YASKAWA MP2000 - Table of Contents

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 2 of 2 eng/05.055/MCD
DOCUMENT REFERENCES:........................................................................................................3
MP MACHINE CONTROLLER PROGRAMMING BEST PRACTICES OVERVIEW....................4
WHY USE A YASKAWA MACHINE CONTROLLER? ..................................................................................... 4
WHAT’S IN MP PROGRAMMING BEST PRACTICES GUIDELINE?................................................................. 4
BENEFITS OF USING MP BEST PRACTICES: ............................................................................................... 5
GETTING STARTED – USING THE MP BEST PRACTICES GUIDELINE..................................7
MACHINE INFORMATION GATHERING......................................................................................8
SELECTING PROGRAMMING METHOD.....................................................................................9
OVERVIEW OF MOTION FROM MP CONTROLLER CODE TO AMPLIFIER.................................................... 12
REGISTER INTERFACE.............................................................................................................................. 14
PROGRAM ARCHITECTURE .....................................................................................................15
DRAWINGS DEFINITION........................................................................................................................... 15
DRAWING FAMILY EXECUTION ............................................................................................................... 15
DRAWING FAMILY HIERARCHY AND PROGRAM FLOW.............................................................................. 17
BEST PRACTICE DRAWING USAGE............................................................................................................ 18
MP2000 BEST PRACTICE DRAWING ARCHITECTURE .............................................................................. 19
Drawing Architecture for A, H, and L................................................................................................ 20
MEMORY ALLOCATION.............................................................................................................22
WHAT IS MEMORY MAPPING?................................................................................................................. 22
WHY IS IT IMPORTANT?........................................................................................................................... 22
MEMORY MAPPING WITH FUNCTION BLOCKS........................................................................................... 22
D REGISTERS FOR WORKING MEMORY..................................................................................................... 23
AUTOMATIC ADDRESS ALLOCATION....................................................................................................... 24
Advantages......................................................................................................................................... 24
Disadvantages.................................................................................................................................... 25
SYMBOL NAMING & COMMENTING CONVENTIONS .................................................................................. 26
Purpose of naming convention........................................................................................................... 26
Recommendations............................................................................................................................... 26
DEVELOPING CODE...................................................................................................................27
LADDER TECHNIQUES ............................................................................................................................. 27
Low Scan Interlocks ........................................................................................................................... 27
Purpose of Interlocking HMI.............................................................................................................. 33
Machine Interlocks............................................................................................................................. 34
Gearing............................................................................................................................................... 37
Waterfall Technique ........................................................................................................................... 40
Modulus Technique ............................................................................................................................ 42
Delta Scan .......................................................................................................................................... 44
Handling Rollover.............................................................................................................................. 45
Sequencing Techniques ...................................................................................................................... 46
RULES FOR MOTION PROGRAMMING ...................................................................................................... 48
Initiating Motion Program ................................................................................................................. 49
Interlocking During Execution........................................................................................................... 51