Yaskawa MotionWorks+ Windows Software Manuel d'utilisateur

MotionWorks+™ Windows Software and Icon-Based Programming Manual

Introduction To Software Features MotionWorks+™41.3 Introduction To Software FeaturesMotionWorks+™ incorporates the following features and tools to ai

Electronic Cam Tool MotionWorks+™94Editing Cam DataFrom the main menu of the electronic cam tool, select Graph > Edit Graph Data. Position the mou

MotionWorks+™ Electronic Cam Tool956. Position/Editing DataSet the position value corresponding to the phase value set in item 2 above.7. Position/Cha

Electronic Cam Tool MotionWorks+™96Using the MouseThe phase value at which the mouse is pointing is displayed at ‘a’ above.The position value at which

MotionWorks+™ Electronic Cam Tool97Comparing Data to a Reference GraphClicking Reference displays the following Select File window.Click the file to b

Electronic Cam Tool MotionWorks+™98The dotted line shows the reference graph.By removing the check from the Reference Graph box, the reference graph d

MotionWorks+™ Electronic Cam Tool991. Changing the phase starting pointThe data is rearranged with the phase value for which the shift point is set as

Electronic Cam Tool MotionWorks+™100Saving1. Saving filesSelect File > Save.The Save File dialog box is displayed.The cam data file type must be *.

MotionWorks+™ Archive1011.19 ArchiveAccessibilityTo access the archive, select:• From the Main Menu > Tools > ArchiveThis function is a simple u

Archive MotionWorks+™102Notes

MotionWorks+™ Programming Tools1032. Icon-Based Motion Control Programming 2.1 Programming ToolsThis section describes all the tools provided to crea

MotionWorks+™ Introduction To Software Features55. Expression Builder (below) Accessible by double-clicking on block properties. It aids in creating

Programming Tools MotionWorks+™104Notes

MotionWorks+™ Programming Tools1053. Programming ConceptThe programming environment incorporates a time-sharing scheme depicted in the diagram below.

Programming Tools MotionWorks+™106Subroutine operationUse the CALL SUBROUTINE block to incorporate subroutines in a program. When a CALL SUBROUTINE b

MotionWorks+™ Programming Tools107Default I/O NamesMotionWorks+™ assigns default I/O names when a project is created. The following table is a referen

Programming Tools MotionWorks+™108Internal Data AccessThe following table identifies internal variables used by the controller for various functions.

MotionWorks+™ Programming Tools109mExternal_BPhase 0 1 statusR IB0002BmLimit_Hardware_Negative 0 1 statusR IBC0222mLimit_Hardware_Positive 0 1 statusR

Programming Tools MotionWorks+™110mState_ExternalLatch 0 1 statusR MB315210mState_Gearing 0 1 statusR MW31221mState_LatchTarget 0 1 statusR MB315413mS

MotionWorks+™ Programming Tools111Internal Data DefinitionMonitorsmAcceleration_Linear_Rate - The current acceleration rate of the servo in MP user un

Programming Tools MotionWorks+™112mAlarm_Servo_Code - The Alarm Code from the SGDH amplifier. The alarm dis-played on the front panel is identical, b

MotionWorks+™ Programming Tools11384 132 Absolute Encoder Data ErrorReceived absolute data is abnormal.85 133 Absolute Encoder Over-speedThe encoder w

Creating A Project MotionWorks+™61.4 Creating A ProjectA project is a collection of files, all of which pertain to a specific job. Each project occup

Programming Tools MotionWorks+™114E0 224 Communication Timeout (SGDH and MP940)Amplifier could not communicate with the MP940 connected to the DPRAM w

MotionWorks+™ Programming Tools115mCamCycle - The size of the cam cycle in user units of the cam table (master). This value is derived by looking at

Programming Tools MotionWorks+™116mError_Digital_Inputs - A "1" indicates that there is an error with the digital input cir-cuitry. This co

MotionWorks+™ Programming Tools117mError_Network_B - Status bits indicating if any of the network slaves have a fault. mError_Network_C - Status bits

Programming Tools MotionWorks+™118mExternal_APhase - A status bit that indicates current flow (a connection) of the exter-nal encoder's “A” phas

MotionWorks+™ Programming Tools119mPosition_Actual_Counts - The current position of the servo motor updated every high scan.mPosition_Commanded - The

Programming Tools MotionWorks+™120mPosition_External_Shifted - This is the value that is fed into the cam look up table. It is modularized and includ

MotionWorks+™ Programming Tools121mProgram_HighScan_Maximum - The longest time it took to run the High Scan Pro-grams since the power was turned on.

Programming Tools MotionWorks+™122mState_ABSEncoder_Direction - Status bit that has a value of "0" when the absolute encoder is counting up

MotionWorks+™ Programming Tools123mState_Main_Latch - Status bit that indicates the condition of the main (SGDH) latch input. A "0" indicate

MotionWorks+™ Creating A Project71. New Program NameThe character restrictions applying to the project name apply to the program name. Characters not

Programming Tools MotionWorks+™124ParameterspGain_FeedForward - Describes the amount of bias that is applied to the servo throughout the move. As the

MotionWorks+™ Programming Tools125sCamShift_Mode - This is a configuration setting which dictates how the CAM SHIFT block will behave. If set to “0,”

Programming Tools MotionWorks+™126sMachineCycle_External - This is the modularization value if the external encoder is configured for rotary mode. Th

MotionWorks+™ User Unit Conversion1273.1 User Unit ConversionThroughout the block definition which follows in this section, the minimum and maximum ra

User Unit Conversion MotionWorks+™128Position FormulasThe formula below shows the conversion from user units to encoder counts. In the example, assum

MotionWorks+™ User Unit Conversion129Speed FormulasThe formula below illustrates the conversion from user units per second to percentage of rated spee

Block Reference MotionWorks+™1303.2 Block ReferenceCall SubroutineCamCamCam ShiftChange DynamicsDefine PositionEndGearGearGear RatioHome AxisIF EventI

MotionWorks+™ Block Reference131Notes

Block Reference MotionWorks+™1323.2.1 CALL SUBROUTINEDefinitionThis block represents a subroutine. The program counter is passed to the first block wi

MotionWorks+™ Block Reference1333.2.2 CAMDefinitionThis block enables or disables the camming function. If the Enabled property is true, the slave en

Saving A Project MotionWorks+™81.5 Saving A ProjectAll files contained in the project are saved when the SAVE icon is pressed. If the project is not

Block Reference MotionWorks+™134Additional InformationTo engage or disengage the slave immediately, for situations such as E-Stop, or to re-engage the

MotionWorks+™ Block Reference1353.2.3 CAM SHIFTDefinitionThis block changes the master/slave relationship during camming by the specified relative amo

Block Reference MotionWorks+™136Wait for Completion:If enabled, the program counter does not advance to the next block until the shift is complete.Req

MotionWorks+™ Block Reference1373.2.4 CHANGE DYNAMICSDefinitionThis block changes acceleration, deceleration, velocity, and s-curve settings while the

Block Reference MotionWorks+™1383.2.5 DEFINE POSITIONDefinitionThis block sets the current encoder location as the value specified in the Position pro

MotionWorks+™ Block Reference1393.2.6 ENDDefinitionThis block identifies the end of a program or subroutine. The block is automatically placed on the

Block Reference MotionWorks+™1403.2.7 GEARDefinitionThis block enables or disables the gearing function, based on the property settings. When the gea

MotionWorks+™ Block Reference1413.2.8 GEAR RATIO DefinitionThis block defines the gear ratio between the main and external axes. The gear ratio can b

Block Reference MotionWorks+™1423.2.9 HOME AXISDefinitionThis block locates the home position within the positioning range. This block moves the serv

MotionWorks+™ Block Reference143Timeout: The amount of time that the block will wait for the servo to find the home input and “C” channel before stopp

MotionWorks+™ The Project Explorer91.6 The Project ExplorerProject Explorer is used to navigate among windows in the main programming area. This wind

Block Reference MotionWorks+™1443.2.10 IF EVENTDefinitionThis block evaluates an expression (event). This could be a physical input, a variable, or m

MotionWorks+™ Block Reference1453.2.11 IF FAULTDefinitionThis block evaluates whether or not there is a fault condition by evaluating the internal sys

Block Reference MotionWorks+™1463.2.12 INPUTDefinitionThis block waits for an input to change state or be at a certain level based on the condition pr

MotionWorks+™ Block Reference1473.2.13 JOG AXISDefinitionThis block jogs the axis. Specify the acceleration, deceleration, and velocity. The servo c

Block Reference MotionWorks+™1483.2.14 LATCHDefinitionThis block enables or disables the registration latch capture function. It controls when an axi

MotionWorks+™ Block Reference1494 Active low input signal from S14 (CN1-44) Sigma_EXT15 Active low input signal from SI5 (CN1-45) Sigma_EXT26 Active l

Block Reference MotionWorks+™1503.2.15 LATCH TARGETDefinitionThe LATCH TARGET block synchronizes a move with a latch input. Specify the move requireme

MotionWorks+™ Block Reference151Latch Start Distance:The first position at which the latch is monitored. If the latch occurs before this position, it

Block Reference MotionWorks+™152ExampleThe following example demonstrates a program that uses the LATCH TARGET block. An application suitable for this

MotionWorks+™ Block Reference1533.2.16 LAUNCH PROGRAMDefinitionThis block starts or restarts execution of a program after it has been stopped by a SUS

The Project Explorer MotionWorks+™10Program DefinitionThe Program Definition window displays the properties of each program within the project. The p

Block Reference MotionWorks+™1543.2.17 MOVE AXISDefinitionThis block performs motion to a specified location at a profile described by the properties

MotionWorks+™ Block Reference155Position: Specifies the magnitude of the move in user units. Velocity: The speed of the servo in user units/s. Wait

Block Reference MotionWorks+™1563.2.18 PLSDefinitionThe PLS (programmable limit switch) block sets outputs or variables accordingly based on the Encod

MotionWorks+™ Block Reference157The following example demonstrates a program that uses the PLS block.Making the PLS Work When the Output Must be ON Ac

Block Reference MotionWorks+™1583.2.19 RESET FAULTDefinitionThis block is used to reset axis faults. Some faults are not resettable without power cyc

MotionWorks+™ Block Reference1593.2.20 SCALE CAMDefinitionThis block scales the slave position by the amount specified in the scale factor. Effective

Block Reference MotionWorks+™1603.2.21 SERVODefinitionThis block enables or disables the ability of the servo amplifier to apply holding torque to the

MotionWorks+™ Block Reference1613.2.22 SET VARIABLEDefinitionThis block computes an expression and stores the resulting value in a variable or paramet

Block Reference MotionWorks+™1623.2.23 SLAVE OFFSETDefinitionThis block changes the slave offset by the specified amount. If gearing is enabled, it a

MotionWorks+™ Block Reference1633.2.24 STARTDefinitionThis block designates the start of a program or subroutine. This block is automatically placed

MotionWorks+™ The Project Explorer11Auto StartThe setting controls which programs start executing automatically when the power is applied. Programs s

Block Reference MotionWorks+™1643.2.25 STOP MOTIONDefinitionThis block stops motion at the specified deceleration rate. Any previously established mo

MotionWorks+™ Block Reference1653.2.26 SUSPEND PROGRAMDefinitionThis block suspends the execution of a program. Programs can be restarted by using th

Block Reference MotionWorks+™1663.2.27 TIMERDefinitionThis block waits a specified amount of time before advancing the program counter to the block co

MotionWorks+™ Block Reference1673.2.28 TORQUEDefinitionThis block sets the axis in torque mode. When the axis is in this mode, the controller is only

Block Reference MotionWorks+™168Notes

MotionWorks+ Appendix A Operational Examples169Appendix A Operational ExamplesExample Calculating Cam Tables from within a MotionWorks+ programThe .c

Appendix A Operational Examples MotionWorks+™170Graphical ViewRequirementsA .cdd file must be imported into the project of an appropriate data size.

MotionWorks+ Appendix A Operational Examples171Program 1: MW+ Cam Example with Cam Table Recalculation.Program #1 turns the servo ON if Input #1 is O

Appendix A Operational Examples MotionWorks+™172Block #7Block #8

MotionWorks+ Appendix A Operational Examples173Program #2: Cam Table CalculationThis program waits at block #3 until the bit variable “Update” becomes

The Project Explorer MotionWorks+™12Important Note!!Parameters are updated in the controller after a value is changed if Motion-Works+™ is online with

Appendix A Operational Examples MotionWorks+™174Percentage is a floating point number ranging from 0.0000 to 1.0000 through the cam profile. Point-3.

MotionWorks+ Appendix A Operational Examples175CamData[Point] is the master value of the current “Point”. MasterStart is the dwell distance at the be

Appendix A Operational Examples MotionWorks+™176Final NotesFrom the Data Monitor Window, view MasterStart, MasterFinal, and Update. Change the Master

MotionWorks+™ Standardized Template Project177Appendix B Standardized Template ProjectThis appendix illustrates a standardized template project recomm

Standardized Template Project MotionWorks+™178B.1 SummaryThis appendix outlines the details of a template example program for an MP-940/SGDH system.

MotionWorks+™ Standardized Template Project179B.2 ProgramsThe Programs folder contains the following: Supervi-sor, Manual, and Automatic programs.Pro

Standardized Template Project MotionWorks+™180The Supervisor routine utilizes the Servo ON, Stop, and Change Dynamics block, but is closely monitoring

MotionWorks+™ Standardized Template Project181Start-upThe start-up section encompasses blocks 3-6, 10, and 31. It is responsible for startup. Block

Standardized Template Project MotionWorks+™182Fault DetectionAfter the start-up section has been completed successfully, the next section is the Fault

MotionWorks+™ Standardized Template Project183Disable HandlerWhen a fault or normal disable is detected, this section of code is executed. The first

MotionWorks+™ The Project Explorer13System PropertiesSystems properties allow the controller to be configured using the windows shown below.Accessibil

Standardized Template Project MotionWorks+™184Manual ProgramFunctions typically performed while in a “manual” mode are included in the manual main pro

MotionWorks+™ Standardized Template Project185Automatic ProgramFunctions typically performed while in an “automatic” mode are included in the automati

Standardized Template Project MotionWorks+™186B.3 SubroutinesThe Subroutines folder contains the following: A program can have up to 62 subroutines, a

MotionWorks+™ Standardized Template Project187Increasing Jog SpeedBlocks 8 – 11 implement a jog speed increase while the jog forward request is activa

Standardized Template Project MotionWorks+™188Increasing Jog SpeedBlocks 8 – 11 implement a jog speed increase while the jog reverse request is activa

MotionWorks+™ Standardized Template Project189Move - SubroutineThe move subroutine is simply a relative move, which incorporates a programmable limit

Standardized Template Project MotionWorks+™190Programmable Limit Switch (PLS)Because the controlled axis is configured in rotary mode, the system vari

MotionWorks+™ Standardized Template Project191TimerThe last few blocks (7-10) are com-prised of SET VARIABLE and timer blocks. Some special attention

Standardized Template Project MotionWorks+™192Engaging/DisengagingBlocks 3 – 4 & 7 – 9 comprise engaging and disengaging of gearing. Blocks 3 and

MotionWorks+™ Standardized Template Project193Cam - SubroutineThe three sections include: Engaging, Disengaging, and Running. (Note: Cam table gen-er

The Project Explorer MotionWorks+™14

Standardized Template Project MotionWorks+™194EngagingThe CAM engage consists of the blocks 3 – 5. The Cam engages at a particular Master position ba

MotionWorks+™ Standardized Template Project195RunningThe rest of the blocks are executed while the system is engaged in camming (or running). The use

Standardized Template Project MotionWorks+™196Torque - SubroutineThe motor applies a variable amount of torque (based on a user variable [TorqueToAp-p

MotionWorks+™ Standardized Template Project197Latch Target BlockThe latch target block is a pre-configured block that allows the user to make use of h

Standardized Template Project MotionWorks+™198Local Input functionalityInput Functionality DescriptionMW+ Name (SGDH Ref) Manual AutomaticLocal_Input1

MotionWorks+™ Standardized Template Project199Local Output FunctionalityOutput Functionality DescriptionMW+ Name All Modes°All Modes°Local_Output1 Ser

Standardized Template Project MotionWorks+™200System VariablesOnly four parameters were modified in the System Variables to correspond with the demo u

MotionWorks+™ Appendix C MW+ Camming 101201Appendix C MW+ Camming 1011. What is a cam profile?A cam profile is simply a list of number pairs that desc

Appendix C MW+ Camming 101 MotionWorks+™202MW+ comes with “Cam Tool” which is a separate program that can also be used with MotionWorks, or as a stand

MotionWorks+™ Appendix C MW+ Camming 101203Cam Tool has some advanced features that allow the user to determine the servo’s ability to follow the prof

MotionWorks+™ The Project Explorer15SGDHWhen the SGDH module is selected, the following properties appear in the properties win-dow: When an MP940 co

Appendix C MW+ Camming 101 MotionWorks+™204

MotionWorks+™ Appendix C MW+ Camming 101205“Max phase value” is the same as the External Encoder Machine Cycle, in pulses. Use the Position formulas

Appendix C MW+ Camming 101 MotionWorks+™2064. What does the cam table look like in the controller?Above is the view from MotionWorks Register List, wh

MotionWorks+™ Appendix C MW+ Camming 101207In either case, the raw data used by the controller can be viewed. The very first element in the table con

Appendix C MW+ Camming 101 MotionWorks+™2085. How does camming work?The Master First, camming requires that the master position be modularized to the

MotionWorks+™ Appendix C MW+ Camming 101209The SlaveMost cam profiles can be classified as one of the two below. The slave will either move out and b

Appendix C MW+ Camming 101 MotionWorks+™210Why is a window required?The window is a built in function of MW+. It is required because in the dynamic w

MotionWorks+™ Appendix C MW+ Camming 101211RunningDuring run, the following happens at each high speed scan: The controller reads the exter-nal encod

Appendix C MW+ Camming 101 MotionWorks+™212DisengagingDisengaging is similar in concept to engaging. During this process, mState_Camming is set to fo

MotionWorks+™ Appendix C MW+ Camming 101213Performing a cam “one shot.”A cam one shot is useful when the cam profile must only run long enough to comp

The Project Explorer MotionWorks+™16Pn102 40 1 2000 Position Loop Gain in 1/s. This parameter is not applicable when using MP940. See section 6.2.1

Appendix C MW+ Camming 101 MotionWorks+™214How does CAM SHIFT work? The purpose of the CAM SHIFT is to redefine the position of the master while camm

MotionWorks+™ Appendix C MW+ Camming 101215 Master Position Cam Shift Modularize Function Modularized master scaled to Lookup Table Look Up T

Appendix C MW+ Camming 101 MotionWorks+™216The CAM SHIFT function can operate in two modes. The adjustment can take place over a time specified in mi

MotionWorks+™ Appendix C MW+ Camming 101217What applications benefit from CAM SHIFT?• A process that must accurately track randomly spaced products on

Appendix C MW+ Camming 101 MotionWorks+™218• When the next product arrives, the position is recorded with the latch function. The latch value was 5.6

MotionWorks+™ Appendix C MW+ Camming 101219Variable ExpressionShiftDist MachineCycleCounts - ShiftDistLatchDifference ((mPosition_External_Counts - La

Appendix C MW+ Camming 101 MotionWorks+™220How does SLAVE OFFSET work? How would an application benefit from using slave offset?The slave offset work

MotionWorks+™ Appendix C MW+ Camming 101221The slave offset is also useful when the machine cycle is not an integer. Imagine a machine where a timing

Appendix C MW+ Camming 101 MotionWorks+™222Can cam profiles be calculated using a formula in the MW+ program when com-pile & downloading a new cam

MotionWorks+™ Appendix C MW+ Camming 101223SET BLOCKLOOPThe actual calculations are beyond the scope of this document. An excel file describing the f

MotionWorks+™ The Project Explorer17Pn203 1 1 65535 Electronic Gear Ratio (Denominator). This parameter is not applicable when using MP940. See sect

Appendix C MW+ Camming 101 MotionWorks+™224Notes

MotionWorks™ + Index225IndexAAnaloginput 107output 107BBall screw lead 205Base UnitsEncoder counts 128Milliseconds from rated speed 137, 147,150, 1

Index MotionWorks™ + 226CimScope 3CommunicationCommunication Process 67Logical port 69Settings 67CompileCompiling errors 71Program 71Constants 29CSV f

MotionWorks™ + Index227Relative 164OOnline 67Outputbank 107PParameter 161Phase 202Phase Plotting 202Position 202Positioning range 142Program 9Active

Index MotionWorks™ + 228SScan-based system 105S-Curve 137Shrinkage 217Slave offset 220Slippage 217Stretch 217Subroutine 106, 132, 153Maximum depth 106

YASKAWA ELECTRIC AMERICA, INC.2121 Norman Drive South, Waukegan, IL 60085, U.S.A.Phone: (847) 887-7000 Fax: (847) 887-7310 Internet: http://www.ya

The Project Explorer MotionWorks+™18Pn408 0 0 1 Torque Function Switches. See section 6.1.6 in SGDH manual.Pn409 2000 50 2000 Notch Filter Frequency

MotionWorks+™ The Project Explorer19COM1When the COM1 module is selected, the following properties appear in the properties window. Address: Select b

The Project Explorer MotionWorks+™20COM2When the COM2 module is selected, the following properties appear in the properties window. Address: Select be

MotionWorks+™ The Project Explorer21MP940When the MP940 module is selected, the following properties appear in the properties window. Note: When right

The Project Explorer MotionWorks+™22sponds to the number of times the input shaft rotates for the number of times the output shaft rotates. These are

MotionWorks+™ The Project Explorer23External EncoderWhen external encoder is selected, the following properties appear in the properties window. Thes

MotionWorks+™iYASKAWA manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of YA

The Project Explorer MotionWorks+™24Gear Box Output: If a mechanical gear box is used, enter the value which corre-sponds to the number of times the i

MotionWorks+™ The Project Explorer25NetworkCycle Time: Applicable for Devicenet networks when the MP940 is acting as the master. This is the update r

The Project Explorer MotionWorks+™26Node: Set the address of the module. The maximum value is depen-dant on the Type property. Mechatrolink is “29”;

MotionWorks+™ The Project Explorer27Remote I/ORemote I/O only appears on the System Properties window if the Network Function is set to “Master”. Mess

The Project Explorer MotionWorks+™28 Output Words: This property is only enabled if the Node Type property is set to “User Defined.” This is the num

MotionWorks+™ The Project Explorer29 Constant DefinitionConstants are added using the Constant Definition window that appears below. The memory range

The Project Explorer MotionWorks+™305. Comments This field provides a location to document constant usage. Network DefinitionNetwork data are added u

MotionWorks+™ The Project Explorer314. Initial ValueThis field presets the value of the data when the power is turned on. If no initial value is ente

The Project Explorer MotionWorks+™32Allocation WizardIf several network data of the same type are required, the Allocation Wizard can automatically cr

MotionWorks+™ The Project Explorer33This column contains a list of possible starting words. The list is created based on the input/output properties

MotionWorks+™iiNotes

The Project Explorer MotionWorks+™344. HMI Checkbox This field is used to set data to be written to the HMI export file.5. Cross ReferenceThis field r

MotionWorks+™ The Project Explorer352. TypeSelect from “.cam”, “.txt”, “.dat”, “.csv”, or “Empty Table”. A CAM table is imported from an *.cdd file a

The Project Explorer MotionWorks+™36Variable Definition1. Name This field is the user-given name of the data. 2. TypeThis field determines the pote

MotionWorks+™ The Project Explorer37System VariablesSystem variables are internal keywords which can be stored or accessed in expressions at run time.

The Project Explorer MotionWorks+™381.6.1 HMI DataAccessibilityTo access the HMI data, select:• From the View Menu > HMI Data ListGeneralEach data

MotionWorks+™ The Project Explorer39Viewing HMI dataAll data marked for HMI export are identified by the check mark. Alternatively, a window is avail

The Project Explorer MotionWorks+™40File Data FormatThe imported/exported CSV file will be of the following format:(Network)Code=2 Name Address Commen

MotionWorks+™ The Project Explorer41Variable MappingIf a bit type variable is set for HMI usage, it will be mapped within the range of MB000000 throug

The Project Explorer MotionWorks+™421.6.2 Import/Export Initiation GeneralThe import utility will determine what category each imported value falls i

MotionWorks+™ The Project Explorer432. If the imported name and address exactly match an item in the database, the valueand the comment will be import

MotionWorks+™iiiContents1. MotionWorks+™...31.1 System Requi

The Project Explorer MotionWorks+™44TablesThe name, filename (if present), address, table type, number of entries, and comment will be imported. The t

MotionWorks+™ The Project Explorer451. If the imported address matches any existing item within the address range, the fol-lowing grid will be display

The Project Explorer MotionWorks+™463. If the imported name matches an item in the database but the address does not, theuser will be shown the follow

MotionWorks+™ The Project Explorer47Readdress Existing This button will readdress all existing data that is in the importing address space. MW+ will p

The Project Explorer MotionWorks+™48MonitoringAll monitoring functions are available only after going online with the exception of Scope. There are 4

MotionWorks+™ The Project Explorer49Program MonitoringAccessibilityTo monitor the program, select:• From the Project Explorer > Monitoring > Pro

The Project Explorer MotionWorks+™50• From the Project Explorer > Monitoring > Data 1. Open folders from the Data text box.2. Double-click on

MotionWorks+™ Scope511.7 ScopeAccessibilityTo view the scope display, select• From the Main Menu > Project > Monitoring > Scope • From the P

Scope MotionWorks+™52PropertiesAnalog 1~4 Select the data that will be captured for display on this channel. To use the expression builder, press F9.

MotionWorks+™ Scope53Digital 1~4 Select the digital data that will be captured for display on this channel. When a digital signal is displayed on the

MotionWorks+™iv3.1 User Unit Conversion ...1273.2 Block Refere

Scope MotionWorks+™54When this property is set to “group,” each channel will be scaled to the same “100% =” number. Scaling is derived from the chann

MotionWorks+™ Scope55Notes about Triggering:This is the basic format of a trigger: [data] [OP] [Constant]Example of a trigger: mSpeed_Main >= 200Th

Scope MotionWorks+™56Digital Channel ControlsTo switch digital channels ON or OFF, use the “Digital Enable” buttons at the bottom of the Scope window.

MotionWorks+™ Scope57Scope ExamplesThere are two colored graph lines shown in the example below:The darker graph line indicates Analog 1.The lighter g

The Block Toolbar MotionWorks+™581.8 The Block ToolbarThe block toolbar contains all the programming icons. The tool-bar can either float or dock to

MotionWorks+™ The Properties Window591.9 The Properties WindowAll the details for each block are entered and edited in the Properties window. This wi

The Program Window MotionWorks+™601.10 The Program WindowThe Program window is the location at which all the files in the project are displayed when o

MotionWorks+™ The Program Window61• Block AppearanceThe bitmaps of some blocks change depending on the property settings for the block. Enabled = True

Expression Builder MotionWorks+™621.11 Expression BuilderThe Expression Builder is useful when generating complex calculations. The Expression Builde

MotionWorks+™ Expression Builder63Creating ExpressionsDouble-click on the folders in the Variable Type window. Select an item from the Variable windo

MotionWorks+™1IntroductionThis manual is divided into two sections. The first section covers the user interface and other features of the Windows app

Expression Builder MotionWorks+™64Note: If a floating point result is expected, at least one of the terms in the calculation must contain a floating

MotionWorks+™ Cross Reference65More Example Expressions1.12 Cross ReferenceAccessibilityTo view the cross-references, select:• From the Main Menu >

Search and Replace MotionWorks+™661.13 Search and ReplaceAccessibilityTo access the search/replace dialog, select:• From the Main Menu > Edit >

MotionWorks+™ Connecting To The Controller671.14 Connecting To The ControllerOnline/OfflineCommunication is established between MotionWorks+™ and the

Connecting To The Controller MotionWorks+™68MotionWorks+™Communication ProcessMP940Application XCimScope

MotionWorks+™ Connecting To The Controller69Setting the Communication Port The main screen of the communication process is shown below. Either double

Connecting To The Controller MotionWorks+™70When Detail is selected, the following window is displayed. Set the parameters of the serial port.Saving C

MotionWorks+™ Compiling A Program711.15 Compiling A ProgramCompiling a program converts the block connections and properties into a format usable by t

Downloading a Project MotionWorks+™721.16 Downloading a ProjectAccessibilityTo download a project, select:• From the Main Menu > Tools > Downloa

MotionWorks+™ Saving a Project to Flash731.17 Saving a Project to FlashAccessibilityTo save a project to the flash memory, select:• From the Main Menu

MotionWorks+™2Notes

Electronic Cam Tool MotionWorks+™741.18 Electronic Cam ToolThe Electronic Cam Tool is an external application that accompanies MotionWorks+™, and is a

MotionWorks+™ Electronic Cam Tool75Entering Machine InformationIn the Set Style window, enter the information necessary for preparing the cam profile

Electronic Cam Tool MotionWorks+™76

MotionWorks+™ Electronic Cam Tool77Phase/Position Setting1. Unit (Phase)The master position is generally referred to as the “phase” throughout the Cam

Electronic Cam Tool MotionWorks+™782. Gear RatioSelect the radio button for Provided or Not Provided. The gear ratio is expressed as ball screw shaft

MotionWorks+™ Electronic Cam Tool79Parameter Setting This window defines the cam profile data. The cam profile can be divided into a maximum of 20 se

Electronic Cam Tool MotionWorks+™80When the cam data has been entered, press OK to view the graphs.6 Curve Shape Select the cam curve shape from among

MotionWorks+™ Electronic Cam Tool81Viewing Cam DataTo change the data of existing files, open the Data Graph window and select Graph in the menu bar.

Electronic Cam Tool MotionWorks+™82Data ListThe numeric data of the cam curve is displayed by section.1. List dataThe numeric data of the cam curve of

MotionWorks+™ Electronic Cam Tool834. Setting InformationThe effective torque, peak torque, and maximum rotation speed are automatically calculated if

MotionWorks+™ System Requirements31. MotionWorks+™ 1.1 System Requirements* Microsoft(R) 95/98/NT/2000 operating systems.* Minimum - 133MHz, 64MB mem

Electronic Cam Tool MotionWorks+™84To reset all the edited data to the initial setting, click the data edit combo box button, select Not Provided or -

MotionWorks+™ Electronic Cam Tool855. Cursor Position/PhaseEnter the phase value or set with the arrow buttons.By clicking a point on the cam graph, t

Electronic Cam Tool MotionWorks+™86Characteristic Curve GraphThe position, speed, acceleration, and jerk of the designated curve shape are displayed a

MotionWorks+™ Electronic Cam Tool872. Position The position data of the cam curve is displayed in the selected curve shape.3. Speed The speed data o

Electronic Cam Tool MotionWorks+™88Compare Graphs The currently edited cam data and either the cam data saved in the file or the external data which w

MotionWorks+™ Electronic Cam Tool89When the data to be compared is the cam data, select from Position, Speed, and Acceleration. When the data to be c

Electronic Cam Tool MotionWorks+™90Scale ConversionThe graph scale is set with the maximum absolute value of the displayed data as 100. Change the sca

MotionWorks+™ Electronic Cam Tool91The scales for A and B are set to 1000.(b) Comparison of data at a designated section(Ex.) Comparison of A and BDis

Electronic Cam Tool MotionWorks+™92First Data Item No.: 5 Number of: 200

MotionWorks+™ Electronic Cam Tool93Setting Grid LineSet whether to display the graph grid line at the data graph window. When the data graph is displ