As can be seen from the machine cycle count, a loss of .19 cycles will occur with each
revolution. Compensate for this loss by using the Slave Offset function. For an introduction on using the Slave Offset function, see “How does SLAVE OFFSET work? How
would an application benefit from using slave offset?” on page 220.
13
The Project Explorer MotionWorks+™
14
MotionWorks+™ The Project Explorer
SGDH
When the SGDH module is selected, the following properties appear in the properties window: When an MP940 controller is used with an SGDH, it is recommended to set the
parameters of the amplifier through the controller instead of the front panel of the amplifier. This method ensures that parameter values are retained with the project and downloaded properly.
Property Default Min Max Details (online Help message)
Pn000 90 0 0FB1 Function Selection Basic Switches. See sections 5.1.1 and
5.3.5 of SGDH manual.
Pn001 0 0 1122 Function Selection Application Switches 1. See sections 5.1.2,
5.4.2, and 5.5.7 of SGDH manual.
Pn002 11 0 4113 Function Selection Application Switches2. See sections 5.2.8,
5.2.9, and 5.7.2 of SGDH manual.
Pn003 2 0 00FF Function Selection Application Switches 3. See section 6.5 of
SGDH manual.
Pn100 40 1 2000 Speed Loop Gain in Hz. This is an important component of
servo tuning, this parameter acts as the derivative gain. See
section 6.2.1 of SGDH manual.
Pn101 2000 15 51200 Speed Loop Integral Time Constant in 0.01ms. This is an impor-
tant component of servo tuning. See section 6.2.1 of SGDH
manual.
15
The Project Explorer MotionWorks+™
Property Default Min Max Details (online Help message)
Pn102 40 1 2000 Position Loop Gain in 1/s. This parameter is not applicable
when using MP940. See section 6.2.1 of SGDH manual.
Pn103 100 0 10000 Inertia Ratio in percentage. See sections 6.2.1 and 6.3.3 of
SGDH manual.
Pn104 40 1 2000 2nd Speed Loop Gain in Hz. This parameter is switchable with
Pn100 based on user input. This is an important component of
servo tuning, this parameter acts as the derivative gain. See
section 6.2.1 of SGDH manual.
Pn105 2000 15 51200 2nd Speed Loop Integral Time Constant in 0.01 ms. This
parameter is switchable with Pn101. This is an important component of servo tuning. See section 6.2.1 of SGDH manual.
Pn106 40 1 2000 2nd Position Loop Gain in 1/s. This parameter is not applicable
when using MP940. See section 6.2.1 of SGDH manual.
Pn107 0 0 450 Bias in rpm. See section 6.2.4 of SGDH manual.
Pn108 7 0 250 Bias Width Addition in reference units. See section 6.2.4 of
SGDH manual.
Pn109 0 0 100 Feed Forward in percentage. This parameter is not applicable
when MP940 is used. Use pGain_FeedForward. See section
6.2.2 of SGDH manual.
Pn10A 0 0 6400 Feed-forward Filter Time Constant in 0.01ms. This parameter
is not applicable when MP940 is used. See section 5.2.5 of
SGDH manual.
Pn10B 0004 0000 2014 Gain-related Application Switches. See section 6.2.5 of SGDH
manual.
Pn10C 200 0 800 Mode Switch Torque Reference in percentage. See section
6.2.5 of SGDH manual.
Pn10D 0 0 10000 Mode Switch Speed Reference in rpm. See section 6.2.5 of
SGDH manual.
Pn10E 0 0 3000 Mode Switch Acceleration in 10rpm/s. See section 6.2.5 of
SGDH manual.
Pn10F 0 0 10000 Mode Switch Error Pulse in reference units. This parameter is
not applicable when using MP940. See section 6.2.5 of SGDH
manual.
Pn110 0012 0000 2014 Online Autotuning Switches. See section 6.3.4 of SGDH man-
ual.
Pn111 100 1 100 Speed Feedback Compensation in percentage. See section
6.2.6 of SGDH manual.
Pn200 0 0 1239 Position Control Reference Selection Switches. This parameter
is not applicable when using MP940. See section 5.2.2 of
SGDH manual.
Pn201 16384 16 16384 PG Divider in pulses per revolution. This parameter is not
applicable when using MP940. See section 5.2.3 of SGDH
manual.
Pn202 16384 16 16384 Electronic Gear Ratio (Denominator). This parameter is not
applicable when using MP940. See section 5.2.5 of SGDH
manual.
16
MotionWorks+™ The Project Explorer
Property Default Min Max Details (online Help message)
Pn203 1 1 65535 Electronic Gear Ratio (Denominator). This parameter is not
applicable when using MP940. See section 5.2.5 of SGDH
manual.
Pn204 0 0 6400 Position Reference Accel/Decel Parameter in 0.01ms. This
parameter is not applicable when using MP940. See section
6.1.2 of SGDH manual.
Pn205 65535 0 65535 Multi-turn Limit Setting in revolutions. This parameter is not
applicable when using MP940. See section 6.1.2 of SGDH
manual.
Pn206 16384 513 65535 Reserved in pulses per revolution. This parameter is not appli-
cable when using MP940. See section 6.1.2 of SGDH manual.
Pn207 0 0 11 Position Control Function Switches. This parameter is not
applicable when using MP940. See sections 5.2.9 and 6.1.2 of
SGDH manual.
Pn208 0 0 6400 Position Reference Movement Averaging Time in 0.01ms.
This parameter is not applicable when using MP940. See sec-
tion 6.1.2 of SGDH manual.
Pn300 600 150 3000 Speed Reference Input Gain in 0.01volt / rated speed. See sec-
tion 5.2.1 of SGDH manual.
Pn301 100 0 10000 Speed 1in rpm. See section 5.2.6 of SGDH manual.
Pn302 200 0 10000 Speed 2 in rpm. See section 5.2.6 of SGDH manual.
Pn303 300 0 10000 Speed 3 in rpm. See section 5.2.6 of SGDH manual.
Pn304 500 0 10000 Jog Speed in rpm. See section 5.3.2 of SGDH manual.
Pn305 0 0 10000 Soft Start Acceleration Time in ms. See section 6.1.1 of SGDH
manual.
Pn306 0 0 10000 Soft Start Deceleration Time in ms. See section 6.1.1 of SGDH
manual.
Pn307 40 0 65535 Speed Reference Filter Time Constant in 0.01ms.
Pn308 0 0 65535 Speed Feedback Filter Time Constant in 0.01ms. See section
6.2.6 of SGDH manual.
Pn400 30 10 100 Torque Reference Input Gain in 0.1V / rated torque. See sec-
tion 5.2.7 of SGDH manual.
Pn401 100 0 65535 Torque Reference Filter Time Constant in 0.01ms. See section
6.1.5 of SGDH manual.
Pn402 800 0 800 Forward Torque Limit in % of rated torque. See section 5.1.3 of
SGDH manual.
Pn403 800 0 800 Reverse Torque Limit in % of rated torque. See section 5.1.3 of
SGDH manual.
Pn404 100 0 800 Forward External Torque Limit in % of rated torque. See sec-
tion 5.1.3 of SGDH manual.
Pn405 100 0 800 Reverse External Torque Limit in % of rated torque. See sec-
tion 5.1.3 of the SGDH manual.
Pn406 800 0 800 Emergency Stop Torque in % of rated torque. See section 5.1.2
of SGDH manual.
Pn407 10000 0 10000 Speed Limit during Torque Control in rpm. See section 5.2.7 of
SGDH manual.
17
The Project Explorer MotionWorks+™
Property Default Min Max Details (online Help message)
Pn408 0 0 1 Torque Function Switches. See section 6.1.6 in SGDH manual.
Pn409 2000 50 2000 Notch Filter Frequency in Hz. Only effective when the SGDH is
used in torque mode. See section 6.1.6 in SGDH manual.
Pn500 7 0 250 Positioning Completed Width in pulses. It is recommended to
use sPosition_CompletionWindow instead. See section 5.5.3
of SGDH manual.
Pn501 10 0 10000 Zero Clamp Level in rpm. See section 5.4.3 in SGDH manual.
Pn502 20 1 10000 Rotation Detection Level in rpm. See section 5.5.5 of SGDH
manual.
Pn503 10 0 100 Speed Coincidence Signal Output Width in rpm. See section
5.5.4 of SGDH manual.
Pn504 7 1 250 NEAR Signal Width in pulses. See section 5.5.8 of SGDH man-
ual.
Pn505 1024 1 32767 Overflow Level in 256 pulses. This parameter is not applicable
when the SGDH is used with the MP940. See section 6.2.1 of
SGDH manual.
Pn506 0 0 50 Brake Reference Servo OFF Delay Time in 10ms. See section
5.4.4 of SGDH manual.
Pn507 100 0 10000 Brake Reference Output Speed Level in rpm. See section 5.4.4
of SGDH manual.
Pn508 50 10 100 Timing for Brake Reference Output during Motor Operation in
10ms. See section 5.4.4 of SGDH manual.
Pn509 20 20 1000 Momentary Hold Time in ms. See section 5.4.9 of SGDH man-
ual.
Pn50A 2881 0 FFFF Input Signal Selections 1. See section 5.3.3 of SGDH manual.
Pn50B 8883 0 FFFF Input Signal Selections 2. See section 5.3.3 of SGDH manual.
Pn50C 8888 0 FFFF Input Signal Selections 3. See section 5.3.3 of SGDH manual.
Pn50D 8888 0 FFFF Input Signal Selections 4. See section 5.3.3 of SGDH manual.
Pn50E 3211 0 3333 Output Signal Selections 1. See section 5.3.4 of SGDH man-
ual.
Pn50F 0 0 3333 Output Signal Selections 2. See section 5.3.4 of SGDH manual.
Pn510 0 0 33 Output Signal Selections 3. See section 5.3.4 of SGDH man-
ual.
Pn511 6541 0 FFFF Input Signal Selections 5. See section 5.3.3 of SGDH manual.
Pn512 0 0 111 Output Signal Reversal Settings. See section 5.3.4 of SGDH
manual.
Pn600 0 0 9000 Regenerative Resistor Capacity in watts. See section 5.6.1 of
SGDH manual.
18
MotionWorks+™ The Project Explorer
COM1
When the COM1 module is selected, the following properties appear in the properties
window.
Property Default Minimum Maximum Detail
Address 1 0 63 —
Baud Rate 19200 9600 19200 —
Function Slave — — —
Protocol Memobus — — Fixed
Transmission Mode RTU — — Fixed
Address: Select between 0 and 63.
Baud Rate: The choices are 9600 and 19200bps.
Function: Fext at “Slave”.
Protocol: This is fixed at Memobus for MW+ projects.
Transmission Mode:
This is fixed at RTU for MW+ projects.
19
The Project Explorer MotionWorks+™
COM2
When the COM2 module is selected, the following properties appear in the properties
window.
Property Default Minimum Maximum Detail
Address 1 0 63 —
Baud Rate 19200 9600 19200 bps
Function Slave — — Selection
Protocol Memobus — — Fixed
Transmission Mode RTU — — Fixed
Transmission Type RS422 RS422 RS485 Selection
Address: Select between 0 and 63.
Baud Rate: The choices are 9600 and 19200
Function: Fixed at “Slave”.
Protocol: This is fixed at Memobus for MW+ projects.
Transmission Mode:
This is fixed at RTU for MW+ projects.
Transmission Type:
RS 422 and RS 485 are the 2 choices.
20
MotionWorks+™ The Project Explorer
MP940
When the MP940 module is selected, the following properties appear in the properties
window.
Note: When right clicking on this module, the properties can be sent to the controller,
but only to RAM. Compile & Download is required to retain values after power cycle.
Property Default Minimum Maximum Detail
Battery Test Disabled Enabled Disabled Setting
Encoder Resolution 8192 8 2147483647 Counts
Encoder Type Incremental Absolute Incremental Selection
Feed Constant 1 0.001 8338608 Constant
Gear Box Input 1 1 32767 Numerator
Gear Box Output 1 1 32767 Denominator
High Scan Setting 1 1 32 ms
Load Type Linear Linear Rotary Setting
Low Scan Setting 20 10 100 ms
Machine Cycle 1 0.001 2147483647 Modulus
Motor Rated Speed 3000 1000 10000 rpm
User Units Inch N/A N/A —
Battery Test: If enabled, the controller tests the battery voltage and sets the
battery alarm LED on the front of the controller accordingly,
and sets mAlarm_Battery.
If disabled, the battery alarm LED does not light.
Encoder Resolution:
Set the quadrature number of encoder pulses per motor revolution.
Encoder Type: Select either “incremental” or “absolute”. This setting deter-
mines whether the MP940 automatically reads the absolute
encoder at power up.
Feed Constant: The number in user units that the load travels for each revolu-
tion of the final output shaft of the mechanical system.
Final Output Shaft Detail Feed Constant
Ball screw 6mm pitch 6
Conveyor belt roller = 4in diameter
Belt and pulley last pulley = 10in diameter
4 x
10 x
π
π
Gear Box Input: If a mechanical gear box is used, enter the value which corre-
21
The Project Explorer MotionWorks+™
sponds to the number of times the input shaft rotates for the
number of times the output shaft rotates. These are integer values. If a 10:1 gear box is used, enter “10” for the gear box
input.
Gear Box Output:
If a mechanical gear box is used, enter the value which corresponds to the number of times the input shaft rotates for the
number of times the output shaft rotates. These are integer values. If a 10:1 gear box is used, enter “1” for the gear box output.
High Scan Setting:
This value determines the interval at which blocks are executed
in high scan programs. One block from each high scan program
will execute in this time interval, some will take longer based
on specific block conditions.
Load Type: Select either linear or rotary. Linear implies an axis that has
finite travel range. Rotary implies an axis that rotates in one
direction only, but with a cyclic period. When “Rotary” is
selected, the position data is automatically modularized to fit
within one cyclic period or machine cycle.
Low Scan Setting:
This value determines the interval at which blocks are executed
in low scan programs.
Machine Cycle: This is the maximum position value of the main axis. When
this value is reached, the position will indicate “0”. Machine
cycle is only applicable if Load Type is set to “Rotary”. If the
application is a rotary table, this value may be the same as the
Feed Constant. Note: If the machine cycle in user units does
not equate to an integer number of pulses, the positioning units
will drift. In this case, program an offset at periodic intervals to
compensate for lost pulses. See note at the beginning of the
System Property section about Machine Cycle limitations.
Motor Rated Speed:
Enter the rated speed of the motor in rpm.
User units: Select from “centimeters”, “degrees”, “inches”, “microns”,
“millimeters”, or “pulses”. Custom units may also be entered.
22
MotionWorks+™ The Project Explorer
External Encoder
When external encoder is selected, the following properties appear in the properties
window.
These properties are effective for both real and virtual encoders. A virtual encoder is
useful for simulating a machine or creating a time based cam profile. The system
properties for External encoder apply for either mode, making the user units the same.
The virtual encoder is activated by setting the system variable sExternalMode to “1”.
Note: When right clicking on this module, the properties will be sent to the controller,
but only to RAM. Compile & Download is required to retain values after power cycle.
Property Default Minimum Maximum Detail
Enabled False False True Setting
Feed Constant 1 0.001 8338608 Constant
Gear Box Input 1 1 32767 Numerator
Gear Box Output 1 1 32767 Denominator
Machine Cycle 1 .001 2147483647 Modulus
Movement Type Rotary Linear Rotary Setting
Pulse Type Quadrature Pulse & Direction Quadrature Setting
Resolution 2048 8 2147483647 Counts
User Units Degrees N/A N/A —
Enabled:If Enabled is “True”, the MP940 expects an encoder to be con-
nected (i.e., an alarm is set if no encoder is connected). If a virtual encoder is used, set enabled=false, or an A9F alarm will
result.
Feed Constant: The number in user units that the load travels for each revolu-
tion of the final output shaft of the mechanical system.
Final Output Shaft Detail Feed Constant
Ball screw 6mm pitch 6
Conveyor belt roller = 4in diameter
Belt and pulley last pulley = 10in diameter
4 x
10 x
π
π
Gear Box Input: If a mechanical gear box is used, enter the value which corre-
sponds to the number of times the input shaft rotates for the
number of times the output shaft rotates. These are integer values. If a 10:1 gear box is used, enter “10” for the gear box
input.
23
The Project Explorer MotionWorks+™
Gear Box Output: If a mechanical gear box is used, enter the value which corre-
sponds to the number of times the input shaft rotates for the
number of times the output shaft rotates. These are integer values. If a 10:1 gear box is used, enter “1” for the gear box output.
Machine Cycle: This is the maximum position value of the external axis. When
this value is reached, the position wraps back to “0”. Machine
cycle is only applicable if Movement Type is set to “Rotary”. If
the application involves camming, the machine cycle may be
the product length. Note: If the machine cycle in user units
does not equate to an integer number of pulses, the positioning
units will drift. In this case, program an offset at periodic intervals to compensate for lost pulses. See note at the beginning of
the System Property section about Machine Cycle limitations.
Movement Type: Select either “linear” or “rotary”. Rotary implies an axis that
rotates in one direction only, but with a cyclic period. The position data is automatically modularized to fit within one cyclic
period or machine cycle when rotary is selected.
Pulse Type: Select “Quadrature”, “Reverse Quadrature”, “Pulse & Direc-
tion”, or “Reverse Pulse & Direction”.
Resolution: The number of quadrature pulses per revolution of the external
encoder.
User Units: Select from “centimeters”, “degrees”, “inches”, “microns”,
“millimeters”, or “pulses”. Custom units may also be entered.
24
Loading...