YASKAWA Motoman MLX200 - 4.3 Using Blend Factors

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MLX200 Software and
Operations
4 MLX200 Programming Guide
4.3 Using Blend Factors
4.3 Using Blend Factors
4.3.1 PC Bit Triggering
As mentioned in the previous section, the simplest way to write an
MLX200 program is to use the motion instruction PC bit to trigger the next
motion. In this structure, each MLX200 motion instruction should be
placed on its own rung of ladder. Once the motion has finished executing
(i.e. PC bit becomes high), the program will increment its step and move
onto the next ladder rung. An example of a rung of ladder using PC bit
triggering is shown in Fig.4-19 "PC Bit Triggering". This provides a very
clean and easy to read ladder program with the major disadvantage of
being that the Blend Factor parameter cannot be used to reduce cycle
times.
Fig. 4-19: PC Bit Triggering
4.3.2 Sequential Motion Instructions
To use blend factors, each motion instruction should be placed on the
same rung of ladder as shown in Fig.4-20 "Sequential Linear Motions with
Blend Factor". This is done to keep each AOI Enabled so that its status
can be properly updated until it is finished executing. In the example
below, the first motion instruction is given a Blend Factor of 4. This means
that as moveLinear[0] is executing its motion toward Job[4].TeachPoint[1]
it will begin to blend into moveLinear [1]'s motion to Job[4].TeachPoint[2].
Note that in this case, the Blend Factor for moveLinear [1] does not matter
as we are waiting for this motion to finish executing before moving to a
next step. However, if an additional motion were placed after moveLinear
[1], multiple points could be blended. In MLX200, up to 25 motions can be
queued at a. Fig.4-21 "Parallel Axis Motion Instructions" shows an
equivalent way to do this by using parallel motion instructions on the same
rung of ladder.
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