Yaskawa
eLearning
You are watching the PLCopen Basics
Video Tutorial Series
This video shows how to load
the Class Project onto the demo.
Hi, I'm Matt Pelletier
and for this tutorial I'm assuming that you have
successfully connected to the controller
so now we need to get the demo up and running
let me give you a quick preview of what we'll do
you'll open the Class Project
in MotionWorks IEC
and then use the hardware configuration
to go online and save to the controller and servos
you need to do this because the controller's
likely to have been altered by a previous user.
I'll show you a little bit of the Hardware Configuration
and also want to overview the Project Features
also you should be sure that you can run
the project from your PC
and to use the HMI POU in
Toggle Moolean Mode
as in I/O Interface
after this setup we'll be able to jump
right into PLCopen Motion programming
with very minimal Yaskawa specific hardware details
but if you're trying to do this with your own hardware
and you still need to set it up,
I would like to refer you to our
Quick Start Video Series
You'll need to be able to follow along with me
so there are three requirements:
number one, you need to have controller connected
and I'm using the Secomea LinkManager
remote connection and I've connected it
number two, you need to have
the Class Project downloaded
I've got the MP2200s with MotionWorks IEC Pro 3
and that's the third requirement is
you do need to have our software
MotionWorks IEC Pro version 3
So the first step is you need to open up
this Project File that you downloaded
and if you didn't download it
you can get that from the training schedule
and find the class that you're in
and look at the class description
for the class that you're in
this isn't the class, but we'll have a link in
this PLCopen class
so it open it the best way is to
Open MotionWorks IEC and then go to
Open Project, navigate to your Download location
and then Unzip it
now it's asking you do want to Unzip it
to the same folder
in my case I don't want to unzip it
into the download folder, so you click No
to select another folder
and you can navigate to the default directory
which is C > Users > Public > Public Documents >
MotionWorks IEC 3
I'm in and Projects
so it we'll just stick with the default here
and Save it
if it ask you about Toolboxes
you can click No to all
don't need to overwrite any Toolboxes
and now the project is Open
this should be very familiar to you
if you've been through the IEC 61131
Basics Training
Now we need to get this project's hardware
configuration on to the hardware of this demo.
To do that, Open up the hardware configuration
and type in the connection IP address
of your demo if you don't remember that
you can go to your LinkManager console
and see what you're connected to
15.23 is mine and then connect
and you may or may not get this
Configuration differences detected
if your project happens to have the exact
same configuration as what's already on
the controller you won't see this
but it's very likely that you will see this
and so we want to use the project's
Offline Configuration
so click on the left hand side
and now while we're still Online
you need to Save
you may be presented with this Task dialog
you can just click OK
So this is Saving the Configuration to the Controller
which uses XML files and it's also saving to
the drive's parameters.
So the machine must be power cycled
you can click OK
it's very easy to do that under the
online menu
just choose Reboot Controller
that's essentially the same as Cycle Power
so click Yes
and you can even look at that happening
here in the video window
you'll see this is the ready light that at the top left
and it turns off
during the reboot which takes
about 30 seconds.
So now I know the reboot is completed
I see the ready light here is ON
and so we are done with the hardware configuration
but I would like to give you a very quick overview
of what's going on in here
and more details are given in other
eLearning modules.
This project is very close to
the default that you get with
the default New Project
and this is the MP2300s IEC Controller
and we have these two servo axes
we're calling the one on the left here
the Screw, so we'll be representing these
as the Ball Screw or some type of Linear motion
and a Rotary motion here on the right
and I've set up the units of them to be the same
where a 360 Units per rotation
and then the same information is also
on the Rotary axis
except we have the Load type as Rotary
with a machine cycle of 360
which allows the position to be
modulated we'll get more into that later
and we also have a Virtual axis
which I've given similar units to
now if you're using the MP2600
then of course it has just one axis
now back to the real axes
I've made only two changes
from default one of them is the I/O
I've set the Overtravel signals to OFF
so it should somebody come by then you won't be stuck
and unable to move due to the
limit switch Overtravel
I've also changed the Absolute Encoder
to Incremental mode which means that
the position will reset back to zero
any time you reboot the controller
and so that just simplifies that hardware
feature for us to be able to focus on
PLCopen programming.
So that's about all that
we need to look at right now
for the hardware configuration
so we can Close it
and now I'd like to give you
a little tour of the project
This project is very close to the default
given by the New Project Template
when you choose File > New Project
and choose the Controller that you want
almost all of this will be given to you
and the first thing you might notice
is that there are both Firmware libraries
for PLCopenPlus
which gives all the PLCopen
Motion Control commands
as well as a few additional
Yaskawa Motion Commands.
We have the Datatypes Toolbox
which is a library created by Yaskawa
that has really no code
just all of the basic data types
that we'll need for PLCopen
we have PLCopen Toolbox
that's another User Library
which gives us a whole bunch of Function Blocks
that give higher-level functionality beyond PLCopen
and so we'll be showing you in this
training course how to use some of these.
Notice there are no Project Data Types
and under Logical POUs
each of these four are given as part
of the template and they're all blank
except for this one called HMI_I
and so I'm going to double-click to open it
and this is going to be the Toggle Boolean Interface
so that since you can't come
through and flip switches like you would
if you were here in a live class
you'll be able to do the equivalent
by clicking on these contacts
we'll have you try that here pretty soon
you'll notice that there is a
Function Block called YTTS_Toggle_1
and that I've put in this folder here
called YTTS_Toggle you can double-click on it
if you want to look at the code all it does
is you just click on the Input
and the Output Q
toggles from being ON to OFF
so it will change this Input from being
momentary to toggle
and you'll see that the Output to each of
these rungs is a Global Variable
I've stuck with the G_ prefix
for all these Global Variables
and so you'll be able to use these Global Variables
to trigger different PLCopen Function Blocks
in the upcoming video tutorials
and so speaking of Global's
that leads me to the Global Variables List
start at the top here
besides the System Variables
you'll notice that there's a group of variables
for each of the hardware pieces
the Screw,
the Servo, the Rotary Servo
and the LIO-01, the I/O card
and so you'll see these are all
populated automatically
by that hardware configuration when we Save
so any of these Variables will be coming straight
in or straight out to those devices
and then I have created some User Variables
which are essentially just these
Global's used in the HMI_I POU
which I didn't mention before
it's running in the SlowTsk
so with that little tour
let's Make and Download the project
this should be familiar to you
click Rebuild or Make
and then in your project control
that IP address should be set up already
so you have communication
and you'll click Download
don't do Download Changes
because this is the first Download
and it'll probably want to include the
Boot Project so that if you ever reboot
you still have the project again
and then click Download
and here's we get an idea of the speed
of your connection
it said Warm Start was not possible
there comes the Boot Project
if you have a fast connection this will be really quick
and if your Internet connection is slow then
that may take a little while
so now our controller has this project
so I'd like to show something here
I've uncovered the controller
and it's Ready light is
on the top left and then right next to it
is the Run light and we can't read it
but very similar to the PLC simulator
that we used in MotionWorks IEC Basics
here when we click Cold start
you'll see that that Run light turns ON
and if you Stop the PLC
then that Run light turns OFF
so that's a good one to keep an eye on
because if this is OFF
then you know you're not running your
resource, not running your controller
so keep that one running and
usually a Warm start is enough
that Cold start may be required
if the memory was cleared
or if you switch projects
and then we always recommend you
close this resource
cut down on the network traffic
and I'll go back to Full screen
and as you've done many times
in the other class you can
turn on Debug mode
and now you can interact with this
and to make this work the way it's intended
you will go to the Online menu and turn on
Toggle Boolean Values
you can click on these Inputs
and that latches on the Global Variables
and it will be writing code to take
those variables to initiate Motion
and turn on the servo
this output does retain
so if you ever were to Stop and Warm start
it's not cleared
that's intentional
and so in the place of the Switch panel
you'll be able to use this panel
of course right now this has no function
these are just Variables turning ON and OFF.
So thank you for your attention and
I hope that you've been able to follow along
and connect to the demo,
connect to the controller,
and run this Class Template Project.
you