MotionWorks IEC

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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	Question	Posted Date
	Will there be more features added to MotionWorks IEC 1.x after version 2.x is released? Posted Date: 09/21/2011 Answer: No, Yaskawa's development efforts will be focused on adding features to MotionWorks IEC 2. Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Software Document Number: MTN-8HKNEJ Published Date: 09/21/2011 Share \| Rate Rate this article :	09/21/2011
	Will MotionWorks IEC 2 run on Windows XP? Posted Date: 09/21/2011 Answer: Yes, but it requires Service Pack 3, which will be verified at the time of installation. Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Software Document Number: MTN-8HKP5U Published Date: 09/21/2011 Share \| Rate Rate this article :	09/21/2011
	Will IEC 1 work at all on Windows 7? Posted Date: 09/21/2011 Answer: No. It will not work. You will need IEC 2.for the Windows 7 operating system. Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Software Document Number: MTN-8HKNFM Published Date: 09/21/2011 Share \| Rate Rate this article :	09/21/2011
	Why would my licensed MotionWorks IEC software stop working? Posted Date: 03/04/2010 Answer: Installing Parker's InteractX software will remove the licensing. Do the following to recover: 1. Navigate to where the Yaskawa MotionWorks IEC software is installed (usually C:\Program Files\YaskawaMotionWorks IEC Pro). 2. Run the SETUPEX.EXE file by double clicking on it. 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, Alarm, Software, Start Up - Installation, Upgrade (Software - Firmware) Document Number: MTN-837STK Published Date: 03/04/2010 Share \| Rate Rate this article :	03/04/2010
	Why is mwctVerify.exe not working for MotionWorks IEC 3.0? Posted Date: 07/15/2015 Answer: Download the User Runtime for the proper Operating System at the link below: - https://www.wibu.com/downloads-user-software.html Attachments: 328KB Product Group/Line: MotionWorks IEC, Controllers Topic/Sub Topic: Customer Support, Ask a Technical Question Document Number: CNT-8KUF87 Published Date: 07/15/2015 Share \| Rate Rate this article :	07/15/2015
	Why does my project that used to compile in MotionWorks IEC versions 3.3.0 and lower now show the error Object not connected or invalid connection! ? Posted Date: 02/08/2018 Answer: In MotionWorks IEC versions 3.3.0 and lower, projects that had ladder rungs that were missing the right power rail compiled without any errors. This was not in compliance with the IEC 61131 standard. Starting with version 3.4.0, all ladder rungs must contain a right power rail for successful compilation. Product Group/Line: MotionWorks IEC, Controllers Topic/Sub Topic: Troubleshooting, Ask a Technical Question Document Number: CNT-UQDXF9 Published Date: 02/08/2018 Share \| Rate Rate this article :	02/08/2018
	Why does MotionWorks IEC seem to "hang" when opening a project or creating a new project? Posted Date: 05/28/2013 Answer: Some antivirus software has been known to mistakenly identify and quarantine the Yaskawa file, mwctverify.exe, which will cause MotionWorks IEC to function incorrectly. mwctverify.exe is not a virus. This file is used by MotionWorks IEC to verify the software license. Solution: Temporarily disable the anti-virus software. Check the virus quarantine and allow mwctverify.exe to run. More information is available at www.virustotal.com Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Troubleshooting Document Number: MTN-97HKYF Published Date: 05/28/2013 Share \| Rate Rate this article :	05/28/2013
	Why does an MP2600iec get alarm 3407 010C “10Mbps Ethernet not supported” after it is power cycled? Posted Date: 03/08/2019 Answer: When an MP2600iec drops the Ethernet connection to a PC due to a power cycle, some PC’s set their Ethernet connection to 10mbps. When the MP2600iec re-establishes the Ethernet connection, it detects the 10mbps connection and it creates an alarm because the MP2600iec does not support 10mbps connections. After this alarm occurs, the PC cannot communicate to the MP2600iec. To avoid this alarm, always use an Ethernet switch or hub when connecting a PC to an MP2600iec. If using an Ethernet switch or hub is not an option, the connection can be recovered by unplugging the Ethernet cable and then plugging it back in. Attachments: 369KB Product Group/Line: MP2600iec, Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Alarm Document Number: CNT-28DF3B Published Date: 03/08/2019 Share \| Rate Rate this article :	03/08/2019
	Why are the toolbar buttons in MotionWorks IEC smaller than usual? Posted Date: 02/05/2019 Answer: See attached document Attachments: 198KB Product Group/Line: MotionWorks IEC, Controllers, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec, MP3300iec, MP3300iec-RBT, Sigma-7Siec Topic/Sub Topic: Ask a Technical Question, Software Document Number: CNT-71N53V Published Date: 02/05/2019 Share \| Rate Rate this article :	02/05/2019
	While online with MotionWorks IEC and debugging an MPiec controller, what does the error Operand not implemented or area exceeded mean? Posted Date: 03/06/2014 Answer: Operand not implemented or area exceeded! occurs when the IEC application attempts to access a located variable (%I, %M, or %Q address) which is outside the range of all I/O Driver's memory configuration. This error can be generated even if the variable is not used in the program, as in the case when viewing the variable definition worksheet in debug mode. The solution is to confirm that all variables with an address defined are within the defined range for one of the configured I/O drivers. Check the IO_Configuration window to see the address ranges for all I/O Drivers. Attachments: 333KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Adjustments, Alarm, Application Example, Applications, Procedure - Policy, Instructions, Integration, Programming, Software, Start Up - Installation, Training, Troubleshooting Document Number: MTN-9GAU5W Published Date: 03/06/2014 Share \| Rate Rate this article :	03/06/2014
	Where Is the Compile Error Location When Double-Clicking On It? Posted Date: 03/08/2019 Answer: See attached document. Attachments: 424KB Product Group/Line: Controllers, MP2300Siec, MP2600iec, MP3200iec, MP3300iec, MotionWorks IEC Topic/Sub Topic: Programming, Ask a Technical Question Document Number: CNT-2O6FLS Published Date: 03/08/2019 Share \| Rate Rate this article :	03/08/2019
	When using MotionWorks IEC ver3.3.0, how can the error message “Library does not exist” be avoided when saving the Hardware Configuration? Posted Date: 01/27/2017 Answer: There are two cases when this may occur. If the library cannot be found on the PC or if the library is marked as open. See attached document for instructions. Attachments: 134KB 114KB Product Group/Line: MotionWorks IEC, Controllers, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec, MP3300iec, Sigma-7Siec Topic/Sub Topic: Customer Support, Programming, Ask a Technical Question, Installation, Maintenance Document Number: CNT-X33W02 Published Date: 01/27/2017 Share \| Rate Rate this article :	01/27/2017
	When moving away from a overtravel condition, the Sigma V servo system seems to prevent torque or rapidly enable/disable as the axis is moving out of the overtravel region. Can this situation be prevented? Posted Date: 10/06/2011 Answer: When the servo is controlled in position or speed mode, the ServoPack will not command torque the direction of an active overtravel. To completely prevent this condition when moving out of a overtravel region, use the MC_TorqueControl function block with a velocity limit and direction to move out of the overtravel region and prevent the torque "cutout" behavior from occurring. Otherwise, to reduce the torque cutout effects, turn off the controller feed forward setting, parameter 1310, which makes the condition more noticeable. Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Programming, Software, Troubleshooting Document Number: MTN-834L7J Published Date: 10/06/2011 Share \| Rate Rate this article :	10/06/2011
	When configuring an IP address in the resource settings of MotionWorks IEC, what are the -TO and -P attributes? Posted Date: 11/10/2017 Answer: In the Settings dialog of a controller resource (launched by right-clicking on a resource in MotionWorks IEC), the IP address of the controller is set. In Yaskawa templates, this field is displayed as: 192.168.1.1 -TO2000 The -TO attribute is the communication timeout value for the controller in milliseconds. If MotionWorks IEC is unable to communicate for this period of time, a timeout error will occur. If no -TO value is displayed in the field, then the default value of -10000 (10 seconds) is used. The -P attribute is the port through which communications is established in the controller. It should always be left at the default value of -P41100 or communication to the controller will not be possible. Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Software, Ask a Technical Question, Network Communications Document Number: CNT-71O218 Published Date: 11/10/2017 Share \| Rate Rate this article :	11/10/2017
	What web browsers are compatible with the MPiec controller's web server? Posted Date: 01/23/2018 Answer: The MPiec web server was designed to work with Internet Explorer (IE) only, however Firefox and Chrome can also be used if you install an add-on or extension that uses IE rendering inside of the browser. For step-by-step instructions, see attached document. Attachments: 568KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Instructions, Maintenance, Troubleshooting, Upgrade (Software - Firmware) Document Number: MTN-97XRJ3 Published Date: 01/23/2018 Share \| Rate Rate this article :	01/23/2018
	What version of Java is required to view the Machine Operations page of an MPiec Controller? Posted Date: 07/04/2013 Answer: For controllers with firmware 2.3.0 and lower, use Java version 6. (We have tested both 6.21 and 6.45) With the release of firmware 2.4.0, support was added for Java version 7. Java version 6: http://java.com/en/download/manual_v6.jsp Java version 7:, http://www.java.com/en/download/windows_xpi.jsp The installed Java version can be verified by visiting the following website: http://java.com/en/download/installed.jsp Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Maintenance, Start Up - Installation, Troubleshooting Document Number: MTN-97XS6S Published Date: 07/04/2013 Share \| Rate Rate this article :	07/04/2013
	What type of Errors and Alarms are on the controller? Posted Date: 02/18/2009 Answer: 1. Pn002 not correctly initialized: This alarm may appear on the controller before on starting a new project. This alarm can be removed by going online with the Configuration Tool (CT) and saving the desired configuration to the controller and project and finally cycling power to the controller. On reboot, the controller should be free of the Pn002 not initialized alarm. 2. I/O Driver initialization error: This alarm is caused because the configured drivers did not find the I/O devices when the PLC was run. The most common cause for this is missing I/O devices and/or EtherNet IP, MODBUS TCP devices (from the configuration saved on the controller). User may have to reconnect the disconnected device or re-configure the controller through the configuration tool, save and cycle power. 3. WatchDog Alarm: The scan time of the task is not large enough for the task to complete one scan. Make the scan time larger by going to Task> Settings> Scan Time. Make sure that mechatrolink axes are not being enabled in the very first scan of the project. Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Troubleshooting Document Number: MTN-7LJJFY Published Date: 02/18/2009 Share \| Rate Rate this article :	02/18/2009
	What steps are necessary to connect a Yaskawa V1000 to an MPiec series controller over ethernet? Posted Date: 02/26/2021 Answer: See attached document. Attachments: 255KB Product Group/Line: Controllers, Inverter Drives, V1000 Drive, MP3200iec, MP2300Siec, MP2600iec, MP3300iec, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Installation, Instructions Document Number: CNT-INV-T82IYJ Published Date: 02/26/2021 Share \| Rate Rate this article :	02/26/2021
	What is the memory capacity for the MP2000 IEC Controllers? Posted Date: 01/05/2011 Answer: The capacity of the controller is 8 MB of flash memory and 32 MB of RAM. The controller will come from the factory with some of that memory used for the operating system and firmware. The figure attached to this document (.JPG) is from the Hardware Configuration software describes the memory allocation of the controller in an out of the box scenario. It's important to note that the controller pre-allocates all the IEC memory that will never be allocated to an application program, so the pie chart will show about 1/3 used regardless of how many axes or how many variables are created. The remainder of the memory is available for either data files, such as cam files, or data logging files. Attachments: 35KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec Topic/Sub Topic: Ask a Technical Question, Applications, Hardware, Programming, Software, Specifications Document Number: MTN-8CKHXV Published Date: 01/05/2011 Share \| Rate Rate this article :	01/05/2011
	What is the memory allocation for the MPiec Controllers? Posted Date: 01/17/2018 Answer: Please open the pdf for a look at the Controller Memory for the MPiec Controllers. Attachments: 389KB 106KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Application Example, Hardware, Maintenance, Programming, Specifications Document Number: MTN-9GZ6HP Published Date: 01/17/2018 Share \| Rate Rate this article :	01/17/2018
	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

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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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