MotionWorks IEC SOFTWARE GLOBAL PROGRAMMIG STADARD RDY ALM TX STOP SUP IIT CFG MO TEST OFF O RU ERR BAT SW1 RU STRX TX IIT TEST OFF PORT ERR COL RX O LD1 LD2 LD3 LD4 MODE I/O LD5 LD6 LD7 LD8 LD1 LD2 LD3 LD4 MODE I/O LD5 LD6 LD7 LD8 E DE ES FR IT M-I/ II BATTERY 3 CPU I/O DC24V Machine COT 10Base-T DC 0V achine COTRO Machine COTR POWER Machine COTROLLERS Machine COTROLL
OFF O PORT Global Programming Standard M-I/ II Many programming languages exist today. Only a few languages provide an environment for simply coding all of the functionality of a modern automated machinery. That s where Yaskawa s IEC61131-3 programming environment shines. MotionWorks IEC encourages the programmer to take advantage of the best of several programming languages within one development package. Ladder Logic is perfect for representing digital sensory data. Structured Text is a great solution for mathematical algorithms and assignments. Function Block Diagrams are best suited for motion control. Sequential Function Charts enhance program organization to simplify troubleshooting. Object oriented structure promotes programming flexibility and reusable code. Hardware and Software Specifications MotionWorks IEC Express Specifications Motion Interface Motion Library Program Languages Program Instances Program Tasks Variables Global Variables Local Maximum POUs Configuration Debug Tools PLCopen specification Over 50 function blocks for motion control included IEC 61131-3 languages LD, ST, FB 500 per task 1 per resource 15000 15000 per POU 2000 Program Organizational Units System tuning, monitoring, network data definition On Screen values, Watch Window, Logic Analyzer, Single Step, Breakpoints MotionWorks IEC Pro Additional Specifications Program Languages Program Tasks Password Protection MP2000iec General Specifications Ethernet Speed Ethernet Protocols Expandable I/O Virtual Axes MP2300Siec Specifications Axes Maximum umber of Option Cards Configuration Method Dimensions Hardware Configuration Motion Interface Mounting Power Input Processor Speed Servo Update Rate MP2310iec Specifications Axes Maximum umber of Option Cards Configuration Method Dimensions Hardware Configuration Motion Interface Mounting Power Input Processor Speed Servo Update Rate IEC 61131-3 languages LD, ST, FB, IL, SFC 16 per resource Yes 100 MB/s Etheret/IP and Modbus TCP, OPC, and web server support Digital and Analog, third party devices including temperature controllers Six 16 plus additional nodes of remote I/O for a maximum of 21 nodes 1 Automatic Configuration of the option card and MECHATROLIK-II network 64 mm x 130 mm x 108 mm (W x H x D) Built-in Ethernet, MECHATROLIK-II network, one option card slot Digital MECHATROLIK-II high speed deterministic network DI rail standard, panel mounting clamp optional 24 VDC 240 MHz 125 µs, position loop closed in the amplifier 16 plus additional nodes of remote I/O for a maximum of 21 nodes 3 Automatic Configuration of the option card and MECHATROLIK-II network 120 mm x 130 mm x 108 mm (W x H x D) Built-in Ethernet, MECHATROLIK-II network, three option card slots Digital MECHATROLIK-II high speed deterministic network Mounting screws, DI rail optional 24 VDC 240 MHz 125 µs, position loop closed in the amplifier MP2600iec Specifications (1.5 Axis Motion Controller Integrated with the Sigma-5 Servo Amplifier) Axes Maximum Configuration Method Dimensions Hardware Configuration Motion Interface Mounting Power Input Processor Speed Servo Update Rate 1 servo, 6 virtual, 1 external (Encoder) Fixed configuration: Servo Axis, Local Digital & Analog I/O and External Encoder See individual Sigma-5 servo amplifier dimensions Two Ethernet connections, on board I/O Motion control integrated with Sigma-5 servo amplifier Panel mounting, see individual Sigma-5 servo amplifier mounting dimensions 200/400 V depending on Sigma-5 servo amplifier, no other DC input required for controller power supply 200 MHz 125 µs, position loop closed in the amplifier 2 YASKAWA MotionWorks IEC
121 130 MotionWorks IEC Software Express and Pro Versions for Simplicity and Flexibility PROFESSIOAL Tasks IEC61131-3 Languages Ladder Diagram Function Blocks Structured Text EXPRESS 1 16 PROFESSIOAL Ladder Diagram Function Blocks Structured Text Sequential Function Chart Instruction List also includes the following: Password Protection Project Comparison POU Grouping Configurable Task Priority Configurable I/O Task Assignment Auto Save Setting Debug Powerflow Sequential Function Chart. Start Init Sequential Function Chart (SFC) is one of the standardized languages available in IEC61131-3 and is supported in the Action taken while in Step T_Active Professional version of MotionWorks IEC. Logical Step Step1 Action1 Cancel Abort T_002 SFC allows the programmer to graphically create program organization in terms of steps, actions, and transitions. Active steps are indicated in red, which simplifies troubleshooting of Transition condition between Steps Step2 T_003 Step3 T_004 Action2 Action3 complex operations. Camming Function Blocks Electronic camming controls the positional relationship of a pair of axes based on a master/slave lookup table CAM DISK Y CAM TABLE OF MOTIO COORDIATES 90 180 270 360 Master Position Slave Position 360 Master 0 36 72 108 144 180 216 252 288 324 360 Slave 6.50 4.50 4.25 4.50 5.00 4.75 4.20 4.10 4.50 5.25 6.50 MASTER ECODER IPUT (STADARD) Time MotionWorks IEC includes 10 Function Blocks dedicated to camming. These are customized by Yaskawa based on the PLCopen specification, previous controller cam technology, and decades of synchronized motion experience. The function blocks fall into one of four functional topics: Cam Data Management Y_CamFileSelect Y_CamStructSelect Y_ReleaseCam Cam Engagement Y_CamIn Y_CamOut On-the-Fly Adjustments Y_CamShift Y_CamScale Y_SlaveOffset Cam Data Transfer Y_ReadCamTable Y_WriteCamTable 3
CFG MO TEST SW1 PORT O OFF M-I/ II The Standard in Mechatronics Control Modular Connectivity BAT TERY The MP2000iec series multi-axis controller give many possibilities in the world of machine control. By combining many proven technologies in one platform, Yaskawa offers a powerful system with maximum DC24V flexibility. 3 OPC OPC MES I/O CPUMES Web Web Server Server 10Base-T?!? MP2600iec DC 0V Governed by internationally standardized functions, MP2000iec machine controllers incorporate a potent motion engine at their core. They include a built-in MP2 00 iec 0 web server and are compatible with the most popular M network protocols. IE RDY RU ALM ERR MTX BAT TRX IP T P UP IIT F M TE T RU POWER! MP2 00 iec MP2600iec M IE FU BAT TRX IP 0 RU FU M I II RLY UT E LI D M I II RLY UT RU ERR MTX E IIT E TE T BATTERY E IIT E TE T RDY ALM T P UP IIT F M TE T Yaskawa s superior-quality hardware coupled with industry-standard programming tools, maximizes the total automation system value. BATTERY D M E LI D D M High-Speed Deterministic Motion and I/O etwork F 50.00 ALM REV DRV FOUT ESC LO RE RESET ETER RU STOP V1000 MECHATROLIK I/O from Phoenix Contact provides ultimate flexibility in your control design. 4 Freq Reference: FWD/REV Sel : Output Freq : Output Current: Selected Monitor: Monitor : Verify : SetUpGuide : Program : Auto-Tuning :! WARIG F6000 (Hz) For 6000 (Hz) 00R(A) 00u (v) Mon urfy SrUP PrG ARU Risk of electric shock. Read manual before installing. Wait 1 minute for capacitor discharge after disconnecting power supply. To conform to CE requirements, make sure to ground the supply neutral for 400V class. Linear Servos Rotary Sigma Servos Direct Drive Servos Peak Force: 85 6,000 Velocity: up to 5m/s Supply Voltage: 200, 400 VAC VFDs Peak Torque: 0.5 224 m Velocity: up to 5,000 rpm Supply Voltage: 200, 400 VAC Peak Torque: 6 600 m Velocity: up to 500 rpm Supply Voltage: 200 VAC Output: V1000 (up to 18.5 kw) A1000 (up to 630 kw) Velocity: up to 3,600 rpm base Supply Voltage: 200, 400 VAC YASKAWA MotionWorks IEC O OFF
130 121 Features and Benefits of Mechatronics Control etwork Communication: Built-in Etheret/IP and Modbus TCP (master and slave) connect to most PLC s and expanded I/O. An OPC server is available to easily connect to PC s, HMI s, or business systems like MES, ERP, or databases. Standard Programming Languages: MotionWorks IEC Software complies to the IEC 61131-3 standard, assuring that programs can be developed and executed with predictable behavior. PLCopen Function Blocks: Yaskawa developed the motion control interface to comply with PLCopen, yet preserved the motion algorithms developed over decades of accumulated motion control experience. Reusable Code: Libraries enable import and reuse of previously developed logic. Web Server All controllers have a built in web server which greatly reduces field maintenance time and allows users to load new programs and update controller firmware without the need for special software. Controller-Centric Commissioning: The MECHATROLIK motion network gives a simple route to configuring the machine from a single location with one software tool, resulting in minimum commissioning time. Remote I/O: umerous third-party remote I/O modules such as Phoenix and Wago can be interfaced with the system via MECHATROLIK or Ethernet. APPLICATIO Local I/O: Choose from eight option cards offered for the expansion slot to accommodate most automation requirements. SOLUTIO SOLUTIO PACKAGE PACKAGE IEC on the Drive The Sigma-5 servo amplifier with 1.5 Axis MP2600iec Motion Controller option module offers a compact controller/servo combination, providing standardized programming on Yaskawa s latest high quality servo system. RoHS Scalability One software platform for the MP2000iec series allows applications to scale up from single to multi-axis control. APPLICATIO SOLUTIO SOLUTIO Programmable Amplifier Outputs: The controller can operate local outputs. This reduces panel cost and space requirements when just a couple of outputs are necessary. PACKAGE PACKAGE 5
OFF O PORT Best-in-Class Servo Drives M-I/ II and Sigma-5 Servo Drives The Sigma-5 servo system fits in motion applications demanding high dynamic and accuracy, fast positioning and perfect multi-axes synchronisation. Speed Loop Bandwidth of 1.6 khz 20 bit encoder resolution (incremental/absolute) Vibration Suppression Advanced Functional Safety SS1, SS2, SLS, STO Yaskawa Continues to Deliver the ew Frontier in Servo Performance FOLLOWIG ERROR REFERECE SPEED POSITIOIG COMPLETED Settling Time 0 to 4 ms ( ) Highest Performance in the Industry Ease of Use Vibration Control Reduced Size Integrated Safety Frequency Response of 1.6 khz Settling Time from 0 to 4 ms Real-time Adaptive Autotuning One Parameter Fine Tuning Configure and Tune from MotionWorks IEC 20:1 Inertia Mismatch Advanced Vibration Suppression Function Amplifiers and Motors up to 30% Smaller than the Competition Integrated Safety Tested According to E954-1 Safety Category 3 and IEC 61508-1 SIL2 IEC on the Drive - MP2600iec 1.5 Axis Machine Controller IEC 61131-3 on the Sigma-5 Servo Amplifier One software platform, MotionWorks IEC, allows applications to scale up from single to multi-axis control within a standard IEC 61131-3 environment. Built-in Etheret/IP and Modbus TCP (master and slave) connect to most PLC s and expanded I/O. PLCopen Function Blocks in MotionWorks IEC simplify programming. Diagnostic Web server reduces field maintenance time. Optional OPC server allows for HMI or Data Acquisition. Sigma-5 autotuning and vibration suppression algorithms facilitate easy setup. Wide product range of Sigma-5 (200/400 VAC from 50 W to 15 kw) enables flexible designs. 6 YASKAWA MotionWorks IEC
121 130 System Components Description Part umber ote MP2300Siec Controller Base MP2310iec Controller Base MP2600iec Controller Option with Sigma-5 Servo Amp PMC-U-MP23S04 PMC-U-MP23S08 PMC-U-MP23S16 PMC-U-MP23104 PMC-U-MP23108 PMC-U-MP23116 SGDV-xxxxE1A (xxxx denotes output capacity and voltage) 4 axis, no I/O module 8 axis, no I/O module 16 axis, no I/O module 4 axis, no I/O module 8 axis, no I/O module 16 axis, no I/O module MECHATROLIK II, Etheret/IP and Modbus TCP Communications Servo amplifier with controller attached (Etheret/IP and Modbus TCP communications) MotionWorks IEC 2 Express PDE-U-IE2Sx x: umber of Software Licenses A : 1 B : 5 C : 10 MotionWorks IEC 2 Pro PDE-U-IE2Px x: umber of Software Licenses A : 1 B : 5 C : 10 H: Floating license copy MotionWorks IEC OPC Server PDE-U-OPCPx x: umber of Software Licenses A : 1 B : 5 C : 10 D : 20 Terminal Block Conversion Kits CBK-U-MP2A-xx (LIO-01/02) xx: Cable Length CBK-U-MP2B-xx (LIO-04/05/06/MP2600iec) A5: 0.5 m 01: 1.0 m 03: 3.0 m SBK-U-VBA-xx (SGDV Servo Amp- C1) Accessories I/O Option Cards for MP2300Siec and MP2310iec Flying Lead Cables for I/O Option Cards Flying Lead Cables and Terminal Blocks for MP2600iec JEPMC-OP2300 JEPMC-OP2300S-E JEPMC-OP300 JZSP-BA01 JAPMC-A2300 JAPMC-A2310 JAPMC-D02300 JAPMC-I02300-E JAPMC-IO2301-E JAPMC-IO2303 JAPMC-IO2304 JAPMC-IO2305-E JEPMC-W6080-xx JEPMC-W6090-xx JEPMC-W2061-xx JEPMC-W6060-xx JEPMC-W2064-xx-E Analog Inputs (AI-01) Analog Outputs (AO-01) Output Module (DO-01) I/O Module (LIO-01) I/O Module (LIO-02) I/O Module (LIO-04) I/O Module (LIO-05) Multi-Function (LIO-06) I/O Option Module (AI-01) (AO-01) (LIO-01/02) (LIO-04/05, DO-01) (LIO-06) JEPMC-W2064-xx-E (MP2600iec) CFC-U-MP2B-xx (MP2600iec) Slot Cover (for MP2300Siec or MP2310iec) Panel Mounting Bracket (for screw mounting MP2300Siec) Extra DI Rail Clips for MP2310iec (2 per set) Replacement Battery 8 channels; +/- 10 V 16-bit resolution 4 channels; +/- 10 V 16-bit resolution 64 sinking outputs 24 VDC 16 sinking or sourcing inputs 24 VDC; 16 sinking outputs 24 VDC; 1 Encoder Counter; max frequency 500 khz 16 sinking or sourcing inputs 24 VDC; 16 sourcing outputs 24 VDC; 1 Encoder Counter; max frequency 500 khz 32 sinking or sourcing inputs 24 VDC; 32 sinking outputs 24 VDC; 32 sinking or sourcing inputs 24 VDC; 32 sourcing outputs 24 VDC; Analog/Digital/Encoder xx: Cable Length 05: 0.5 m 10: 1.0 m 30: 3.0 m xx: Cable Length A5: 0.5m 01: 1.0 m 03: 3.0m MECHATROLIK-II Cables (MP2300Siec / MP2310iec) etwork Termination Resistor (MP2300Siec / MP2310iec) JEPMC-W6003-A5-E JEPMC-W6003-01-E JEPMC-W6003-03-E JEPMC-W6003-05-E JEPMC-W6003-10-E JEPMC-W6003-20-E JEPMC-W6022 0.5 m 1.0 m 3.0 m 5.0 m 10.0 m 20.0 m Required for ends of MECHATROLIK-II network (one included with MP2300Siec, MP2310iec has a network terminator on board) 7
M YASKAWA Europe GmbH Drives & Motion Division Hauptstr. 185 65760 Eschborn Germany +49 6196 569-300 info@yaskawa.eu.com www.yaskawa.eu.com Specifications are subject to change without notice for ongoing product modifications and improvements. YASKAWA Europe GmbH. All rights reserved. Literature o. YEU_Controller_MotionWorksIEC_E_v1_0811 Printed in Germany, August 2011