Yaskawa MPiec User Manual
Application Note
Implementing Electronic Cams with MPiec
Quick Start Guide
Yask`awa Electric America
2121 Norman Drive South
Waukegan, IL 60085
1-800-927-5292
Doc#: EM.MCD.09.043 Copyright Yaskawa Electric America 2009 August 30, 2012
Page 1 of 16
Subject: Application Note
Product: MPiec
Doc#: EM.MCD.09.043
Title: Implementing Electronic Cams with MPiec: Quick Start Guide
Component
Servopack
Motor
Controller
Software
MotionWorks IEC Express v 1.1.1, CamTool v 4.61
Product and Model Number
Two Sigma-5 servopacks
Two Sigma-5 motors
MPiec, Minimum FW ver 1.1.1.4
1. Application Overview
This document explains how to build a cam profile using Yaskawa’s CamTool software and implement a cam
application on an MPiec controller using MotionWorks IEC. This guide also explains how to download the cam
profile file into the MPiec using MotionWorks IEC and designing a simple program that will demonstrate camming
with two servo axes.
2. Application Highlights:
Industry: Any applications requiring electronic cam functionality
Major Features: Electronic cam
Results: Creation of cam profile. Procedure to create simple cam application
3. Products Used:
4. Steps to Implement Cam Application
A basic cam application can be implemented in just two steps. The first is the creation of a cam profile file (csv
format) using Yaskawa’s CamTool program or Microsoft Excel. The cam file is downloaded into the controller
using MotionWorks IEC. The second step is the application program itself with Y_CamIn and Y_CamOut blocks
to engage and disengage the cam function respectively.
August 30, 2012 Page 2 of 16
Subject: Application Note
Product: MPiec
Doc#: EM.MCD.09.043
Title: Implementing Electronic Cams with MPiec: Quick Start Guide
4.1 Generating a cam data file using Cam Tool
Cam Tool is an editor for many of Yaskawa’s products and has a number of features that do not apply when
generating cams for use with an MPiec controller. Figure 1 shows Cam Tool’s “Set Style” screen which allows
the user to set the units for generating the cam profile. Master and Slave (a.k.a Phase and Position) units can be
set on this page. Select “No Unit” to indicate that Cam Tool should not perform any position conversion when the
file is saved. Proceed by simply entering all values in user units as defined by MotionWorks IEC’s Configuration
for the appropriate axes. The Machine/Motor Information section is not necessary.
Figure 1: Cam Tool’s Set Style screen for axis configuration
August 30, 2012 Page 3 of 16
Subject: Application Note
Product: MPiec
Doc#: EM.MCD.09.043
Title: Implementing Electronic Cams with MPiec: Quick Start Guide
Figure 2 is a screenshot of the “Set Parameter” screen for inputting key points that build the cam profile. A
variety of curves can be selected from the “Curve Shape” drop down menu.
Figure 2: Cam profile generation page
Figure 3 is a screen shot of an “Out and Back” (Two way) cam profile. The X Axis is the master position and the
Y axis is the slave position.
Figure 3: Two way cam profile
August 30, 2012 Page 4 of 16
Subject: Application Note
Product: MPiec
Doc#: EM.MCD.09.043
Title: Implementing Electronic Cams with MPiec: Quick Start Guide
Figure 4 is a screen shot of the control graph that provides analysis the position, velocity, acceleration, and jerk
profiles for the cam profile generated.
Figure 4: Control Graph – Cam analysis screen
Save the cam profile as a cdt or cdd file. Yaskawa recommends one of Cam Tool’s native file types so that
future edits are possible a later time using the Cam Tool application. The MPiec controller accepts csv files for
cam projects. Cam Tool can open a CSV file, however all curve type information will not be restored.
Note: CamTool versions prior to 4.61 do not write a csv file that can be accepted by the MPiec controller.
Yaskawa recommends opening and resaving the file in Microsoft Wordpad or Notepad to store the file as 8 bit
ASCII, not Unicode ASCII.
August 30, 2012 Page 5 of 16
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