MotionWorks IEC

What is the best way to correctly use the RETURN instruction? We had some issues in some cases when the Functions blocks get stuck, or needs an additional trigger.

Posted Date: 10/06/2011

Answer:

The RETURN causes the controller to stop executing code in a function or function block POU, and immediately go back to the POU that called the function. This is good for execution efficiency, but can cause problems if not used correctly. It's efficient because the code below the RETURN becomes dormant. (Not scanned)

Never allow the RETURN to execute if any code below the RETURN is still "Active." Active means an Execute input for a function block is high, or a function inside the function is "Busy," or an R_TRIG has a high input, basically any code that will become confused after "sleeping." For example, if a RETURN takes place while an MC_Move_Absolute.Execute is high, MC_MoveAbsolute will not notice when the execute logic goes low. Next time the function is executed, MC_MoveAbsolute will not notice the rising edge for execute, because to the MC_MoveAbsolute, it has always been high.

For examples, look at the code used in nearly all of Yaskawa's Toolbox functions. We use a technique that only allows the RETURN to take place if many conditions are met.

Product Group/Line:

Controllers, MotionWorks IEC

Topic/Sub Topic:

Ask a Technical Question, Programming

Document Number:

MTN-8MAQSU

Published Date:

10/06/2011

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What is the best method to convert a STRING into a BYTE array and vice versa? Why is this conversion useful?

Posted Date: 04/22/2014

Answer:

STRINGs are special data types that contain hidden information which indicates the actual length of the data within the STRING variable. Sometimes this hidden data can be interpreted as part of the actual string contents. See the attached PDF for a detailed answer.

Attachments:

61KB

Product Group/Line:

Controllers, MotionWorks IEC

Topic/Sub Topic:

Ask a Technical Question, Software

Document Number:

MTN-9J7PMQ

Published Date:

04/22/2014

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What is a typical cause of error code 4630 when using MC_TouchProbe?

Posted Date: 04/02/2016

Answer:

Please see attached document for details.

Attachments:

122KB

Product Group/Line:

MotionWorks IEC, Controllers, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec

Topic/Sub Topic:

Ask a Technical Question, Fault Code Description, Alarm

Document Number:

CNT-83S292

Published Date:

04/02/2016

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What does the “E2005 the field offset exceeds the limit” compile error mean?

Posted Date: 01/30/2020

Answer:

This error typically occurs when large User Defined Datatypes are declared. It means that at least one variable declaration exceeded the limit for Global Variables or a POU.  MotionWorks IEC will specify which variable caused it. The limit is 4MB for Global Variables and 4MB each POU Variable Worksheet. This limit does not mean that 4MB is the maximum size for all variable space however. The limit refers to the reference point (head address) where the variable is located. Any variables declared beyond the 4MB limit will cause this error. Placing the largest structure as the last variable declaration in the variable list typically permits the project to be complied without error.

Please see the attached PDF for an example of how the error is created and how to prevent it.

Attachments:

194KB

Product Group/Line:

MP3200iec, Controllers, MP3300iec, MotionWorks IEC

Topic/Sub Topic:

Ask a Technical Question, Troubleshooting, Software

Document Number:

CNT-QGDCJK

Published Date:

01/30/2020

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What does the compiler message "Internal Error: Overflow. (Specific Code Generator)" mean and what is the remedy?

Posted Date: 03/12/2014

Answer:

This error message typically appears if there is a variable connected to a VAR_IN_OUT with a datatype that differs from the required datatype of the function block.

In a similar fashion, this error can also occur when a variable is used as a VAR_IN_OUT for a function block inside a user created function block, but isn't declared as a VAR_IN_OUT to the user created function block.

Check the datatype definition for each function block recently added to the project by right clicking on it to view the object properties. Compare the VAR_IN_OUT datatype requirements with the variable attached and correct any mistakes.

Another potential cause is unconnected EN inputs to basic functions.

Product Group/Line:

Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec

Topic/Sub Topic:

Ask a Technical Question, Troubleshooting

Document Number:

MTN-98MUSQ

Published Date:

03/12/2014

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What causes the MotionWorks IEC error message "The project cannot be downloaded because it was compiled for a different device or a different version of the connected device. Please select the device version in the Resource Settings Dialog that matches the connected device."

Posted Date: 09/13/2018

Answer:

A detailed explanation of the issue is described in the attached document.

Attachments:

316KB

Product Group/Line:

Controllers, MotionWorks IEC

Topic/Sub Topic:

Ask a Technical Question, Programming, Software

Document Number:

MTN-8PANT7

Published Date:

09/13/2018

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What can cause a MotionWorks IEC 3.x USB license key to be unrecognized?

Posted Date: 01/27/2017

Answer:

See attached document

Attachments:

358KB

Product Group/Line:

MotionWorks IEC, Controllers, MP2000iec Series, MP2300Siec, MP2600iec, MP3200iec, MP3300iec, MP2310iec

Topic/Sub Topic:

Ask a Technical Question, Troubleshooting

Document Number:

CNT-NR0G45

Published Date:

01/27/2017

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What are the remedies when an I/O configuration error is present in MotionWorks IEC?

Posted Date: 10/18/2010

Answer:

This error is caused when the configured IEC drivers cannot find the I/O devices when the IEC application is started. The IEC application's I/O drivers listed in the IO_Configuration section of the Project Tree must match the drivers that were configured and saved in the Hardware Configuration. This error is possible if the Hardware Configuration was updated and saved, but the controller was not rebooted to activate the new drivers.

To fix, Launch Hardware Configuration, go Online and Save the new configuration to the project folder and to the controller. Cycle power to allow the new configuration to take effect when the controller boots up.

See attached .JPG image

Attachments:

14KB

Product Group/Line:

Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec

Topic/Sub Topic:

Ask a Technical Question, Alarm, Instructions, Troubleshooting

Document Number:

MTN-7N8UKZ

Published Date:

10/18/2010

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What are some tips for operating a single load with multiple servo motors?

Posted Date: 03/12/2014

Answer:

With Yaskawa MP Controllers, position mode is quite effective as Mechatrolink is a high-speed deterministic network enabling all of the servopacks process information at the same time (synchronized). Declare (arbitrarily) one axis a master and the other(s) as a slave(s).

1. Configuration
To lessen torque discrepancy (fighting) among the axes, it is often useful to set PN10C = 0 in the slave(s). This sets the ServoPack to operate the velocity loop in proportional (P) only mode. It will keep the speed loop integrator in the ServoPack from building up and adding torque disturbance.

2. Alignment
Hold the master axis stationary. Limit the torque in the slave axis to something reasonable (that will not damage the mechanism). Slowly (referencing or homing speed) move the slave axis reverse, when torque limit is reached, record the slaves actual position. Move the slave axis forward, when torque limit is reached, record slaves actual position. Move the slave to the mid-point of those two positions, and then enable 1:1 gearing to the master. Typically this is completed as a referencing routine in the motion/machine controller, such as Yaskawa MP controller.

3. Gains
When tuning it is important to change the gains on all shared axes at the same time. If using Model Following Control (MFC) tuning methodology, it is important that these ServoPack parameters are the same for all axes. Theses include PN140 - PN14F.

Product Group/Line:

Controllers, Servo Products, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec, NS115 Mechatrolink II, SGMAV Sigma-5, SGMGV Sigma-5, SGMJV Sigma-5, SGMSV Sigma-5, SGDV Analog, SGDV EtherCAT, SGDV Indexer, SGDV MECHATROLINK-II, SGDV MECHATROLINK-III, SGDV MP2600iec, SGDV SigmaLogic, Network-Comm-EtherCAT, Network-Comm-MECHATROLINK-II

Topic/Sub Topic:

Ask a Technical Question, Start Up - Installation, Tuning

Document Number:

MTN-9GRS96

Published Date:

03/12/2014

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The Motionworks IEC software stopped running after installing InteractX software? How can I recover from this?

Posted Date: 03/04/2010

Answer:

The InteractX software removes a required registry item required by MotionWorks IEC.
To correct this issue:
1. Navigate to the installed location of Motionworks IEC
(usually C:\Program Files\Yaskawa\MotionWorks IEC Pro).
2. Run the SETUPEX.EXE file by double clicking.
3. Reboot the computer.
MotionWorks IEC should be able to run again.

Product Group/Line:

Controllers, MotionWorks IEC

Topic/Sub Topic:

Ask a Technical Question, Software

Document Number:

MTN-837SX6

Published Date:

03/04/2010

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