YASKAWA MP2000 User Manual

TECHNICAL NOTE
MOTION APPLICATION ENGINEERING GROUP
Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085
(800) YASKAWA - Fax (847) 887-7280
11/23/2005 15 of 15 eng/05.055/MCD
PROGRAM ARCHITECTURE
After evaluating programming methods based on the system requirements, the user is ready to
design the program architecture. The program architecture is designed by locating logic in the
most appropriate drawings in either the high or low scan, based on the application requirements.
Before specifying specific drawings based on function, it is key to understand drawings, their
execution, and hierarchy in the MP Controller.
Drawings Definition
Application programs for MP2000 controllers are created using modular sections of
ladder logic code called “drawings.” There are four families of drawings: A, I, H and L,
organized in a generational hierarchy and denoted in the following chart.
Family A Family I Family H Family L
Parent A I H L
Child Axx Ixx Hxx Lxx
Grand
child
Axx.xx Ixx.xx Hxx.xx Lxx.xx
Valid drawing names must adhere to the above format with xx = 01-99. The maximum
combined
number of Child/Grandchild drawings differs for each ladder family as follows:
A = 62
I = 62
H = 198
L = 498
Drawing Family Execution
Each drawing family executes at a unique point in the overall program scan, offering the user the
opportunity to optimize system performance. The following charts demonstrate the priority given
to each drawing type and also show an example of actual program execution. The MP controllers
allow the user to set the High and Low Speed Scan intervals.
Drawing
Family
Function
A (Power-up) Executed only once upon power up.
I (Priority 1) Executed once at the rising edge of an interrupt input
signal, 1
st
input on a bank of LIO or CPU I/O input 1
H (Priority 2) Executed once every High speed scan interval
L (Priority 3) Executed once every Low speed scan interval.

YASKAWA MP2000 Specifications

General

Brand	YASKAWA
Model	MP2000
Category	Controller
Language	English

Summary

MP Machine Controller Programming Best Practices Overview

Why Use a Yaskawa Machine Controller?

Explains the benefits and advantages of using Yaskawa machine controllers for automation.

What's in MP Programming Best Practices Guideline?

Outlines the content and purpose of the MP Programming Best Practices Guideline document.

Benefits of Using MP Best Practices

Summarizes advantages across design, implementation, and support levels.

Design Level Benefits

Details advantages for programming method selection and model standardization.

Implementation Level Benefits

Covers benefits like pre-defined code, scalability, and optimized performance.

Support Level Benefits

Highlights advantages in training, skill transfer, and commonality for support.

Getting Started with MP Best Practices Guideline

Machine Information Gathering

Selecting Programming Method

Overview of Motion: MP Controller to Amplifier

All Layers in a System

Register Interface

Program Architecture

Drawings Definition

Defines "drawings" as modular ladder logic sections and their families (A, I, H, L).

Drawing Family Execution

Explains the priority and execution timing of different drawing families within the program scan.

Drawing Execution Chart

Graphically illustrates the execution flow of drawing families based on scan times.

Drawing Family Hierarchy and Program Flow

Describes the hierarchical calling structure and execution flow between parent, child, and grandchild drawings.

Best Practice Drawing Usage

A-Drawings

Used for initial system setup and executed once upon power-up.

I-Drawings

Used for time-critical operations, though often avoidable with modern processors.

H-Drawings

Best for time-critical processing, including motion control code.

L-drawings

Used for non-time-critical processing and general machine control.

MP2000 Best Practice Drawing Architecture

General Architecture Outline

Highlights advantages like organization, debug simplification, and code efficiency.

Drawing Architecture for A, H, and L

Details specific drawing types and their recommended usage within families A, H, and L.

Low Speed Scan Drawings (L)

Lists specific low-speed drawings and their functions for sequencing and auxiliary devices.

Memory Allocation

What is Memory Mapping?

Defines memory mapping as the recommended layout for MP2000 registers for organization.

Why is Memory Mapping Important?

Explains importance for program flexibility, reduced development time, and easier troubleshooting.

Memory Mapping with Function Blocks

Discusses register reservation for function blocks and allowable user address ranges.

D Registers for Working Memory

Explains the use of local D registers for drawing-specific data to minimize global memory usage.

Automatic Address Allocation

Advantages of Automatic Address Allocation

Highlights programming in symbols, organization, and preventing register overwrites.

Disadvantages of Automatic Address Allocation

Notes potential issues with even/odd addresses for certain data types.

Symbol Naming & Commenting Conventions

Purpose of Naming Convention

Explains the goal of increasing ease-of-use and program robustness.

Recommendations for Symbol & Tag Naming

Provides guidelines for clear, sortable symbol names and practical tag naming.

Developing Code

Ladder Techniques

Discusses scan-based I/O and parameter updates in ladder programming.

Low Scan Interlocks

Covers the use of low-speed drawings for non-speed critical sequences and interlocks.

Axis Specific Low Scan Interlocks

Explains interlocking for axis enabling and checking status.

Non-Axis Specific Low Scan Interlocks

Details common machine sequences and mode switching logic in L10 drawings.

Machine Interlocks

Axis Enable Interlocks

Verifies safety circuits and amplifier power before enabling an axis.

Automatic Mode Interlocks

Ensures all axes are normal, enabled, and no faults exist before enabling automatic mode.

Motion Programming Techniques

Gearing

Technique for creating gear applications by scaling master pulses with a B/A ratio for slave commanded position.

Waterfall Technique

Method using local registers as accumulators to simplify monitoring and debugging by writing to registers in one place.

Modulus Technique

Technique to modulate axis operations for repeating cycles like cam profiles by calculating position differences.

Delta Scan

Method to calculate position or value changes at scan rate, useful for modulus functions or speed compensation.

Handling Rollover

Uses math functions (ADDX, SUBX) to prevent miscalculations due to long register rollover.

Sequencing Techniques

State Machine Programming vs. Step Sequencing

Compares two methods for programming sequences: state-based and step-based.

Step Sequencing Technique

Describes using individual bits or toggles to initiate and monitor sequence steps.

Rules for Motion Programming

Starting a Motion Program

Ensures ladder code includes interlocks for servo enablement and 'NOP' mode before starting a motion program.

Active Interlocks During Motion Program Execution

Discusses interlocks for global registers and handling motion program execution state changes.

Stopping a Motion Program

Covers expected alarms when halting programs and using ladder logic to flag program status.

Bit Handshaking between Motion Programs and Ladder Code

Explains using SET/RESET coils for communication between motion programs and ladder logic.

Using WHILE Loops in Motion Programs

Guidelines for WHILE-WEND loops, including using EOX to avoid watchdog alarms.

Using PFORK, JOINTO, and PJOINT

Rules for parallel processing, coordinating multiple axes, and using global registers for handshaking.

Using Subroutines in Motion Programs

Recommends subroutines for repeatable processes like writing to Servopack parameters.