1. Welcome to Yaskawa Electric America’s Training Café Express
Today’s Topic is
Advanced Camming Made Easy
With
Cam Toolbox
iec
Audience: Channel Partners, Reps, Customers and Associates
Hosts: Kevin Hull and Doug Meyer
Date: March 19, am-12Noon CDT

2. Housekeeping Items
To make this Café enjoyable for all, please follow these tips on web class etiquette.
Please do not put us on hold. Others will hear the hold music.
Do not use a speaker phone. Background noise can be heard. Please Mute Yourself when not contributing to the discussion. (Press *6* to mute and unmute your phone)
Don’t be shy, we welcome comments and questions. You can also type questions into the “CHAT” window. Please send to Host, Presenter and Panelists if you choose this option.
The presenter will try to stop between sections to answer any questions that build up in the Chat window.
Questions not answered during the Café can be ed to or can be entered into the survey sent to you at the end of the class.

3. Agenda Part 1 – Sales Agenda (10:00am – 10:45am CDT) Toolbox Overview
Yaskawa Camming Implementation
PLCopen
Execution in Motion Engine
Cam Toolbox functions
CamToolbox Focus
CamGenerator
Profile calculation and update on the controller
CamBlend
Enhanced engage / disengage functionality
Suitable Applications
Competitive Comparison
Q&A

4. Agenda Part 2 – Technical Agenda (10:45am – 12 Noon CDT)
Example Application
Rotary Knife (flying cut-to-length)
CamTool Refresher
Old school way to enter data
Review of IEC Datatype Structures
Why they are useful and powerful
How they are implemented
CamGenerator
New school Profile calculation on the controller
CamBlend
Enhanced engage / disengage functionality

5. Automation Hierarchy “The Machine” Mechanical linkages & actuators
MotionWorks IEC Project
Motion Engine (firmware)
Software
Machine Controller
Servo Amplifiers
Machine Control Network
Sensors & solenoids
“The Machine”
Mechanical linkages & actuators
Servo Motors
Hardware (BOM)

6. Implementation Time
A clear machine-building trend has been to replace mechanical machine control elements with electronic elements – replace Hardware with Software. This has shifted the time required to implement each element and consequently shifted the focus for enhancing productivity and efficiency.
Mechanism-centric
Electronic-centric
Controls
Mechanics
Block of Time
Controls
Mechanics

7. Automation Hierarchy “The Machine” Mechanical linkages & actuators
MotionWorks IEC Project
PLCopen Function Blocks
Toolboxes
Customized
User functions
Machine Controller
Servo Amplifiers
Machine Control Network
Sensors & solenoids
“The Machine”
Mechanical linkages & actuators
Servo Motors
Motion Engine (firmware)

8. Application Toolbox Kickoff
Announcing Yaskawa’s Application Toolboxes
This webinar serves as the official kickoff to promote the Application Toolboxes as a sales tool.
Almost two years in the making
Supporting documentation created
Web page updated
MP2000iec product page
Link to “Application Code Toolboxes”

9. Express & Pro Versions
New Manual
No login required!
New Web Page

10. Inserting User Libraries
Basic Steps…
Download from
Extract in MotionWorks IEC
Open Your Project
Insert User Libraries
Your Project
User library functions
Firmware library functions

11. Why Yaskawa created toolboxes
Toolbox Summary
Why Yaskawa created toolboxes
While PLCopen function blocks provide a basic to moderate level of built-in functionality, nearly all applications still require an extra level of programming and integration for robust and reliable operation.
Our goal is to provide the highest level of support for the MP2000iec controller products, so we created additional functions that provide the machine builder or integrator with a range of commonly required code sequences to further reduce development time.

12. What's included? What’s the benefit? Toolbox Summary 5 toolboxes
12 datatypes
41 functions providing enhanced functionality
And the list keeps growing
What’s the benefit?
Reduced development time anywhere from one hour to one week per function used.

13. What’s the cost? Toolbox Summary They’re FREE
We offer these tools at no charge to help our channel partners, integrators, and customers become more successful.

14. What’s the future for Toolboxes?
Toolbox Summary
What’s the future for Toolboxes?
We will continue to add more functionality.
We encourage users to submit their own time saving functions to be included in the application toolboxes. Please to
We envision an IEC code sharing community were users can share ideas with other.

15. Camming Implementation
Yaskawa’s Approach to Camming
PLCopen standardization
Global Compatibility
Yaskawa Expertise
Execution in Motion Engine
High Speed and Deterministic
Value-added functions
Enhanced Performance and Ease of Use

16. PLCopen, Cam Selection (ID number)
Application Task Rate
Mechatrolink Update Rate

17. PLCopen, Engage/Disengage
Simple PLCopen blocks to engage/disengage cams
Simple references to which axis is master and which is follower
Uses Cam TableID number as a reference to the data table
Engage/Disengage types
At Position
Immediate
Linked / End of Profile
Periodic (repeating) or Non-periodic

18. PLCopen, Adjust Simple PLCopen blocks to adjust running cams
References to which axis is master and which is follower
Identical blocks except for 1 input – Shift, Offset, or Scale
Adjust Modes
Over master distance
Over time duration
Within a master position window

19. Execution in Motion Engine Mechatrolink Update Rate
Cam Block Diagram
Execution in Motion Engine
Application Task Rate
Mechatrolink Update Rate

20. Cam Toolbox Functions 8 main functions
CamGenerator allows user to redefine and calculate cam points on-the-fly
CamBlend seamlessly links 3 cams together to smoothly start and stop cams with running masters
CamSlave_FeedToLength makes cammed corrections for registration marks
SlaveIndex_Lookup provides a tool for e-stop recovery
More detailed information in Toolbox User Manual

21. CamGenerator Function Features
Calculates all cam points on specified curve, given the segment endpoints and curve type
Features
Eliminates need for CamTool
4 supported curve types in v002
Linear
Simple Harmonic
Tangent Matching
Tangent Blending
Operates within application program

22. CamGenerator
Step1 – Name the cam (i.e. “RunningCam”), as datatype CamSegmentStruct
Step2 – Define the Segments. Easiest to do in ST

23. CamGenerator Step3 – Feed the cam data into the CamGenerator FB
Step4 – Feed the generated cam table into the Select FB to load the table in the motion engine and return the ID number
Done! Ready to Engage

24. CamBlend Function Features
Blends RampIn, Running, and RampOut cam profiles together
Features
Best used for 1-way cam applications such as Rotary Knife where the master does not necessarily start from 0 speed
Combines three CamGenerators, Y_CamStructSelects, and Y_Cam_In functions internally with appropriate interlocks to ease the programming task

25. A typical application for a 1-way cam
CamBlend Application
A typical application for a 1-way cam
Rotary Knife
Could be a 1:1 speed relationship, but only if the product length is exactly the same as the circumference of the knife. (doubtful)
180º 0º
345º
15º
10” Circumference
8” Product

26. CamBlend – Rotary Knife
cut
Knife goes faster at TDC when product shorter than knife circumference

27. Competitive Information

28. Competitive Information

29. Competitive Information

30. Recommended Sales Approach
Camming is not unique. Differences are more subtle.
Yaskawa created the Cam Toolbox to be more competitive and to help implement Yaskawa’s performance advantages on customer’s machines more easily.
Ask the question “Can competitor do this?” If no, then use the opportunity to educate. If yes, then show how we do this effectively and easily.
Look for ways we can do what they need with pre-written tools. (CamGenerator, CamSlave_FeedToLength)
Leverage the Toolbox Manual
Leverage the eLMs and eLVs found in Training section

31. Questions and Discussion
Sales Overview Q & A
Questions and Discussion
The Technical Session will begin at 10:45am CDT.

32. Motion Control Division Yaskawa Electric America, Inc.
Advanced Camming Made Easy with Cam Toolbox using CamGenerator & CamBlend Technical Details and Implementation
Hello, I’m ??????????????????
I work in the ????????????? At Yaskawa……
Hand out business cards, make quick map of who’s sitting where.
Motion Control Division
Yaskawa Electric America, Inc.

33. Topics Part 2 Typical Application CamTool Refresher
Structure Refresher
CamGenerator
On-The-Fly Cam Changes
Cam Blending
Modular Approach to Coding

34. First, lets consider a typical application
Focus Application
First, lets consider a typical application
Flying Shear
Could be a 1:1 speed relationship, but only if the product length is exactly the same as the circumference of the knife. (doubtful)
180º 0º
345º
15º
10” Circumference
8” Product

35. Requirements Focus Application
Start and stop knife while the web is moving
Calculate a smooth path for knife rotation
Provide for variable part length

36. Focus Application Flying Shear (Running) Speed Matching Region 180º 0º
15º
345º
Speed Matching Region

37. CamTool software refresher
Set Style
Set Parameter
Resulting CDD or CSV file
Data Transfer to MP2000iec

38. CamTool Data Entry 1 2 3

39. CamTool Process Enter Axis Details Enter Cam Data Save As CSV Download
File
Y_CamFile
Select
No Changes Or
Start Over

40. CamTool
Limitation
No easy solution for applications that require changing the motion profile based on part length or recipe information.
Must go back to CamTool, change the data, and then transfer a new CSV file to the controller using the web server or HTTP file transfer.

41. Structure Review
Before describing a better solution, first a very quick review of structured data types.
A structure is a complex data type consisting of simpler data types, or other sub structures
Helps to organize data
More flexible
Easier programming when complex data involved.

42. Example Structure Review Personal Details BirthDate SSN FirstName
LastName
City
State
Zip

43. Benefit: Structure Review
Step #1
Benefit:
Easier to add data for any number of “people.”
Easier to write flexible, powerful code.
Step #2
Step #3
Step #4
Step #5

44. CamGenerator Function Block
Block Functionality
Inputs and Outputs
Demonstration
Step #1a
Step #1b
Step #1c
Step #2
Step #3

45. Entering the Cam Data CamTool… MotionWorks IEC… Fixed Variables
Step #4

46. CamGenerator Supported Curves as of March 2010 Cam Toolbox v002
In Development
For v003

47. Use two cam tables On-The-Fly Changes
One will be actively running the motion
One will be “on deck” to take new changes
Write Table 1
Write Table 2

48. Suitable Applications
Applications that synchronize axes with a variable product size …
Rotary Knife
Linear Flying Shear
Thermo Formers
Press Feed
Insertion Machines
And Many More…

49. CamBlend Function Block
Contains three Y_CamIn blocks, a Y_CamOut block and the supporting logic to switch tables based on the BlendData supplied.
Block Functionality
Inputs and Outputs
Demonstration
This function makes it possible to ramp a slave axis up to synchronization speed by managing three tables and switching between them on the fly.

50. Focus Application Flying Shear (Running) Knife is stopped at TDC
180º
Flying Shear
(Running)
Knife is stopped at TDC
Normal cam profile will cause infinite acceleration when starting process.
15º
345º 0º

51. CamBlend – Rotary Knife
Master
Position
cut
cut
cut
cut
cut
Slave Speed
Profile #3
Profile #3
Active Profile
Profile #2
Profile #2
Profile #1
Profile #1

52. CamBlend – Rotary Knife
cut
cut
cut
cut
cut
cut
Knife goes faster at TDC when product shorter than knife circumference

53. CamBlend – Rotary Knife
cut
Speed match for one cycle

54. Rotary Knife Setup 180º 0º SyncAngle EngagePos KnifeA KnifeB PartA
PartB
SyncZone
RampIn
SwitchOverPos
RampIn
SwitchOverPos

57. Modular Code Concept

58. Five separate Toolboxes available on www.yaskawa.com
Review
Five separate Toolboxes available on
Built-in cam features can be enhanced further with the addition of Toolbox functions such as CamGenerator and CamBlend
Modular code concept allows rapid implementation in a variety of applications
Pyramid effect, build function upon function

59. Thanks!