Yaskawa
eLearning
You are watching the PLCopen Part 4 Coordinated Motion video tutorial series.
This video shows how to load the class project onto the demo.
Hi! I'm Matt Pelletier
Here's a quick preview of what we'll do in this video.
First open the class project in MotionWorks IEC
and we'll overview of the project features
then I'll show you a little bit of the hardware configuration
and once you have access to a demo you can go online and save this
configuration to the controller and servos.
Then you can run the project and test out the basic functionality, such as jogging and setting zero.
While these steps are not specifically related to PLCopen Part 4,
using this project will quickly get the demo system operational so that you can follow along
in the upcoming videos of this tutorial series.
So I invite you to start up MotionWorks IEC 3 and follow along.
You do need to have MotionWorks IEC 3 Pro version 3.2 or higher
you can download this software at yaskawa.com/iecsw
and use the latest release of MotionWorks IEC version 3 for up to 30 days for free.
And then we need to open up the class project.
The project is called PLCo4Training.
You can find the project on yaskawa.com by searching for this name.
You can unzip that
and here we typically present No to choose the folder where you'll unzip it to
and navigate to wherever you'd like to save it and Save.
You can click No to the datatype overwrite prompt if you get that.
And I'll just start with a quick tour of this project.
This is virtually the same near default project as used in the PLCopen Basics training.
However it's been modified for the MP3300 IEC and Sigma-7 demo hardware.
The older MP2300iec controllers do support PLCopen Part 4.
But for these videos we'll use the MP3300iec.
Under libraries the YMotion firmware library has been added
and it does have the latest Toolbox libraries that you would get when you start a new project
with version 3.2.
There's nothing in the Data Types folder and under Logical POUs we have some various
functionality for single axes, running in the tasks here.
Under global variables you can see we have the axes here where the Data Type
normally is
AxisRef we've changed that to AxisStruct for both the x-axis and the y-axis.
To fit the project in each of these variables has been initialized with some
multi-element variable initialization.
Now from here let's move to the Hardware Configuration
And this one is set up here under Mechatrolink-III to have three axes,
The three axes found on the demo.
We'll be focusing on using just the X&Y axis for this gantry
system that were simulating.
And the gantry has not yet been configured.
That will be the next video where we'll show you how to add the gantry as a group.
You also a few virtual axes.
And for each of these axes we have done very little configuration.
We've just set the feed constant to 360.
That's 360 units which are set to millimeters in this Linear system.
And that will just make it easier for us to visualize where each of the axes will be.
A couple other changes here
under I/O we do have the Over Travels both set to Off.
And under All Parameters you can see that we have a parameter selection here to apply single-phase power
That's just for this demo to operate properly.
And the other axis is configured the same way.
So for this next part now will need to connect to the controller
if you would like a remote access to an MP3380iec and Sigma-7 demo
Please request by email to training@yaskawa.com.
You can see how this works in the Remote Connection eLearning video.
So I've established a connection here to my controller and
you should verify that you're running firmware version 3.2 or higher.
Here's the live feed of the MP3300 IEC and Sigma-7 demo.
We've got the dual-axis amplifier running these two motors we're calling X and Y
and the single axis amplifier runs the motor on the right axis Z which were not using.
We're also not using the VIPA I/O module.
and both of the servos are networked over Mechatrolink-III to the MP3300iec controller.
The dual-axis amplifier is set for network nodes three and four.
While the single axis amplifier is set as node 5.
Alright so now from within Hardware Configuration you'll need to set your IP address to whatever you have for your controller
and simply connect to go online.
And you're likely to see some configuration differences here
the most important thing that you do is just use the Offline configuration
and that's gonna send both the amplifier parameters and the configuration.
So it's important to do it this way.
Now all we need to do is Save while you're online,
and when that completes just follow the directions here of cycling power.
So click OK and then you can go to Online>Reboot Controller
and wait for that to complete.
Now the controllers rebooted and I can even see the Ready light is on.
So we can close the Hardware Configuration and go back to MotionWorks IEC
and Make this project.
You expect to have zero errors since we've not changed anything in the project.
Let's go to download this through the Project Control Dialogue
and for this controller you might want to click the More button first
and during development I tend to save some time by
unchecking Permanent as Bootproject and Include Sources.
It does mean that if you reboot the controller you'll have to download again that's about it.
So set those options however you want, close it, and then click Download.
And you may see a message that a warm start's not possible
So for this first time we'll do a Cold start....Stop.... and then a warm start
because we do have to be sure that all the variables initialize and the Start
Initialize program does run.
Okay we can close this resource and go to Debug mode
Close these variables. And the POU you'll use the most here is the HMI_I POU.
Scroll to the top there.
This where you can enable the X&Y axis and the easiest way to do
that is to go to the Online menu and choose Toggle Boolean Values.
Now I'll adjust my window so I can see the demo off to the side
and click to turn on servos X.
That's confirmed by the amplifier front panel display
and Y
down to rung 006 and click to jog X forward.
Click to stop and click to jog reverse.
And I'll back it up so the zero mark is about at the middle.
And now the same for the Y axis.
Down in the Watch tab you can see the actual position
and although the servos are at position zero the feedback position is not at zero.
So scroll down to rung 013
and we'll click to set the zero-point.
Now the actual positions are zero.
This is the basic operation of the class project.
Thank you for watching this video and remember you can always go to
yaskawa.com/iec as a starting point for everything related to the MPiec
product line and MotionWorks IEC