Yaskawa
eLearning
You are watching the PLCopen Part 4 Coordinated Motion video tutorial series.
This video shows how to configure the groups of an MPiec controller for a
two-dimensional gantry mechanism.
Hi! I'm Matt Pelletier
Here's a quick preview. In the Hardware Configuration first you add a group, assign axes to the mechanism,
and define any other options.
Save and the project will be ready to program with PLCopen Part 4 function blocks.
Now I invite you to follow along with me step-by-step through the details
of this process.
For this tutorial you do need to have the class project PLCo4Training and
you should also have MotionWork IEC3 Pro version 3.2 or higher.
A two-dimensional gantry system is one of the easiest to understand so its good
starting point in the world of coordinated motion.
Its basically one linear actuator mounted on another with a mechanical system like this you have
motion in the Cartesian coordinate system where one servo controlled motion
in the x-direction in the other controls motion in the y-direction.
PLCopen Part 4 means the controller can coordinate the motion between these two axes
and this allows the gantry system to trace out both linear and curved paths.
So let's set up the system and the first step is to go to the Hardware Configuration.
Now the 11 steps that I'm gonna go through are outlined in the Quick Reference Guide
and we already did step 1 and 2 in the previous video.
We went online and sent to the project configuration and looked at the axes
configuration for the units.
So we are at step 3 which is to go offline and a group.
With the hardware configuration offline you can go to the hardware tree and click on Groups
and use the button Add Group.
The default name can be changed to
a more fitting group name, in this case GantryXY.
Hit enter and that updates the group name in the tree.
Now click on the group in the tree
and you choose the mechanism type.
Ours is 2-D gantry.
At this point the controller supports other types of mechanisms like 3-D gantry,
4-D gantry, two types of H-Bots and two types of T-Bots.
The controller can handle these different types of kinematics for these setups but we're
gonna stick with 2-D gantry for this example.
Next you assign the axes for the X&Y coordinate system.
Just click on the axis name and it's pretty obvious here
we have the x-axis and the y-axis.
And if you're curious about this "Add Secondary Axis",
you see that added the Y primed axis.
This would mean that two servos are involved in
moving the mechanism and they're mechanically linked.
We'll reserve that discussion for another eLearning video.
For now I'll just remove that one you
And now up here at Enable Global Group Data, there is a check box which normally remains
checked and an I/O Task Assignment for that variable which can also remain at
the FastTsk.
The Global Group Data refers to a variable that will be
created with the name of your group and the I/O Task Assignment just defines how
fast this data is updated to the controller.
You can always optimize this later if you need to.
There's a tab for Joint Limits.
This allows you to set maximum and minimum positions for each axis.
You don't have to use this so I'm just going to leave it blank.
Now all that's really left is to save this configuration and send it to the controller.
But I do want to show you what to saving does here.
So we're still offline and I will now save the configuration.
You can see the global variables are being created.
And four libraries have been added,
YCoordinatedMotion, Math_Toolbox, PLCopenPart4, and Group_stub.
The most important library is PLCopenPart4.
And also important is this Global Axes Group data variable that has been created.
And this Axes Group ref variable will be important to use if you want to use the PLCopen Part4
blocks... such as... MC_MoveLinearAbsolute. A quick look at the Help here, you see
there's an Axes Group.
And so we'll do more of that in the next video.
And besides these variables and these libraries, we also have a change in the
I/O configuration related to this group
So with all these changes, I think you know it's time to remake the project.
Zero errors, that's good.
The group is all set up on this project now we just need to have a controller to
connect to and I'm connected to the MP3300iec demo. And you need version 3.2 firmware or higher.
If you would like remote access to an MP3300iec and Sigma-7 demo,
please request by email to training@yaskawa.com.
You can see how this works in the remote connection eLearning video.
And first we'll need to go to the Hardware Configuration
and send this configuration to the controller.
Check your IP address. Go to the online menu Controller Configuration Utilities
and choose send offline configuration and execute.
You do have to reboot the controller.
Now the controller is rebooted and so you can go back to the project.
Choose Project Control and download this new project.
And do a warm start.
We are now ready for PLCopen Part 4 programming.
And one more thing to point out is that in the configuration
there is help on this process under... Help>Contents
and you see the section here for Group Configuration of Mechatrolink Groups that's what we just did.
So expect this Help File to have the latest and greatest on the mechanism types that we support
and kind of walks you through the concepts that we just went through.
And with that I like to finish this off by saving
the project as a ZWT that we can always come back to.
Save as.. to Zipped Projects and I'll call it PLCo4_GroupConfig.
We can come back to this now at anytime.
Thank you for watching this video and remember yaskawa.com/iec
as a starting point for all of our MPiec controllers and MotionWorks IEC.