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

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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

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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

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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 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.

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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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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	According to IEC 61131-3, if any parameter of a
parameters	function block input is missing (“open”) then the
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	value from the previous invocation of this
	instance will be used. In the first invocation the
	default value is applied.
Position versus	'Position' is a value defined within a coordinate
distance	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	All blocks have two outputs, which deal with
Behavior	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

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	edge of 'Execute'.
Behavior of Done	The “Done” output (as well as 'InGear',
output	'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' is set when a commanded
CommandAborted	motion is interrupted by another motion
output	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	If a FB is commanded with parameters which
application limits	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	'Busy' output indicates that the FB is not
output	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
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	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	The 'Enable' input is coupled to a 'Valid' output.
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

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:

Buffer mode	Short description Important		Input value at
	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
	descriptions!
Aborting	This is the Default mode. The FB		INT#0
	aborts an ongoing motion and the
	command affects the axis
	immediately.
Buffered	The FB affects the axis as soon as		INT#1
	the previous movement is
	complete. The axis will stop
	between the movements.
BlendingLow	The FB controls the axis after the		INT#2
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	previous FB has finished, but the
	axis will not stop between the
	movements. The velocity is blended
	with the lowest velocity of both
	commands.
BlendingPrevious	The FB controls the axis after the	INT#3
	previous FB has finished
	(equivalent to buffered), but the
	axis will not stop between the
	movements. Blending with the
	velocity of the previous move.
BlendingNext	The FB controls the axis after the	INT#4
	previous FB has finished, but the
	axis will not stop between the
	movements. Blending with velocity
	of this (next) function.
BlendingHigh	The FB controls the axis after the	INT#5
	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
	(next) function.

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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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