1. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 1 Yaskawa Electric America Understanding & Applying Camming Techniques with MP2000iec / MotionWorks IEC ieciec

2. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 2  Camming Overview Core Concept  Six Essential Camming features Data Management Function Blocks Parameters Engage Modes Adjust Modes Block Diagram  Application Discussions Rotary Knife Linear Flying Shear Feed to Length Webinar Highlights

3. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 3  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 Camming Overview

4. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 4 Slave Position 3.00 0 Time Master Position 360 0  Core Concept Electronic Camming controls the positional relationship of two axes Camming Overview 360 3.00 0 Repeat

5. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 5  That’s It! Everything else relates back to the core concept. Positional relationship of two axes. Master can be a servo, external encoder, or time (virtual master.) Camming Overview Slave Position 3.00 0 Time Master Position 360 0 3.00 0 Repeat

6. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 6 Camming Overview  (OK we lied) There’s more Master / Slave lookup table is the core with these surrounding topics We will focus on these six supporting features

7. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 7  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. Camming Overview On the Surface….

8. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 8  Camming Block Diagram Camming Overview Below the Surface….

9. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 9  Function Block Breakdown 4 functional topics Camming Overview

10. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 10 Cam Data Management Common Theme: CamTableID

11. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 11 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.

12. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 12 Cam Data Management Mechatrolink Update Rate Application Task Rate

13. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 13 Computer Disk Cam Memory Controller File System Cam Data Management External Source: Cam Tool or Excel Other methods for sending files will be addressed

14. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 14  Data Structure Cam Data Management Watch window is a great place to verify the correct data has been applied

15. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 15  Code Example Cam Data Management All Cam DataTypes included in New Project Template

16. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 16 Cam Engagement

17. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 17  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. Cam Engagement

18. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 18  Capabilities & Performance Multiple methods for engaging based on application scenarios. Function block input parameter lets the programmer decide how the slave should engage to the master. Cam Engagement

19. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 19 Cam Engagement  Engage Modes AtPosition is better if the master is already moving. Immediate is 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.

20. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 20  Starting the process Cam Engagement 00000 0 360 720 1080 1440 360

21. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 21 On-The-Fly Adjustments Identical function blocks, except for one input

22. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 22 Master Slave On-The-Fly Adjustments  Shifting Master Side Adjustment Useful when a registration mark detects products on the master axis Slave pattern is unchanged Shifting is a controlled slippage of the red cam lobe on the black shaft

23. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 23 On-The-Fly Adjustments 90 degree shift 180 degree duration

24. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 24 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!

25. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 25 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

26. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 26 On-The-Fly Adjustments

27. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 27 On-The-Fly Adjustments  AdjustMode We’ve described the three types of adjustments, now lets discuss the “When” and “What.” When should the adjustment start? When must the adjustment finish? What is the profile from A to B? Detailed help is available by right clicking on any function block!

28. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 28  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. On-The-Fly Adjustments Start Finish Built into the firmware

29. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 29 On-The-Fly Adjustments Smooth Motion Adjustment s

30. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 30 On-The-Fly Adjustments Y_AdjustMode#MasterDistance n/a 360 0 90 180 270 Master Position Y_CamShift.Execute 180 Degrees LREAL#180.0 LREAL#72.0  AdjustMode – Type 1 Y_AdjustMode#MasterDistance The adjustment starts immediately and completes when the master has traveled the specified relative Master Distance. Master speed dictates the amount of time required to complete the correction

31. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 31 On-The-Fly Adjustments Y_AdjustMode#Duration n/a LREAL#72.0 n/a Y_CamShift.Execute 360 0 90 180 270 Master Position LREAL#2.5 ? 2.5 Seconds  AdjustMode – Type 2 Y_AdjustMode#Duration The adjustment starts immediately and takes place over a time period. This is a non-synchronized correction method. Correction is the same regardless of machine speed. Good method if adjustment value known before engaging the slave. Set Duration to zero for instantaneous correction.

32. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 32 On-The-Fly Adjustments Y_AdjustMode#WithinRange LREAL#72.0 n/a Y_CamShift.Execute 360 0 90 180 270 Master Position  AdjustMode – Type 3 Y_AdjustMode#WithinRange The adjustment starts when the master is within the StartPosition and is scaled to complete when the master reaches the EndPosition. This mode is for applications that must move at synchronized speeds during certain portions of the cycle LREAL#180.0 LREAL#270.0 180 to 270 degrees Waiting…

33. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 33 Axis Parameters  Crucial to establishing the proper operation by coding interlocks and other logical functions.

34. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 34 Block Diagram

35. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 35  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. Capabilities & Performance Use parameter 1541, CamTableIDEngage d in cases like this to verify the currently operating profile

36. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 36  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. Capabilities & Performance

37. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 37  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 61131 source code. HTTP file transfer is another method for cam file download. Useful for PC HMI applications Capabilities & Performance

38. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 38 Application Discussions

39. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 39  Rotary Placer – The Placer Cycle Application Discussion Pick Position Pick On Pick Decision Window Place Angle Adjust Region 0 deg 90 deg Product Flow Pick Threshold 0 deg Product Sensor DistToLatch ProductPitch (MasterCycle) ProductPitch (MasterCycle) MaxShift MaxShiftThreshold [A] 1:1 Match Point (PickPosition - PickOn) [%] mCamShiftRemaining

40. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 40  Rotary Placer – The Product Buffer Application Discussion

41. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 41  Rotary Placer – The Cam Shift Uses #WithinRange adjust mode Application Discussion

42. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 42  Linear Flying Shear Out & Back slave Synchronized to product by registration mark Application Discussion

43. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 43 Application Discussion  Linear Flying Shear Flat part of the speed graph is the area where the master & slave are synchronized. Out Back

44. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 44 Application Discussion  Assembly Machine Rotary Table Assembly Stations  Camming Benefits Station synchronization at any machine speed Use Virtual Master if Rotary table must stop during station operation Variable number of operable stations Table Station 1 Station 2 Station 3 Station 4 Station 5

45. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 45 Application Discussion Y_CamInY_ReleaseCamTable CamFile download to RAM Y_CamFileSelect PC Cam Selector Cam Switch Logic Y_CamIn.Execute CamState=3 PC Activity MP2300Siec Activity Set Next Use Cam Info OPC or Modbus Check for Next Use Cam Flag CamFlagID Changed Circular usage of cam tables controlled by Array of CamSequenceStruct For Needle location (Stitch #) CamSequenceStruct To know current cam being used Next Cam Selector Logic MC_ReadActualPosition

46. Understanding and Applying Camming Techniques with the MP2000iec and MotionWorks IEC 46  Conclusion Camming with the MP2000iec series requires an understanding of these pieces: Other Resources: EM.MCD.09.043 = Manual for Simple Cam from CSV file MC.MCD.09.044 = Example Code for Simple Cam from CSV file