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 19 of 19 eng/05.055/MCD
Master encoder position handling for GEAR and CAM Interpolated
motion scan-based trajectory calculation
High speed I/O processing (example: PLS)
L-drawings
The recommended main drawings are:
- L10: Common machine low speed processes.
- L20: Machine axes sequencing and interlocks.
- L30: Machine low speed auxiliary devices.
- L40: Machine constants setting.
Additional drawings:
- L01: HMI communication.
- L25: Motion programs control.
This drawing family is used for Non-time critical processing of the application.
Most general machine control and logic sequencing should be placed here.
Examples include:
HMI data handling
Machine operation mode (Auto/Manual)
Axis operation sequencing (Cycle 1 / Cycle 2)
Pneumatic valve operation
Conveyor operation (relatively constant speed)
Constant value setting
Auxiliary equipment control
Low speed I/O processing
MP2000 Best Practice Drawing Architecture
A key advantage of Best Practices drawing architecture is organization. Programming and debug
is simplified by compartmentalizing functionality. Code efficiency is improved by well-designed
architecture allowing for lower scan times and increased performance. Modularized code
enables scalability and re-use of code segments. Most of the code is contained in the grandchild
drawings.
General Architecture Outline
• Servo axis high scan drawing executes only the motion code, equivalent low scan axis
drawing specifies mode.
• H11-H19 can be used for high speed functions or calculations with H15 normally being
reserved for trajectory calculations.
• Make an “Always Off” bit in the first rung of the A, H and L parent drawings. This is
useful if an “Always Off” parameter input to a function is required
• Pushbutton and HMI logic sequencing should be in low scan.
• H25 can optionally be organized by Motion Program number as opposed to Group
number.
• The maximum number of axes to follow the suggested architecture layout is 64.
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