YASKAWA MP2000 Technical Note
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YASKAWA MP2000 Technical Note

YASKAWA MP2000 Technical Note

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Download this manual See also: User Manual
TECHNICAL NOTE
MOTION APPLICATION ENGINEERING GROUP
MP2000 Best Practices Guideline
Subject:
Product: MP2000 Controllers
Status:
Rev 1.1
Summary:
This document is a guide for use to implement Best Practices for programming design
and architecture for an MP2000 controller system. The main topics discussed in this document are
an overview of the design process, followed by three detailed topics of memory allocation, drawing
use, and developing code for motion control.
Format of Information:
The information provided in the topics discussed here are intentionally concise. The appendixes
for the related topics provide information and examples for the user to reference if more detail is
preferred. This document discusses the MP2000 Best Practices in the sequence of normal
application development. The main sections are:
Machine Information Gathering
Selecting a Programming Method
Program Architecture
Memory Allocation
Symbol and Commenting Naming Conventions
Code Development
While it is possible to control up to 256 axes, this document is based on
up to 64 axes being utilized. For applications using more than 64 axes
contact Yaskawa for technical support.
Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085
11/23/2005
(800) YASKAWA - Fax (847) 887-7280
1 of 1
eng/05.055/MCD

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Summary of Contents for YASKAWA MP2000

  • Page 1 This document is a guide for use to implement Best Practices for programming design and architecture for an MP2000 controller system. The main topics discussed in this document are an overview of the design process, followed by three detailed topics of memory allocation, drawing use, and developing code for motion control.

  • Page 2: Table Of Contents

    Sequencing Techniques ........................46 ...................... 48 ULES OTION ROGRAMMING Initiating Motion Program ......................... 49 Interlocking During Execution ......................51 Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 2 of 2 eng/05.055/MCD...

  • Page 3: Document References

    MP2000 Best Practices Global Memory Registration Map (.xls) eng.MCD.05.098 MP2000 Best Practices Motion Language Sample Code (.mal) eng.MCD.05.099 MP2000 Best Practices SVB Ladder Template Code (.mal) (in development) eng.MCD.05.031 Basic Design (.ppt) Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085...

  • Page 4: Mp Machine Controller Programming Best Practices Overview

    Yaskawa: the MP Series Machine Controller. To harness the power of flexibility and performance while maintaining an overall ease of use, Yaskawa also introduces the MP Machine Controller MP Programming Best Practices Guideline.

  • Page 5: Benefits Of Using Mp Best Practices

    An organization layout is provided for memory mapping, variable/tag usage, alarm interlocking, program flow, axis control management, I/O usage, etc. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 5 of 5 eng/05.055/MCD...
  • Page 6 MP Best Practices is not meant to replace open standards, but rather to compliment standards such as OMAC PLC OPEN “function blocks for motion control”. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 6 of 6 eng/05.055/MCD...

  • Page 7: Getting Started - Using The Mp Best Practices Guideline

    Yaskawa technology, allowing them to leverage the unique flexibility of functionality that the MP2000 platform offers, and best align the implementation with the specifics of the application requirements. Understanding the control systems benefits and constraints early in the design process results in a higher probability of successful machine design when merging the controls programming with the application process, lowering risk and overall rework.

  • Page 8: Machine Information Gathering

    Note the sequence of the diagram is in logical development of the application. Brief descriptions of the information gathering steps and references to examples of the steps are located in eng.MCD.05.096, MP2000 Best Practices Information Gathering. Basic Design template example is also referenced in eng.MCD.05.031 Basic Design Template.

  • Page 9: Selecting Programming Method

    These parameters are summarized in the table, Programming Language Grid For High Level Topics on the following page. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 9 of 9 eng/05.055/MCD...
  • Page 10 “Programming Language Grid For Built In Functions” on the following page. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...
  • Page 11 E-Stop Recovery possible possible* possible * ladder coding req. ** with ladder code Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 11 of 11 eng/05.055/MCD...

  • Page 12: Overview Of Motion From Mp Controller Code To Amplifier

    Rotary, Direct Drive, and Linear Motors. The load, coupling, and transmission mechanics further determine overall performance. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 12 of 12 eng/05.055/MCD...
  • Page 13 Network delay can be fed forward at a certain resolution to reduce steady state error of high-speed applications. This is key point for maximum performance! Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...

  • Page 14: Register Interface

    The application program interfaces to the motion network via register interface. These registers are updated each high scan of the processor. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 14 of 14 eng/05.055/MCD...

  • Page 15: Program Architecture

    MP Controller. Drawings Definition Application programs for MP2000 controllers are created using modular sections of ladder logic code called “drawings.” There are four families of drawings: A, I, H and L, organized in a generational hierarchy and denoted in the following chart.
  • Page 16 The update of I/O and parameters as well as understanding drawing execution is critical to code development so that the proper interlocks exist to obtain expected logical results. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...

  • Page 17: Drawing Family Hierarchy And Program Flow

    After reviewing the drawing types, execution and hierarchy, the user is now ready to examine the use of drawings for the machine control application. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...

  • Page 18: Best Practice Drawing Usage

    All code directly pertaining to motion control should be placed here. Examples include: Direct motion register control Motion critical Function Blocks Text-based Motion Programs calls. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 18 of 18 eng/05.055/MCD...

  • Page 19: Mp2000 Best Practice Drawing Architecture

    H25 can optionally be organized by Motion Program number as opposed to Group number. • The maximum number of axes to follow the suggested architecture layout is 64. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 19 of 19...

  • Page 20: Drawing Architecture For A, H, And L

    H30.01 High speed Aux. device 1 (Glue Head #1) H30.02 High speed Aux. device 2 (Diverter Gate #1) Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 20 of 20...
  • Page 21 With the control application outlined, it is now viable to accurately allocate memory for coding the application as discussed in the next section. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...

  • Page 22: Memory Allocation

    MP2000 memory faster. Lastly, having an organized and easy-to-navigate memory map also helps to reduce development time.

  • Page 23: Dregisters For Working Memory

    “#” registers can be read only in the corresponding drawing. The user of the MPE720 specifies the actual range used. Register number nnnnn is expressed as a decimal number. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 23 of 23 eng/05.055/MCD...

  • Page 24: Automatic Address Allocation

    Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 24 of 24 eng/05.055/MCD...

  • Page 25: Disadvantages

    MW0010 thru MW0199 – word data types MW0200 thru MW0299 – long data types MW0300 thru MW0400 – float data types Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 25 of 25 eng/05.055/MCD...

  • Page 26: Symbol Naming & Commenting Conventions

    Use real world names for easy to follow programs. • By putting units in comments, this displays in ladder elements, again for ease of understanding program. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 26 of 26...

  • Page 27: Developing Code

    POT/NOT (positive and negative over travels) Positioning Timeout, Excessive Error, excessive speed Servopack Parameter setting error, comm. error, encoder disconnect, etc Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 27 of 27 eng/05.055/MCD...
  • Page 28 A normally open contact for breaking the latch of the servo on reference MB001001 (Axis 1) is common practice for machine control from using hardwired normally closed stop push buttons. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...
  • Page 29 IW8008 (Axis 1) at the bottom of drawing L20.01 for interlocking the axis commands as above for the axis jog references. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...
  • Page 30 L10. Interlock the production reference with individual axis conditions such as “axis normal” before actually commanding the “production” bit to run. DWG L20.01 Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 30 of 30...
  • Page 31 All axes are idle prevents issuing a command that would expect axis response, such as cycle start. DWG L10.01 Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 31 of 31...
  • Page 32 MOTION APPLICATION ENGINEERING GROUP Auto / Manual Mode Selection DWG L10.01 System Homing Interlock and Control DWG L10.01 Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 32 of 32 eng/05.055/MCD...

  • Page 33: Purpose Of Interlocking Hmi

    It is recommended to limit values from HMI so that errors are prevented (i.e. putting to small/large of value into a register) Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...

  • Page 34: Machine Interlocks

    Before a machine can enable, the state all the axes must be normal and enabled, the safety circuit must be intact and no faults can exist. DWG L10.01 Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 34 of 34 eng/05.055/MCD...
  • Page 35 Before the machine starts cycling in automatic production mode there must exist no faults on the system and the machine must be in the ready to start state. DWG L10.01 Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 35 of 35 eng/05.055/MCD...
  • Page 36 In this example, air pressure is required as well as sensor to detect components are clear. DWG L10.02 1 Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 36 of 36 eng/05.055/MCD...

  • Page 37: Gearing

    32 bit register. These instructions perform “two’s complement math,” which results in the correct answer even as one value crosses the rollover point. No math errors are generated. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 37 of 37 eng/05.055/MCD...
  • Page 38 3. Divide the result of step 2 by A and save the modulus of the division so it can be added in the next scan. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...
  • Page 39 4. Accumulate the calculated slave position in an accumulator register. 5. Map the accumulated result into the slave position command register. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 39 of 39 eng/05.055/MCD...

  • Page 40: Waterfall Technique

    MOTION APPLICATION ENGINEERING GROUP Waterfall Technique Because it is possible to write directly to the motion registers in a Yaskawa MP controller, it is good programming practice to write values to the register in only one place to simplify monitoring or debugging.
  • Page 41 32 bit long accumulator (ex. position reference) DF00030 32 bit floating point accumulator (ex. floating point references) Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 41 of 41 eng/05.055/MCD...

  • Page 42: Modulus Technique

    1. Calculate the master position difference from the last scan Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 42 of 42 eng/05.055/MCD...
  • Page 43 When the modulus is exceeded, set the virtual master to the accumulated scan counts that have exceeded the machine cycle range. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 43 of 43 eng/05.055/MCD...

  • Page 44: Delta Scan

    The results can be multiplied by a given number of Mechatrolink network cycles for speed compensation. This is possible because Mechatrolink network updates are deterministic. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...

  • Page 45: Handling Rollover

    Using ADDX and SUBX always guarantees that the result of the math operation is a valid answer, and no error will be generated. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...

  • Page 46: Sequencing Techniques

    Regardless of the method selected, its recommended to use self-latching bits with the unlatching bits between the branch and coil, not in the branch, as shown below. DWG L10.01 Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 46 of 46 eng/05.055/MCD...
  • Page 47 The completion of the last sequence step should latch a sequence complete bit. Then the step complete bits are reset by the “sequence reset” bit, or if the system changes auto mode the sequence is aborted. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 47 of 47 eng/05.055/MCD...

  • Page 48: Rules For Motion Programming

    MOTION APPLICATION ENGINEERING GROUP Rules For Motion Programming The MP2000 series of motion controllers offer a powerful, yet flexible text-based motion programming language that lends itself well to many applications, especially those that involve linear interpolation or complex motion sequences. As always, the user is free to program as...

  • Page 49: Initiating Motion Program

    All group axis servos must be ON (MB300010 in H25) • All group axes must be in “NOP” (no operation) mode (MB300013 in H25) Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 49 of 49...
  • Page 50 In H25: It is this element (MB300011) that interlocks the starting of any motion program In H25.01: Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 50 of 50 eng/05.055/MCD...

  • Page 51: Interlocking During Execution

    (6 & 7) rungs are false. Therefore the ladder code leaves the OW8008 register unchanged. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 51 of 51...

  • Page 52: Yaskawa Electric America - 2121 Norman Drive South – Waukegan Il

    Include ladder logic to flag the operator (or upper controller or other MP code) that the motion program was halted or alarmed. Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280...
  • Page 53 Ladder logic must exist to RESET any bit that was SET in the Motion Program, in case that program is stopped or begins to execute again. (MB300014 and MB300015 in MPM004, and H25.01) Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 53 of 53 eng/05.055/MCD...
  • Page 54 == 1234) instructions should be used. (Example: Home an axis with absolute encoder [using MOV] and an axis with an incremental encoder at the same time.) Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 54 of 54 eng/05.055/MCD...
  • Page 55 Therefore, the function block’s Reserved Data Area (RDA) is available for Bit Handshaking and data sharing between Motion Programs and ladder code. MP900: MW00100~MW03999 MP2000: MW30000~MW65535 Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085 (800) YASKAWA - Fax (847) 887-7280 11/23/2005 55 of 55...

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