Yaskawa MPiec Controllers User Manual

Technical Manual

Linear Flying Shear Application Solution Package

for MPiec Controllers

Doc#: TM.MPIEC.02 Copyright Yaskawa America Incorporated 2014 January 20, 2014

Subject: Technical Manual Product: MPiec Controllers Doc#: TM.MPIEC.02

Title: Linear Flying Shear Application Solution Package for MPiec Controllers

Contents

Application Overview: ................................................................................................................ 3

Application Highlights: ............................................................................................................... 3

Implementation: ......................................................................................................................... 4

1. Configuring the Master and Slave Axes ........................................................................... 4

2. Adding User Libraries ....................................................................................................... 4

3. Generating Cam Profiles .................................................................................................. 5

3 a) Generating Cam Profiles using LinearShearCamGen ............................................. 5

3 b) Generating custom cam profiles .............................................................................. 8

4. Setting the CamMasterCycle ............................................................................................ 9

5. Linear Flying Shear Motion ............................................................................................ 11

5 a) Constant cut length without registration ................................................................. 13

5 b) Applications requiring product registration ............................................................. 14

Subject: Technical Manual Product: MPiec Controllers Doc#: TM.MPIEC.02

Title: Linear Flying Shear Application Solution Package for MPiec Controllers

Application Overview:

The Linear Flying Shear Application Solution Package (ASP) offers an easy way to implement linear flying shear

applications. This ASP applies to other applications such as bottle filling because the motion required is identical.

This solution package was designed for machines that process products spaced at fixed intervals and machines

that must make dynamic corrections based on product registration marks. The Linear Flying Shear ASP project

can be used as a template on which the user can complete the application, or the ASP can be added as a user

library into an existing project. The Linear Flying Shear ASP focuses only on the core motion features required

to operate a flying shear and does not include other functionality such as servo enable, homing, manual modes,

alarm handling, etc. The user is responsible for incorporating other basic logic functionality required for the

complete application.

The main steps involved in completing a linear flying shear application are:

1) Configure the axes in Hardware Configuration.

2) Import all required user libraries.

3) Create cam profiles. (Two choices)

a) Use the ‘LinearShearCamGen’ function block in the ASP (for the speed matching axis). Create a

custom cam profile for a secondary axis if present.

b) Create custom cam profiles for the speed matching axis and secondary axis.

4) Home the speed matching axis and secondary axis. Set the CamMasterCycle for all slave axes.

5) Use the ‘LinearFlyingShear’ function block with or without the Registration input.

Application Highlights:

1. Designed for Linear Flying Shear applications with or without product registration.

2. Designed to accommodate a secondary slave axis in addition to the speed matching axis.

3. Uses smooth cam motion to reduce jerk.

Subject: Technical Manual Product: MPiec Controllers Doc#: TM.MPIEC.02

Title: Linear Flying Shear Application Solution Package for MPiec Controllers

Implementation:

1. Configuring the Master and Slave Axes

Configure the master and slave axes in the Hardware Configuration. Configure the master and slave

‘load type’ as linear.

2. Adding User Libraries

If the Linear Flying Shear ASP is being used as a template, no additional user libraries need to be added.

If the Linear Flying Shear ASP is applied as a user library:

1. Delete all Yaskawa Data Type files from the main project.

2. Add the Y_Motion firmware library to the main project.

Add the following toolboxes to the main project in the order in which they appear. The minimum versions

are given in Figure 1 below:

1. DataTypes_Toolbox_v200

2. Math_Toolbox_v202

3. Yaskawa_Toolbox_v204

4. PLCopen_Toolbox_v206

5. Cam_Toolbox_v205

6. Add the Linear Flying Shear ASP project as a User library in the main project.

Figure 1: User libraries added to Linear Flying Shear project

Subject: Technical Manual Product: MPiec Controllers Doc#: TM.MPIEC.02

Title: Linear Flying Shear Application Solution Package for MPiec Controllers

3. Generating Cam Profiles

The user has two options for creating cam tables:

1) Use the LinearShearCamGen function block for the speed matching axis. The function block creates

cam profiles with Tangent Matching segments. If a secondary slave axis exists, create a custom

profile using Y_CamFileSelect, CamGenerator, and Y_CamStructSelect.

2) Create custom cam profiles for the speed matching axis and the secondary axis using

Y_CamFileSelect, CamGenerator, and Y_CamStructSelect. Custom profiles may be necessary for

applications with unique mechanisms where the user desires to create unique cam profiles for the

application.

3 a) Generating Cam Profiles using LinearShearCamGen

Add LinearShearCamGen to a POU running in a slow / low priority task (1000 ms task update).

Figure 2: LinearShearCamGen function block

Parameter

Data type

Description

Default

Subject: Technical Manual Product: MPiec Controllers Doc#: TM.MPIEC.02

Title: Linear Flying Shear Application Solution Package for MPiec Controllers

VAR_INPUT

U* Execute BOOL Upon the rising edge, all other function block inputs

are read and the function is initiated. To modify an input, change the value and re-trigger the Execute input.

U PartLength LREAL Length of the part to be processed. If randomly

spaced parts are to be processed, enter a nominal distance between registration marks.

U MasterSyncPosition LREAL The position of the master in the cam table where

both axes must be moving at the same speed.

U SlaveSyncPosition LREAL The position of the slave axis in the cam table

where both axes must be moving at the same speed.

U SyncDistance LREAL The distance travelled by the slave axis while in

sync with the master. Note that the total travel distance will be greater due to the acceleration and deceleration phase.

U MaxStroke LREAL The maximum allowable stroke length for the

linear slave axis. If the calculated stroke required is greater than MaxStroke, an Error will be generated.

VAR_OUTPUT

F* Done BOOL Set high when the commanded action has been

completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when execute goes low.

F Busy BOOL Set high upon the rising edge of the 'Execute' input,

and reset if Done, or Error is true.

F Error BOOL Set high if error has occurred during the execution

of the function block. This output is cleared when 'Execute' goes low

F ErrorID UINT If error is true, this output provides the Error ID.

This output is reset when 'Execute' goes low

F CamTableID UINT CamTable ID for the speed matching slave axis

* U: Input to be provided by user

FALSE

LREAL#0.0

* F: Parameter generated by the function block

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