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 9 of 9 eng/05.055/MCD
After the requirements and functionality of the machine are documented, the controls
programmer is then able to evaluate the optimum methods of implementing machine and motion
control. The machine block diagram, sequences, timing diagram, and motion kernel control block
diagram will be key in evaluating the programming method to use in the application.
SELECTING PROGRAMMING METHOD
Use the table below to assist in deciding the proper motion control programming implementation
based on the type of machine being controlled and the motion required.
Machine Complexities versus Programming Methods
MACHINE COMPLEXITIES
Point to PointMotion All co-ordinated
scan based profile
generation
Interpolation
Function
Blocks
Motion
Programs
Ladder
O ## X X
O
O
O
O O
**
O
O*
P
r
o
g
r
a
m
M
e
t
h
o
d
It is possible to mix motion programming methods in a controller, but it is recommended
to run a axis by only one method.
KEY
O
Applicable Method
Not Viable
X
**
Any interpolation instructions generates scan based profile
O
##
Axis count dependent
*
Consider method with caution
After evaluating programming methods in relation to machine complexity, the user should
evaluate the individual programming methods based on overall system constraints such as
quantity of axes, programmer expertise, and overall system performance criteria. These
parameters are summarized in the table, Programming Language Grid For High Level Topics on
the following page.
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