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Example Code Manual
Feed-to-length Application using
MC_TouchProbe for Position Latching
Applicable Product: MP2300Siec w/ MotionWorks IEC
Yaskawa Electric America
Doc#: EM.MCD.08.011 Copyright Yaskawa Electric America ©2004 October 24, 2008
Page 1 of 10
Page 2
Subject: Example Code Manual
Title: Feed-to-Length Application using MC_TouchProbe for Position Latching
Product: MP2300Siec and
MotionWorks IEC
Table of Contents
1. Application Overview:............................................................................................................ 3
a. Application Highlights.......................................................................................................3
b. Application Challenges..................................................................................................... 3
c. Products Used:................................................................................................................. 3
2. Quick Startup Procedure (Project transfer to controller)........................................................ 4
3. Program Explanation............................................................................................................. 5
4. Program Control Handles......................................................................................................7
5. Configuration of Latch (EXT 1).............................................................................................. 8
6. Sequence of Operations........................................................................................................ 9
7. Results................................................................................................................................. 10
Doc#: EM.MCD.08.011
October 24, 2008 Page 2 of 10
Page 3
Subject: Example Code Manual
Title: Feed-to-Length Application using MC_TouchProbe for Position Latching
Product: MP2300Siec and
MotionWorks IEC
1. Application Overview:
This document is intended to guide a user through the steps of demonstrating a feed-to-length application with
the MP2300Siec controller in the MotionWorks IEC environment. The example code was writt en with
MotionWorks IEC firmware version 0.9.2.2 and MotionWorks IEC Configuration Tool version 0.9.3.3. The de mo
tested had two axis (SIII master and SII slave). The feed axis was a Sigma II servopack axis.
a. Application Highlights Industry: Yaskawa customers wanting PLCopen Function Blocks for their applications
Major Features: PLCopen compliant Function Blocks, IEC61131-3 standard prog ramming
environment
Results: Feed-to-length application
b. Application Challenges
Registration response consistency
c. Products Used:
Doc#: EM.MCD.08.011
Component
Controller
Hardwa re
Software
October 24, 2008 Page 3 of 10
Yaskawa MP2300Siec controller with LIO-01 card
Sigma II amplifier and motor
MotionWorks IEC
Product and Model Number
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Subject: Example Code Manual
Title: Feed-to-Length Application using MC_TouchProbe for Position Latching
2. Quick Startup Procedure (Project transfer to controller)
I. Go to the ‘Hardware’ tab. (Fig 1)
II. Right click ‘Resource: MP2300Siec’ (Fig 1)
III. Under ‘Settings’, set the IP address of the controller
IV. Make the project (Fig 2)
V. Download the project to the controller through the resource icon (Fig 3)
VI. Set in Debug mode(Fig 3)
Product: MP2300Siec and
MotionWorks IEC
Figure 1: Setting IP address
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October 24, 2008 Page 4 of 10
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Subject: Example Code Manual
Title: Feed-to-Length Application using MC_TouchProbe for Position Latching
Product: MP2300Siec and
MotionWorks IEC
Figure 2: Make
Debug
Figure 3: Download and debug
Doc#: EM.MCD.08.011
Resource
3. Program Explanation
The project consists of 7 programs. They are:
1. Initialization: This program initializes the axis, the trigger variable for latching, the length of the part
being used in the feed routine, the variable definition for direction, and the buffered modes.
Attribute: Makes use of structured text for definitions
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Subject: Example Code Manual
Product: MP2300Siec and
MotionWorks IEC
Title: Feed-to-Length Application using MC_TouchProbe for Position Latching
2. Interface: This program assigns the 6 inputs to the input variable names. The two outputs are also
defined in this program.
Attribute: Makes use of structured text for definitions
3. Interlocks: This program enables the various modes of operation. The two main modes are manual and
automatic. In manual mode, the axis can be jogged and homed to the C channel of the encoder. In
automatic mode, the axis can be used for part production. The interlocks for various modes, and how
they synchronize with the inputs and outputs, can be seen in this program.
Attribute: Makes use of structured text for definitions
4. EnableAxis: This program controls the axis enabling sequence. The axis gets enabled only if there are
no axis errors. This program also controls clearing any alarms that may be present on the axis before
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enable is carried out.
Attribute: MC_Power, MC_ReadAxisError, MC_Reset
5. JogProgram: This program provides function blocks for the jog routine.
Attribute: MC_MoveVelocity, MC_Stop
6. HomeProgram: This program controls the home routine, which can be activated in manu al mode. The
axis is driven in a negative direction, until a marker on the axis belt is seen. The axis is stopped and after
a time delay, the axis moves to the closest c channel and stops.
Attribute: MC_MoveVelocity, MC_Stop, MC_StepRefPulse
7. AutoProduction: This program controls the automatic production. On enabling the auto mode and
starting production, the axis continues motion until a part is sensed. The axis location is then latched.
The first motion is aborted and a new relative motion is executed, bringing the axis to rest at a desired
distance after the axis latch position.
Attribute: Uses ladder logic for various interlocks. Uses rising and falling edge detectors, timers.
MC_MoveRelative, MC_TouchProbe
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Subject: Example Code Manual
Product: MP2300Siec and
MotionWorks IEC
Title: Feed-to-Length Application using MC_TouchProbe for Position Latching
4. Program Control Handles
1) Output 2 in a high state indicates an alarm on the axis. This can be cleared using Input 6, which resets
the alarm. If reset fails, controller/servopack power will have to be cycled.
2) If there are no alarms, Input 1 enables the feed axis.
3) Input 2 in a low state indicates manual mode and jogging or homing can be accomplished.
4) Input 3 jogs the axis and does so until input 3 is turned off.
5) Input 4 in a high state starts the homing routine. The axis runs until it encounters a signal on the EXT 1
input of the servopack. At this signal, the axis stops. After a delay, the axis moves slowly to stop at the C
Doc#: EM.MCD.08.011
channel position of the axis encoder. After homing is completed, turn input 4 off.
6) Input 5 starts automatic production. However, for auto production to start, the controller should be in auto
mode (Input 2 high). Also, auto start is possible only after the homing routine has been accomplished.
Autostart (Input 5) gets the axis moving. On encountering a part (latched EXT 1 signal), the move is
aborted by another relative move. The axis then moves a predefined distance and stops. The axis
restarts the cycle after a small predefined pause. This continues until input 5 is turned off. If no part is
encountered after a predetermined variable ‘part length’, Output 1 turns on indicating an alar m. This can
be cleared, so the cycle can be restarted by cycling Input 5.
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Subject: Example Code Manual
Title: Feed-to-Length Application using MC_TouchProbe for Position Latching
5. Configuration of Latch (EXT 1)
1) Set Pns 820, 821 (Latching area upper limit: 820:FFFF, 821:7FFF)
2) Set Pns 822, 823 (Latching area lower limit: 822:0000, 823:8000)
3) Set Pn511 to match wiring (CN1)
MOTION BLOCK
FB IN
Product: MP2300Siec and
MotionWorks IEC
INITIALIZATION
VARIABLE
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October 24, 2008 Page 8 of 10
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Subject: Example Code Manual
Product: MP2300Siec and
MotionWorks IEC
Title: Feed-to-Length Application using MC_TouchProbe for Position Latching
6. Sequence of Operations
Cold start the application and activate debug mode:
1) If there are axis alarms, clear them using Switch 6. If the alarms cannot be cleared using Switch 6,
power will have to be cycled.
2) Use Switch 1 for enabling both axes.
3) Make sure Switch 2 is low, ensuring that the machine is in manual mode at first.
4) Switch 3 jogs the feed axis
5) Switch 4 starts the homing sequence. The feed axis homes to a latch sensor first, and then comes back
to the closest C channel pulse. To simulate the latch, use the LATCH switch on the demo correspondin g
to the SGDH axis. After a small time delay after the latch-induced stop, the feed axis moves to C pulse
Doc#: EM.MCD.08.011
and sets position as zero (home). Turn switch 4 off after the axis completes homing.
6) To start auto production, the axis has to be homed. Turn Switch 2 and Switch 5 on. To start at its
production velocity, use the LATCH switch, as this enables the feed-to-length algorithm. The axis stops
after a pre-decided distance beyond the feed axis latched position. It then waits for a press/cut operation,
and starts moving again looking for the next part latch. Auto cycle can be stopped by switching Switch 5
off.
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Subject: Example Code Manual
Title: Feed-to-Length Application using MC_TouchProbe for Position Latching
7. Results
Product: MP2300Siec and
MotionWorks IEC
Doc#: EM.MCD.08.011
Figure 4: [traces from top to bottom]
a) Commanded position
b) Commanded velocity
c) Touch Probe busy
d) Actual Position
e) Actual Velocity
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