MACHINE CONTROLLER MP2000 SERIES - YASKAWA - #5

MECHATROLINK-n

for Dynamic Switching of Four Control Modes

A MECHATROLINK-n motion network (10Mbps) is used with the MP2000 Series machine controller for control of an adaptive and highly precise servo drive. In addition to torque, position, and speed control modes, the MECHATROLINK- ÏÏ network also supports phase control mode, which delivers very high accuracy. The various control modes can be switched on-the-fly for perfect control of the most complex applications.

Synchronous Phase Control

Speed control with position compensation (electronic shaft) or position control with 100% speed feed forward (electronic cam). Multi-axis servomotors can be controlled synchronously.

Torque Control

Generates a constant torque, regardless of speed.

When T1=T2

Torque T1

Load Torque T2

Motor Speed

Time

"H

Time

Time

0.3mm dia. mechanical pencil lead does not break

MECHATROLINK- i

Position Control

Speed Control

Advances to the target position, and stops or holds.

S-curve Speed V Accel/decel.

Linear Accel/decel.

Turns the motor at the specified speed, with user-defined acceleration/deceleration slopes.

V

Speed at Movement V

Accel. Time t1

Decel. Time t2

Accel. Time t1

Decel. Time t2

Online Switching Control Modes

V

Synchronous phase control while increasing speed with different accel rates.

Changes accel rate during acceleration

Switches to torque control during synchronous phase control

■Applications

Injection molding machine From speed control to torque control

Packaging machine From synchronous phase control to position control

*1: For MP2100M, MP2200, and MP2500M only.

*2: Twenty-one stations, including I/O equipment, can be connected.

Note : 0.5 ms and 1.5 ms are not available for the servo drives (SGDH SERVOPACK with NS115 application module) in the S- D series.

Synchronous Torque

Speed Control Phase Control Control

Position Control

Switches to synchronous

phase control during speed control

Switches to position control during torque control

Interpolation Functions for Simple Programming

Commands for linear, circular, and helical interpolation are available for easy programming of machine motions.

Helical Interpolation

Helical interpolation can be programmed to combine linear and circular interpolation (Fig. A). Helical interpolation can also be used by applying linear interpolation portion to the rotary axis to trace an arc using normal line control ⁽Fig. B⁾. Circular

interpolation ^{Linear interpolation}

Linear Interpolation, Circular Interpolation Basic motions, such as rapid traverse positioning, linear interpolation, and circular interpolation, can be easily programmed.

Fig. A Helical Interpolation Fig. B Normal Line Control