YASKAWA MotionWorks IEC Example Code Manual Download

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Doc#: EM.MCD.09.095 Copyright Yaskawa Electric America

2009 July

13,

2009

Page

Example Code Manual

Example Code Manual for Linear Flying Shear on MP2000iec

Sigma-5 demo using Camming

Applicable Product: MP2000iec, MotionWorks IEC

Yaskawa Electric America

2121 Norman Drive South

Waukegan, IL 60085

1-800-927-5292

Summary of Contents for MotionWorks IEC

Page 1: ...July 13 2009 Page 1 of 21 Example Code Manual Example Code Manual for Linear Flying Shear on MP2000iec Sigma 5 demo using Camming Applicable Product MP2000iec MotionWorks IEC Yaskawa Electric America...

Page 2: ...with camming on the MP2000iec Sigma 5 demo box The algorithm and core program elements are explained in detail Application Highlights Industry Automation industry using electronic camming for registra...

Page 3: ...manual simulates the linear flying shear application as shown in Figure 1 below The conveyor is the master The ball screw unit is the slave that cams to the master axis based on a registration mark T...

Page 4: ...triggers a shift in the master position such that the start of the cam cycle comes by when the registration mark reaches the slave home position after covering the sensor to start distance SSD Once th...

Page 5: ...ample Code Manual Product MP2000iec Doc EM MCD 09 095 Title Example Code Manual for Linear Flying Shear on MP2300Siec Sigma 5 Demo using camming July 13 2009 Page 5 of 21 Figure 4 Linear flying shear...

Page 6: ...is shown in Figure 5 Figure 5 Implementation of cam shift Figure 6 is an illustration of continuous part registration at unequal intervals Shift one is executed for the first latch registration seen...

Page 7: ...part detection the master position is 32 degrees Sensor to home distance is 180 degrees This means that the cam cycle will have to start when the actual master position is 32 180 212 degrees This fir...

Page 8: ...0 degree cycle 1 rev or motor 360 user units The slave axis is configured as a linear axis with 1 rev of the motor 100 mm of linear travel 1 Make sure the servo axes on the demo case are tuned for imp...

Page 9: ...MP2000iec Doc EM MCD 09 095 Title Example Code Manual for Linear Flying Shear on MP2300Siec Sigma 5 Demo using camming July 13 2009 Page 9 of 21 Figure 8 Demo case controls for sample program 3 Enabl...

Page 10: ...ees distance from sensor to shear s home from where the mark was seen and then start the cam profile The slave axis travel one way is 250 mm or 2 5 revs on the demo When the slave passes 30 mm travel...

Page 11: ...nd cycle Enable The Enable POU controls the enabling of the two axes There is a reset alarms control in this PO Monitor The Monitor POU has function blocks that monitor parameters like master position...

Page 12: ...13 2009 Page 12 of 21 Master axis move can be controlled using a MC_MoveVelocity FB The velocity can be adjusted on the fly using the velocity variable The master is brought to a stop using MC_Stop Fi...

Page 13: ...al for Linear Flying Shear on MP2300Siec Sigma 5 Demo using camming July 13 2009 Page 13 of 21 memory for cam calculation using Y_CamFileSelect Window for registration is defined based on actual posit...

Page 14: ...three scenarios in which it needs to be triggered are a when the machine is started the first time master in velocity b When the cam is engaged but the window feature is active c When the cam is acti...

Page 15: ...lculating the modular master position corresponding to the raw master position The modular master position is required to make a shift when a part is detected when the slave is not synchronized and at...

Page 16: ...sing camming July 13 2009 Page 16 of 21 Figure 15 Calculating the master distance and phase shift for the first part in production Figure 16 details the logic for executing the cam shift block for the...

Page 17: ...l Product MP2000iec Doc EM MCD 09 095 Title Example Code Manual for Linear Flying Shear on MP2300Siec Sigma 5 Demo using camming July 13 2009 Page 17 of 21 Figure 16 Cam Shift for the first part Figur...

Page 18: ...ure 18 Logic to decide on cam disengage Figure 18 shows the logic to determine if a cam out needs to be executed A cam out is executed if no part is detected within the window of an existing cam cycle...

Page 19: ...hift is calculated based on the difference in master position between two adjacently detected parts on the scale of one cam cycle This position difference will be the shift to be incorporated in such...

Page 20: ...for Linear Flying Shear on MP2300Siec Sigma 5 Demo using camming July 13 2009 Page 20 of 21 Figure 20 Phase shift if part detected while slave is in sync Figure 21 Master distance and phase for shift...

Page 21: ...xample Code Manual for Linear Flying Shear on MP2300Siec Sigma 5 Demo using camming July 13 2009 Page 21 of 21 Figure 23 contains logic that displays when the controller is ready to accept new registr...

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