YASKAWA MP2000 Technical Note

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YASKAWA MP2000 Technical Note Manual pdf 12 page image

TECHNICAL NOTEMOTION APPLICATION ENGINEERING GROUPYaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085(800) YASKAWA - Fax (847) 887-728011/23/2005 12 of 12 eng/05.055/MCDTo further understand and evaluate motion programming methods, consider the table below.This diagram illustrates how logic in the controller is translated to motion via the SVBcomponents of a MP Controller system.Overview of Motion from MP Controller Code to Amplifier-The Program Layer can be broken down into High and Low scan priorities. Code efficiencydetermines the ultimate scan rate. The interface between the Program Layer and Network Layeris the SVB IF module. As the application program grows, performance of the segregated networklayer module is not affected. This is a key point for performance!-The Network Layer can be broken down into scalable scan rates and scalable data packet size.Scan rates are determined by the quantity of axes and quantity of network interface cards.Above eight axes, the system operates at a 2msec update rate, even for hundreds of axes. Datasent down to the network card is further interpolated at the servo update rate. The interfacebetween Network Layer and Node layer is MechatrolinkII IF.-The Node Layer can be broken down into Servopack, I/O, and Inverter/ VFD nodes. For servomotion control, the speed of the position loop update and local interpolation between commandspromote high performance, and ability to control any of the following: Rotary, Direct Drive, andLinear Motors. The load, coupling, and transmission mechanics further determine overallperformance.