Yaskawa MotionWorks IEC User Manual
MotionWorks IEC
PLCopenPlus Function Blocks for
Motion Control - 2013-04-12
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
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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
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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
v
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
vi
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
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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
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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 1
blocks that have a reference to the axis, e.g. the abstract data type ‘Axis’,
which offers flexibility, ease of use and reusability.
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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 tr ansitio n th at change s the sta t e 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 Disc re te M otion o r Co ntin uo us Motio n. V ia th e Stoppi ng sta te,
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.
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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.
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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.
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Rule applies to
Rule
Output exclusivity
When 'Execute' is true, the outputs ‘Busy’,
Output status
The 'Done', 'InGear', 'InSync', 'InVelocity',
Missing input
According to IEC 61131-3, if any parameter of a
Function block interface
General rules
The following table provides general rules about the interface of the Motion
Control function blocks.
‘Done’, ‘Error’, and ‘CommandAborted’ are
mutually exclusive.
'Error', 'ErrorID' and 'CommandAborted' output s
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
Input parameters The parameters are read at the rising edge of
commands on the same instance), the FB won’t
return any feedback, like ‘Done’ or
‘CommandAborted’, for the previous action.
the 'Execute' input. To modify any parameter, it
is necessary to change the input parameter(s)
and trigger the 'Execute' again.
parameters
PLCopenPlus Function Blocks for Motion Control 2013-04-13 8
function block input is missing (“open”) then the
value from the previous invocation of this
instance will be used. In the first invocation the
Sign rules
The 'Velocity', 'Acceleration', 'Deceleration' and
Error Handling
All blocks have two outputs , whic h dea l w ith
Error: Rising edge of 'Error' indicates that an
'Done', 'InVelocity', 'InGear', and 'InSync'
default value is applied .
Position versus
distance
Behavior
'Position' is a value defined within a coordinate
system. 'Distance' is a relative measure, the
difference between two positions.
'Jerk' are always positive values. 'Position' and
'Distance' can be positive or negative.
errors that can occur while executing that
Function Block. These outputs are defined as
follow:
error occurred during the execution of the
Function Block.
ErrorID: Error number - see the Error Code List
at the end of the manual.
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 9
edge of 'Execut e' .
Inputs exceeding
If a FB is commanded with parameters which
Behavior of Done
output
Behavior of
CommandAborted
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.
'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 outputsignals such as 'InVelocity' are reset.
application limits
result in a violation of application limits, the
instance of th e 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 10
outputs may still change. For one axis, several
Function Blocks might be busy, but only one can
Output ‘Active’
The 'Active' output is available on Function
Enable and Valid
The 'Enable' input is coupled to a 'Valid' output.
be active at a time. Exceptions are
'MC_SuperImposed' and 'MC_Phasing', where
more than one FB related to one axis can be
active.
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.
Status
'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.
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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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The figure illustrates the sequence of three Function Blocks, 'First',
'Second' and 'Third', controlling the same axis. These three Function
Blocks could be for instance various absolute or relative move
commands. When “First” has completed, the output 'First.Done' triggers
'Second.Execute'. The output 'Second.Done' AND “In13” trigger
'Third.Execute'.
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Example 1: Same Function Block instance controls different motions of an axis
The figure below shows an example where the Function Block FB1 is used
to control “AxisX” with three different values of Velocity. In a Sequential
Function Chart (SFC) the velocity 10, 20, and 0 is assigned to V. To trigger
the Execute input with a rising edge the variable E is stepwise set and
reset.
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Example 2: Different FB instances control the motions of an axis
Different instances related to the same axis can control the motions on an
axis. Each instance will then be responsible for one part of the global
profile.
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Aborting Versus Buffered Modes: Input BufferMode
Buffer mode
Short description Im portant
descriptions!
Input value at
Aborting
This is the Default mode. The FB
immediately.
INT#0
Buffered
The FB affects the axis as soon as
between the movements.
INT#1
BlendingLow
The FB controls the axis after the
INT#2
Some of the FBs provide the input 'BufferMode'. By setting this input, the
FB can either be run in "non-buffered mode" (default behavior) or in
buffered mode. The transition behavior (blending) between two motions
can be set by defining when the FB starts its action. The difference
between these two modes is as follows:
A Function Block in non-buffered mode is applied immediately, even
when this interrupts a motion which is currently executed.
A Function Block in buffered mode is not executed until the current
FB has finished the motion it is currently executing and indicates this
by setting the corresponding output (Done or InPosition or InVelocity see table below).
Up to 16 motion blocks can be buffered before error 4369 would be
generated. Axis Parameter 1600 indicates the number of buffered
motion blocks.
Possible options for the buffered mode
The input BufferMode must be connected with a INT data type which can
have the following values:
note: The meaning of each value
BufferMode *
may vary depending on the
FB(s) involved. For this reason,
please also refer to the
individual parameter
aborts an ongoing motion and the
command affects the axis
the previous movement is
complete. The axis will stop
PLCopenPlus Function Blocks for Motion Control 2013-04-13 18
previous FB has finished, but the
axis will not stop between the
commands.
BlendingPrevious
The FB controls the axis after the
velocity of the previous move.
INT#3
of this (next) function.
(next) function.
movements. The velocity is blended
with the lowest velocity of both
previous FB has finished
(equivalent to buffered), but the
axis will not stop between the
movements. Blending with the
BlendingNext The FB controls the axis after the
previous FB has finished, but the
axis will not stop between the
movements. Blending with velocity
BlendingHigh The FB controls the axis after the
previous FB has finished
(equivalent to buffered), but the
axis will not stop between the
movements. Blending with highest
velocity of the previous and this
INT#4
INT#5
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Example 1: Standard behavior of 2 following absolute movements
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Example 2: Aborting motion
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Example 3: Buffered motion
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