1. Yaskawa Electric America
iec
Yaskawa Electric America
Camming Overview
with
MP2000iec / MotionWorks IEC
TP.MCD
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.
Don’t be shy, we welcome comments and questions. (Press *6* to un-mute your phone to speak)
Questions not answered during the eCafé can be ed to or can be entered into the survey at the end of the class.

2. Six Essential Camming features
Highlights
Camming Overview
Core Concept
Six Essential Camming features
Data Management
Function Blocks
Parameters
Engage Modes
Adjust Modes
Block Diagram

3. Mechanical Origin Shaft rotation Linear motion
Camming Overview
Mechanical Origin
Shaft rotation
Represents the master
Typically a 360° cycle
Linear motion
Position is dictated by the angular position of the shaft
Lots of limitations with mechanical cams

4. Camming Overview
Core Concept
Electronic Camming controls the positional relationship of two axes
Time
Master Position
360
Slave Position
3.00
360
3.00
Repeat

5. Camming Functional Topics
Camming Overview
Camming Functional Topics
Master / Slave lookup table is the core with these surrounding topics

6. All functions customized by Yaskawa
Camming Overview
On the Surface….
10 Function blocks
Firmware Library PLCopen-v_2_2
All functions customized by Yaskawa
Based on:
PLCopen specification
Previous controllers cam technology
Decades of synchronized motion experience
The cam engine operates at the Mechatrolink update rate.
Camming performance not dependant on application scan rate.

7. Camming Overview
Below the Surface….
Camming Block Diagram

8. Function Block Breakdown
Camming Overview
Function Block Breakdown
4 functional topics

9. Common Theme: CamTableID
Cam Data Management

10. Two basic methods for loading cam data
Cam Data Management
Two basic methods for loading cam data
Externally generated
Internally generated
These functions are only required once per power up.
If the same cam is disengaged and re engaged, the CamTableID remains valid until Y_ReleaseCamTable or power is cycled.

11. Cam Engagement

12. Cam Masters Virtual External Encoder Another Mechatrolink Axis
Cam Engagement
Cam Masters
Virtual
External Encoder
LIO-01, LIO-02, LIO-06
Quadrature pulses only
Another Mechatrolink Axis
Programming is identical regardless of master type. AXIS_REF function block input is a logical reference.

13. Engage Modes Cam Engagement
‘AtPosition’ is ideal if the master is already moving.
‘Immediate’ is best in situations when the master is stationary, and the slaves cannot wait idle for the master to move a portion of the cycle, such as during E-Stop recovery.

14. Cam Engagement
Starting the process
1440
1080
720
360
360
360
360
360

15. On-The-Fly Adjustments
Shifting
Master Side Adjustment
Useful when a registration mark detects products on the master axis
Slave pattern is unchanged
Master
Slave
Shifting is a controlled slippage of the red cam lobe on the black shaft

16. On-The-Fly Adjustments
90 degree shift
180 degree duration

17. On-The-Fly Adjustments
Scaling
Slave Side Adjustment
Simple Multiplier on all data points
Slave pattern can be magnified or reduced.
No way to do this on a mechanical cam!

18. On-The-Fly Adjustments
Slave Offset
Slave Side Adjustment
Simple Addition to all data points
Slave pattern can will be the same, but repositioned over a different range.
Master
Slave

19. On-The-Fly Adjustments

20. On-The-Fly Adjustments
Finish
AdjustModes
Three types
Master Distance
The adjustment starts immediately and completes when the master has traveled the specified Master Distance.
Within Range
The adjustment starts when the master first crosses the StartPosition and completes when the master reaches the EndPosition.
Time
The adjustment starts immediately and completes within the specified Time (in seconds).
Same Profile
Modified Sine profile sweeps the correction profile from the current to requested adjustment.
Built into the firmware
Start

21. On-The-Fly Adjustments
Smooth Motion Adjustments

22. Capabilities & Performance
Use parameter 1541, CamTableIDEngaged in cases like this to verify the currently operating profile
Capabilities & Performance
Change cam data on the fly
CamTableID can be changed and Y-CamIn can be re-executed during motion.
Allows for use of multiple profiles with similar, yet different characteristics.
Pick a location where the slave data is the same for a seamless switchover.

23. Capabilities & Performance
OPC Cam data transfer
Set the cam data (Y_MS_Cam_Struct) as an OPC variable, and a PC or HMI can send updated cam data to the controller.
Execute Y_CamStructSelect or Y_WriteCamTable to load the new cam data.

24. Capabilities & Performance
Hundreds of small cam tables or dozens of large cam tables can be loaded into the controller flash memory.
Exact size dependant on other application data stored in flash, such as IEC source code.
HTTP file transfer is another method for cam file download.
Useful for PC HMI applications

25. Yaskawa Electric America Thank You!
iec
Yaskawa Electric America
Thank You!
For more information on the
MP2000iec Series IEC
controllers,
visit
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.
Don’t be shy, we welcome comments and questions. (Press *6* to un-mute your phone to speak)
Questions not answered during the eCafé can be ed to or can be entered into the survey at the end of the class.