MotionWorks IEC

MotionWorksIEC - YAIMOB

Overview

Through the use of Yaskawa's IEC61131-3 programming environment, MotionWorks IEC Express and MotionWorks IEC Pro enable programmers to take advantage of several standard programming languages within a single development package.

These languages work predictably and seamlessly with one another: Ladder Logic (perfect for digital sensory data representation), Structured Text (great for assignment of mathematical algorithms), and Function Block Diagrams (best suited for machine control). Variables and outputs can be referenced between different POUs (Programming Organization Units), providing the ideal automation development environment.

MotionWorks IEC is an essential part of Yaskawa’s achievement of Singular Control: the ability to interchangeably operate articulated robots, gantry robots, servo axes and variable frequency drives from a single motion controller, without the need to change your system’s operating code.

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Showing 21 to 40 of 95 entries.

Question	Posted Date
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 Share \| Rate Rate this article :	10/06/2011
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 Share \| Rate Rate this article :	04/22/2014
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 Share \| Rate Rate this article :	04/02/2016
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 Share \| Rate Rate this article :	01/30/2020
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 Share \| Rate Rate this article :	03/12/2014
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 Share \| Rate Rate this article :	09/13/2018
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 Share \| Rate Rate this article :	01/27/2017
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 Share \| Rate Rate this article :	10/18/2010
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 Share \| Rate Rate this article :	03/12/2014
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 Share \| Rate Rate this article :	03/04/2010
The MotionWorks IEC Hardware Configuration software is unable to connect to the MPiec controller. What should I check to correct the problem? Posted Date: 09/23/2013 Answer: Please see the attached PDF for a detailed explanation. Attachments: 446KB Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Software Document Number: MTN-9AJMA2 Published Date: 09/23/2013 Share \| Rate Rate this article :	09/23/2013
The Hardware Configuration launches, but does not appear after using dual displays, is there a way to reset its position? Posted Date: 08/04/2014 Answer: Yes. Please see the attached document. Attachments: 245KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Adjustments, Environment, Operation, Programming, Troubleshooting Document Number: MTN-9GRS4X Published Date: 08/04/2014 Share \| Rate Rate this article :	08/04/2014
*Must the data type be the same for every variable in a calculation? I get a compile error when I try (REAL := REAL INT).** Posted Date: 05/26/2009 Answer: IEC 61131-3 enforces strict datatyping. This means that when mixing types as in the calculation: REAL:=REAL * INT; a type conversion function is necessary. Also note that INT, UINT and WORD are all 16 bit values, but WORD is intended to be used with data that might be binary, with AND and OR operations performed on it. INT & UINT are intended for data that will be manipulated with addition, subtraction, multiply, and divide. (analog data.) DataType conversion functions allow operations to a dataype as if it is another. The following are some examples: REAL:=REAL * INT_TO_REAL(INT); BitCode:=(BOOL_TO_INT(Bit2) * INT#4) + (BOOL_TO_INT(Bit1) * INT#2) + BOOL_TO_INT(Bit0); (* BitCode is defined as an INT *) Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-7M5NXT Published Date: 05/26/2009 Share \| Rate Rate this article :	05/26/2009
It is possible to install a single licensed copy of MotionWorks IEC on multiple computers and move the license from computer to computer? Posted Date: 01/26/2016 Answer: Yes, the license can be moved between computers with installations of the same major version. The major versions are: - MotionWorks IEC Express [1.x.x] - MotionWorks IEC Pro [1.x.x] - MotionWorks IEC 2 Express [2.x.x] - MotionWorks IEC 2 Pro [2.x.x] License transfer for MotionWorks IEC version 3 and up, see document PN.MWIEC.06 (partner login required). There are two license transfer methods available: - Method #1: eCheck In / eCheck Out to Yaskawa's software license server - Method #2: Network Drive, USB Drive, or Floppy Drive Please see the attached .PDF file for full step-by-step instructions. Attachments: 426KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Software, Start Up - Installation, Troubleshooting, Upload - download software Document Number: MTN-7MCN6U Published Date: 01/26/2016 Share \| Rate Rate this article :	01/26/2016
Is there information available on replacing a Sigma-5 Mechatrolink ServoPack in a system controlled by an MPiec Series Controller without using MotionWorks IEC software? Posted Date: 09/23/2013 Answer: Yes. This Servopack replacement procedure requires MPiec controller's firmware version to be 2.2.1 or above: 1. Login to the MPiec webserver. 2. Select the "Drive Parameters" page. 3. Under "User Parameters" select "Write" for the replaced servopack(s). The parameters are saved into the replaced Servopack. 4. Cycle power on the system. 5. After the system reboots, under "User Parameters," press Verify to confirm that there is no unexpected mismatch. Note that some IEC applications may be programmed to set certain Servopack parameters, which may be different than the backup image of parameters stored in the MPiec controller. Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Parameters, Start Up - Installation Document Number: MTN-9BPKX8 Published Date: 09/23/2013 Share \| Rate Rate this article :	09/23/2013
Is there information available file types / extensions associated with Yaskawa motion software products? Posted Date: 05/19/2017 Answer: Here is a list of file extensions that apply to Yaskawa software products: For Motion Controllers: .MAL - MotionWorks v5.xx software for MP900 series controllers. .SMC - Yterm software for SMC Series Motion Controllers. .VPC - MotionWorks+ software for the MP940 controller. .YMW - MotionWorks v6.xx software for MP2000 series controllers. .YMW7 - MotionWorks v7.xx software for MP2000 and MP3000 series controllers. .ZWE - MotionWorks IEC Express software for MPiec Series Controllers. (Note: a .MWE file is the unzipped project file, but is not the complete project, which includes a subdirectory.) .ZWT - MotionWorks IEC Pro software for MPiec Series Controllers. (Note: a .MWT file is the unzipped project file, but is not the complete project, which includes a subdirectory.) For Sigma Series Servo Products: .PRM, .SGD, .SGB, .DR2, .DRB, .GRP - SVMON software for Sigma Series servos. .SPJ - IndexWorks software for the NS600 Indexer. .PGT - Program Table from SigmaWin+ software for NS600 and Sigma 5 Indexer. .ZNT - Zone Table from SigmaWin+ software for NS600 and Sigma 5 Indexer. .JGT - Jog Speed Table from SigmaWin+ software for NS600 and Sigma 5 Indexer. .PNT - Point Table from SigmaWin+ software for NS600 and Sigma 5 Indexer. .PRM - Parameters file from NS_MMI software for Devicenet (NS300) and Profibus (NS500) Indexers. .USR - SigmaWin+ software for all Sigma Series Servos. .XDR - FlexWorks software for the FSP series amplifiers. .YPM - SigmaWinLite Product Group/Line: Controllers, Servo Products, MotionWorks IEC, MotionWorks Plus Software, MotionWorks Software, NS300 DeviceNet, NS500 Profibus, NS600 Indexer, SGDH Sigma II, SGDS, Sigma FSP, YTerm Software, SGDV Analog, SGDV EtherCAT, SGDV Indexer, SGDV MECHATROLINK-II, SGDV MECHATROLINK-III, SGDV SigmaLogic, SGDV MP2600iec Topic/Sub Topic: Ask a Technical Question, Software Document Number: MTN-9H7NY7 Published Date: 05/19/2017 Share \| Rate Rate this article :	05/19/2017
Is there a variable that will show which step of a Sequential Function Chart (SFC) program is currently executing? Posted Date: 07/04/2013 Answer: Behind the scenes, an SFC keeps track of which Step it is on using a special variable referred to as the 'Step.X' (read Step-dot-X) variable. For example, if the Step is called YASKAWA, the execution status bit is YASKAWA.X. This is a Boolean variable that indicates that a particular Step is active. This status flag is not a declared variable and will not be found in any variable worksheets, but is available for use by the IEC program to make entry and exit conditions for any actions. When the transition for a Step becomes active (evaluates as TRUE), the Step.X variable for the previous step is set FALSE and the actions for that Step are executed one more time. This allows any clean-up that the Step may require. View the attached example of how the Step X variables work for the SFC code. Attachments: 24KB Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-998KPJ Published Date: 07/04/2013 Related Files: Sequence Management with SFC using Step.X variables Share \| Rate Rate this article :	07/04/2013
Is there a solution for MotionWorks IEC v2.x to enable the Hardware Configuration to recognize an unknown SGDV model number? Posted Date: 12/20/2017 Answer: With MotionWorks IEC v2.x, it may have been necessary to include a file (as described below) to ensure that all SGDV drives were read correctly. In general, this problem has been fixed and should no be necessary when using newer version of MothinWorks IEC v3.x. The following solution is applicable for MotionWorks IEC 2.x and SGDV drive ONLY. MotionWorks IEC 3.0 and later, as well as Sigma-7 drive compatiblity, are NOT supported using this method. Please contact Yaskawa Technical Support Group in these situations. If a file named "Compatibleparts.XML" is added to the following MotionWorks IEC working directory, the Hardware Configuration will treat an unknown part number as a part number in its database. A reference file which can be edited is included on this page. This solution is only recommended if your version of MotionWorks IEC does not recognize the part number of a Sigma-5 servopack on the network, such as a single phase 1.5KW servopack, or the fanless servopacks that end in 002000. The XML file attached to this FAQ contains the information to allow the recognition of the following six amplifier models: Exact part Compatible part SGDV-***21002000 SGDV-***21 SGDV-***25002000 SGDV-***25 SGDV-***11002000 SGDV-***11 SGDV-***15002000 SGDV-***15 SGDV-***E1002000 SGDV-***E1 SGDV-***E5002000 SGDV-***E5 The first tag contains the unknown part number. Asterisks () indicate any character. The plus character (+) indicates that the remainder of the string is ignored. The second tag is the compatible part number already in your MotionWorks IEC database. SGDV-**E1+ SGDV-***E1 Windows XP Location: C:\Documents and Settings\All Users\Application Data\Yaskawa\MotionWorks IEC ConfigTool Windows 7 - Windows 10 Location: C:\ProgramData\Yaskawa\MotionWorks IEC ConfigTool Attachments: 1KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Instructions, Software Document Number: MTN-937LKQ Published Date: 12/20/2017 Share \| Rate Rate this article :	12/20/2017
Is there a solution for display issues when using the MPiec controller's web server with Internet Explorer 10? Posted Date: 06/11/2013 Answer: For Internet Explorer 10 to render the MPiec pages correctly it must be configured to use Internet Explorer 10 Compatibility View. Please see the illustrated walk through by opening the attached .PDF file. Attachments: 156KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Instructions, Maintenance, Start Up - Installation, Troubleshooting Document Number: MTN-987QJH Published Date: 06/11/2013 Share \| Rate Rate this article :	06/11/2013
Is there a remedy for recovering a MotionWorks IEC project that shows the error: "No suitable converter for projects created with the version '2.0' of MotionWorks IEC Pro? Posted Date: 09/21/2011 Answer: Yes. The project may have some corrupted files that can be regenerated. Follow the steps below to recover the project: Please be aware that a similar message will appear if a project was created using MotionWorks IEC 2.x and an attempt is made to open it using MotionWorks IEC v1.x. The difference in the message will be the version number displayed. When there is possible project corruption, the version number will simply indicate 2.0, or possibly garbled characters. When a 2.x project is opened in MotionWorks IEC 1.x, then the version will contain a four part number, such as 2.0.0.27. In this case the project is not corrupted. MotionWorks IEC 2.x projects cannot be opened in MotionWorks IEC 1.x Steps to recover from a corrupted project: 1. Open the .zwe or .zwt project using MotionWorks IEC. Close MotionWorks IEC (this will extract the project files but fail to open it) 2. In a Windows file explorer window, browse to the folder containing the project. There should be a .mwt (for Pro) or .mwe (for Express) file with the project name and a sub-directory with the project name. Delete the .mwt or .mwe file, but not the sub-directory. 3. Copy and paste a .mwt (Pro) or .mwe (Express) file to where deleted .mwe or .mwt file was located. If you do not have another project, then create a new project using MotionWorks IEC and use the resulting .mwt or .mwe file. 4. Rename the pasted .mwe or .mwt file to match the name of the file deleted in step 2. 5. Open the project using MotionWorks IEC. 6. Compile. Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-8LUQE2 Published Date: 09/21/2011 Share \| Rate Rate this article :	09/21/2011

Showing 21 to 40 of 95 entries.

SAFETY PRECAUTIONS AND INSTRUCTIONS FOR USE OF FAQ INFORMATION!

Please read and understand the product instruction manual before installing, servicing or operating Yaskawa products. FAQ content and illustrations are provided as technical advice to augment the information in manual, not supersede it. It is not possible to give detailed instructions for all types of installation or support activities. The information described in the FAQs are subject to change without notice to improve the product or FAQ. Yaskawa assumes no responsibility for errors or omissions or damages resulting from the use of the information contained in any FAQ. All warnings, cautions and product instruction for product use must be followed. Installation, operation and maintenance should be carried out by qualified personnel. Failure to observe these and other precautions highlighted in the product manuals will expose the user to high voltages resulting in, serious injury or death. Qualified personnel are defined as individuals who are familiar with the installation, starting, operation and maintenance of Yaskawa products of the type described and have proper qualifications to perform the work.

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