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Yaskawa Electric America Camming Overview with MP2000iec / MotionWorks IEC TP.MCD.09.088

iec. Yaskawa Electric America Camming Overview with MP2000iec / MotionWorks IEC TP.MCD.09.088. Camming Overview Core Concept Six Essential Camming features Data Management Function Blocks Parameters Engage Modes Adjust Modes Block Diagram. Highlights. Camming Overview.

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Yaskawa Electric America Camming Overview with MP2000iec / MotionWorks IEC TP.MCD.09.088

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  1. iec Yaskawa Electric America Camming Overview with MP2000iec / MotionWorks IEC TP.MCD.09.088

  2. Camming Overview Core Concept Six Essential Camming features Data Management Function Blocks Parameters Engage Modes Adjust Modes Block Diagram Highlights

  3. Camming Overview • Mechanical Origin • Shaft rotation • Represents the master • Typically a 360° cycle • Linear motion • Position is dictated by the angular position of the shaft • Lots of limitations with mechanical cams

  4. Camming Overview 360 360 3.00 3.00 Slave Position Master Position 0 0 0 Time Repeat • Core Concept • Electronic Camming controls the positional relationship of two axes

  5. Camming Overview • Camming Functional Topics • Master / Slave lookup table is the core with these surrounding topics

  6. Camming Overview On the Surface…. • 10 Function blocks • Firmware Library PLCopen-v_2_2 • All functions customized by Yaskawa • Based on: • PLCopen specification • Previous controllers cam technology • Decades of synchronized motion experience • The cam engine operates at the Mechatrolink update rate. • Camming performance not dependant on application scan rate.

  7. Camming Overview Below the Surface…. • Camming Block Diagram

  8. Camming Overview • Function Block Breakdown • 4 functional topics

  9. Cam Data Management Common Theme: CamTableID

  10. Cam Data Management • Two basic methods for loading cam data • Externally generated • Internally generated • These functions are only required once per power up. • If the same cam is disengaged and re engaged, the CamTableID remains valid until Y_ReleaseCamTable or power is cycled.

  11. Cam Engagement

  12. Cam Engagement • Cam Masters • Virtual • External Encoder • LIO-01, LIO-02, LIO-06 • Quadrature pulses only • Another Mechatrolink Axis • Programming is identical regardless of master type. AXIS_REF function block input is a logical reference.

  13. Cam Engagement • Engage Modes • ‘AtPosition’ is ideal if the master is already moving. • ‘Immediate’ is best in situations when the master is stationary, and the slaves cannot wait idle for the master to move a portion of the cycle, such as during E-Stop recovery.

  14. Cam Engagement • Starting the process 1440 1080 720 360 0 360 360 360 360 0 0 0 0 0

  15. On-The-Fly Adjustments Master Slave • Shifting • Master Side Adjustment • Useful when a registration mark detects products on the master axis • Slave pattern is unchanged Shifting is a controlled slippage of the red cam lobe on the black shaft

  16. On-The-Fly Adjustments 90 degree shift 180 degree duration

  17. On-The-Fly Adjustments • Scaling • Slave Side Adjustment • Simple Multiplier on all data points • Slave pattern can be magnified or reduced. No way to do this on a mechanical cam!

  18. On-The-Fly Adjustments Slave Master • Slave Offset • Slave Side Adjustment • Simple Addition to all data points • Slave pattern can will be the same, but repositioned over a different range.

  19. On-The-Fly Adjustments

  20. On-The-Fly Adjustments Finish • AdjustModes • Three types • Master Distance • The adjustment starts immediately and completes when the master has traveled the specified Master Distance. • Within Range • The adjustment starts when the master first crosses the StartPosition and completes when the master reaches the EndPosition. • Time • The adjustment starts immediately and completes within the specified Time (in seconds). • Same Profile • Modified Sine profile sweeps the correction profile from the current to requested adjustment. Built into the firmware Start

  21. On-The-Fly Adjustments Smooth Motion Adjustments

  22. Capabilities & Performance Use parameter 1541, CamTableIDEngaged in cases like this to verify the currently operating profile • Capabilities & Performance • Change cam data on the fly • CamTableID can be changed and Y-CamIn can be re-executed during motion. • Allows for use of multiple profiles with similar, yet different characteristics. • Pick a location where the slave data is the same for a seamless switchover.

  23. Capabilities & Performance • Capabilities & Performance • OPC Cam data transfer • Set the cam data (Y_MS_Cam_Struct) as an OPC variable, and a PC or HMI can send updated cam data to the controller. • Execute Y_CamStructSelect or Y_WriteCamTable to load the new cam data.

  24. Capabilities & Performance • Capabilities & Performance • Hundreds of small cam tables or dozens of large cam tables can be loaded into the controller flash memory. • Exact size dependant on other application data stored in flash, such as IEC 61131 source code. • HTTP file transfer is another method for cam file download. • Useful for PC HMI applications

  25. iec Yaskawa Electric America Thank You! For more information on the MP2000iec Series IEC 61131-3 controllers, visit www.Yaskawa.com/iecsupport.

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