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YASKAWA MP2000iec Example Code Manual
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YASKAWA MP2000iec Example Code Manual

YASKAWA MP2000iec Example Code Manual

Linear flying shear on sigma-5 demo using camming
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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
Copyright Yaskawa Electric America ©2009
Doc#: EM.MCD.09.095
July 13, 2009
Page 1 of 21

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Summary of Contents for YASKAWA MP2000iec

  • Page 1 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 Copyright Yaskawa Electric America ©2009 Doc#: EM.MCD.09.095 July 13, 2009...

  • Page 2: Application Overview

    Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Application Overview This document explains how to demonstrate the linear flying shear application with camming on the MP2000iec – Sigma-5 demo box. The algorithm and core program elements are explained in detail.
  • Page 3 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Application Explanation The sample code explained in this manual simulates the linear flying shear application as shown in Figure 1 below.
  • Page 4 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 3: Critical positions on the cam master slave profile Figure 3 details the critical points on the master and slave profiles. The algorithm followed to execute the linear flying shear is shown in Figure 4.
  • Page 5 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 4: Linear flying shear algorithm July 13, 2009 Page 5 of 21...
  • Page 6 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming The phase is calculated by noting the difference in two consecutive latches on a 360 degree cycle. The master distance is calculated as (SSD –...
  • Page 7 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 6: Multiple continuous registrations at unequal intervals Figure 7 is an illustration of a first part detection or part detection after a cam out. It can be seen that at part detection, the master position is 32 degrees.
  • Page 8 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 7: First part detection or part detection after a cam out Demo Instructions: The master axis (Left axis) is configured to be in rotary mode with a 360 degree cycle. (1 rev or motor = 360 user units).
  • Page 9 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 8: Demo case controls for sample program 3) Enable the servos using DI0. Leave DI0 on July 13, 2009...
  • Page 10 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming 4) Flip DI1 on and off. This is to home the slave axis. On starting up, the slave axis is already in its home position.
  • Page 11 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Program Explanation: The various POUs in the sample project are explained in this section. Initialize: This POU runs for the first scan and initializes the axis IDs and other relevant application parameters like sensor to start distance, shift start distance and cycle.
  • Page 12 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Master axis move can be controlled using a MC_MoveVelocity FB. The velocity can be adjusted on the fly using the velocity variable.
  • Page 13 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming memory for cam calculation using Y_CamFileSelect. Window for registration is defined based on actual position on the shear axis using GE blocks.
  • Page 14 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 11 is a screen shot of the logic that executes the MC_TouchProbe FB to capture a registration. The three...
  • Page 15 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming As seen from Figure 13, parameter 1031 is used to capture the raw master position when the latch was triggered.
  • Page 16 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming 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 first part. Figure 17 is the cam in function block to engage the cam at the start location after a shift has been done to the master position.
  • Page 17 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 16: Cam Shift for the first part Figure 17: Cam in function block July 13, 2009 Page 17 of 21...
  • Page 18 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 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 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 19: Total phase shift back to cancel accumulative shifts If a part is detected when the slave is in the window area, the phase shift is calculated based on the difference in master position between two adjacently detected parts on the scale of one cam cycle.
  • Page 20 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 20: Phase shift if part detected while slave is in sync Figure 21: Master distance and phase for shift while slave is in sync...
  • Page 21 Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095 Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming Figure 23 contains logic that displays when the controller is ready to accept new registration inputs. Figure 23: Logic to display ‘ready for registration’ variable...

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