MainRoutine - Ladder Diagram Page 1

SoftLogix:MainTask:MainProgram 8/7/2015 8:02:24 AM

Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

*************************************************************************************************************************************************************************************************************

MCFG Block Required to Configure Axis Structure for Use in AOIs; Also provides diagnostics useful for interlocking logic properly

IO Functions for this demo program:

CN 1 SI 3 - Home Flag (selected for use in MAH)
CN 1 SI 4 - Registration Input (If registration is used in MAM or MAJ)
CN 1 SI 5 - Trigger High Speed Index Move when MHSI is enabled
Motion Axis
Configuration &
Status
MCFG_Yaskawa
0 Motion Axis Configuration & Status
MCFG_Yaskawa MCFG_1 ... EN
Axis_IN SigmaLogic_Axis1:I DN
Axis_OUT SigmaLogic_Axis1:O ER
Axis Axis HB
ParameterResolution 3 CommFLT
SvPrmOK
FeedRateOverride 100 SvRDY
SvON
PositionFB 2.0 SvSTL
SpeedFB 0.0 SvALM
TorqueFB 0.0 SvWRN
ServoAlarmCode 16#0000 SvABT
ServoWarningCode 16#0000 CntrALM
ControllerAlarmCode 0 AppER
ApplicationErrorCode 0 AOI_Active
SigmaLogicSoftware 10200006 TestMode
SigmaLogicFirmware 30000173 SftwreMismatch

************************************************************************************************************************************************************************************************************

Sample Interlocking Logic checking for valid Ethernet Connection, Alarms, Servo Ready Status, Servo Enable Status
Also checks to see if an AOI is already in use as several motion blocks will not execute if another AOI is already in progress
Motion Axis Motion Axis
Configuration & Configuration &
Motion Axis Status Servo Status Test Mode set
Configuration & parameters have been Motion Axis by Configuration
Status Communication successfully Motion Axis Motion Axis Configuration & Utility is Active.
Fault. Heartbeat was downloaded and Configuration & Configuration & Status Controller PLC control is
lost. confirmed Status Servo Ready Status Servo Alarm Alarm is present blocked
MCFG_1.CommFLT MCFG_1.SvPrmOK MCFG_1.SvRDY MCFG_1.SvALM MCFG_1.CntrALM MCFG_1.TestMode Axis_OK
1 / / / /

Motion Axis
Configuration &
Status Servo On
Axis_OK MCFG_1.SvON Axis_Ready
2

RSLogix 5000
MainRoutine - Ladder Diagram Page 2
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

Motion Axis
Configuration &
Status An Axis AOI
is Active
Axis_Ready MCFG_1.AOI_Active Axis_ReadyForMotion
3 /

Yaskawa SigmaLogic Axis Structure Digital IO Status.

Bits 0-7, CN13 Inputs 0-7, Used as Flag 65-72.
Bits 8-15, CN13 Outputs 0-7, Used as Flag 73-80.
Bits 16-22, CN1 Inputs 0-6, Used as Flag 81-87.
Bits 23-25, CN1 Outputs 0-2, Used as Flag 88-90.
The only reason for using the IOStatusBits variable instead of the Axis.I.IOStatusBits location was to be able to customize the labels/descriptions.
MOV
4 Move
Source Axis.I.IOStatusBits
0
Dest IOStatusBits
0

*************************************************************************************************************************************************************************************************************

Section to Reset Faults, Enable/Disable Servo

Motion Axis Fault
Reset
FaultResetReq MAFR_Yaskawa
5 Motion Axis Fault Reset
MAFR_Yaskawa MAFR_1 ... EN
Axis_OK ons_2 Axis Axis DN
ONS FLT_BSY

Motion Servo On
ServoOnReq MSO_Yaskawa
6 Motion Servo On
MSO_Yaskawa MSO_1 ... EN
Axis Axis DN
FLT_RDY
FLT_BSY

Motion Servo Off

ServoOffReq MSF_Yaskawa
7 Motion Servo Off
MSF_Yaskawa MSF_1 ... EN
Axis Axis DN
FLT_BSY

RSLogix 5000
MainRoutine - Ladder Diagram Page 3
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

Motion Axis Home

"Set Position"
SetZeroReq MAHSP_Yaskawa
8 Motion Axis Home "Set Position"
MAHSP_Yaskawa MAHSP_1 ... EN
Axis Axis DN
SetPosition HomePos ER
0.0 FLT_BSY
Axis_FaultCode 0 FLT_RDY

*************************************************************************************************************************************************************************************************************

MAH Motion Axis Home Block Section

Consult help file for all the available homing methods and options
Home Type 3 has been selected here
(Search in Pos Direction, Seach for SI3 (Flag 84), Stop and search for C-Pulse in the Neg direction, Perform an Offset Move in the Neg direction and Define Position)
HomeSearchStart ons_8 Axis_ReadyForMotion HomeSearchReq
9 ONS
Motion Axis Home
Homing Process is
Complete
HomeSearchReq MAH_1.PC StopReq
/ /

RSLogix 5000
MainRoutine - Ladder Diagram Page 4
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

Motion Axis Home

HomeSearchReq MAH_Yaskawa
10 Motion Axis Home
MAH_Yaskawa MAH_1 ... EN
Axis Axis
HomeType 3 DN

Direction 0 IP

Use_CPulse 1 ER

SetPosition 0 PC

Speed 2 FLT_RDY

Accel_Decel 20 FLT_BSY

TorqueLimit 100

FlagNo 84

OffsetDistance 0.42

OffsetSpeed 1

BackoffDistance 0

CreepSpeed 0.25

Axis_FaultCode 0

RSLogix 5000
MainRoutine - Ladder Diagram Page 5
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

*************************************************************************************************************************************************************************************************************

MAJ Jog Block Section

Motion Axis Jog
JogFwd Axis_Ready MOV MAJ_Yaskawa
11 Move Motion Axis Jog
Source 0 MAJ_Yaskawa MAJ_1 ... EN
Axis Axis
Dest JogDirection Direction JogDirection DN
0 0
Speed JogSpeed IP
1.0
JogRev Axis_Ready MOV Accel_Rate Accel ER
Move
20.0
Source 1
Decel_Rate Decel PC
20.0
Dest JogDirection
RegistrationUse 0 RegDN
0
Reg_Position RegPosition RegIP
0.0
Reg_Speed RegSpeed RegPC
0.0
Reg_Accel RegAccel FLT_RDY
0.0
Reg_Decel RegDecel FLT_BSY
0.0
Axis_FaultCode 0

*************************************************************************************************************************************************************************************************************

MAM Positioning Block Section; Incremental and Absolute Moves selected by the value of the Move_Type Parameter
IncMoveStart MOV MOV
12 Move Move
Source IncDistance Source 1
10.0
Dest MAM_Position Dest MAM_MoveType
2.5 0

AbsMoveStart MOV MOV

13 Move Move
Source AbsPosition Source 0
2.5
Dest MAM_Position Dest MAM_MoveType
2.5 0

RSLogix 5000
MainRoutine - Ladder Diagram Page 6
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

IncMoveStart ons_1 Axis_ReadyForMotion MoveReq

14 ONS

AbsMoveStart

Motion Axis Move The

axis has reached the
end Position
("Position
Completed")
MoveReq MAM_1.PC StopReq
/ /

Motion Axis Move

MoveReq MAM_Yaskawa
15 Motion Axis Move
MAM_Yaskawa MAM_1 ... EN
Axis Axis DN
Move_Type MAM_MoveType IP
0 ER
Position MAM_Position PC
2.5 RegDN
Speed Speed RegIP
5.0 RegER
Accel_Rate Accel RegPC
20.0 FLT_PRM
Decel_Rate Decel FLT_RDY
20.0 FLT_BSY
RegistrationUse 0

Reg_Position 2

Reg_Speed 2

Reg_Accel 20

Reg_Decel 20

Axis_FaultCode 0

RSLogix 5000
MainRoutine - Ladder Diagram Page 7
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

*************************************************************************************************************************************************************************************************************

MHSI Motion High Speed Index Block Section

Move Mode = 0 (Relative Move based on Distance input)
Move Type = 0 (Single Move instead of repeating moves)
CalcMethod = 0 (Use Accel/Decel)
Trigger Flag = Flag 86 (CN 1 SI 5)
Axis.I.HSI_Moving and Axis.I.HSI_Done bits are linked to CN 13 DO 6 and DO 7 just to show how the moving and done status can be accessed and used.
The advantage to this type of move over the traditional MAM block is response time.
Motion Axis High
Speed Index
HSI_Enable Axis_ReadyForMotion MHSI_Yaskawa
16 Motion Axis High Speed Index
MHSI_Yaskawa MHSI_1 ... EN
Motion Axis High Axis Axis
Speed Index AOI is MoveMode 0 DN
Active
MHSI_1.EN Axis_Ready MoveType HSI_MoveType IP
0
RepeatNumber NumRepeats ER
2
CalcMethod 0 MV

Distance IncDistance DW
10.0
Speed Speed FLT_RDY
5.0
Accel Accel FLT_BSY
20.0
MoveTime 0

DwellTime HSI_DwellTime
500
Direction 0

TriggerFlagAssign 86

MovingFlagAssign 58

DwellingFlagAssign 59

DoneFlagAssign 60

Axis_FaultCode 0

Yaskawa SigmaLogic
Axis Structure
Structure of data
coming from the
Yaskawa SigmaLogic
controller. CN13 Output 6 (DO6)
Axis.I.HSI_Moving OutputCommandBits.6
17

RSLogix 5000
MainRoutine - Ladder Diagram Page 8
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

Yaskawa SigmaLogic
Axis Structure
Structure of data
coming from the
Yaskawa SigmaLogic
controller. CN13 Output 7 (DO7)
Axis.I.HSI_Done OutputCommandBits.7
18

*************************************************************************************************************************************************************************************************************

MAB Blended Move Block Section

Note: All positions are absolute
After execution is started, the move is commanded to Blend1_Position using the Blend1 Accel, Decel and Speed
After reaching Blend1_Position, the axis will continue on to Blend2_Position at the Blend2 Accel, Decel and Speed without stopping
BlendMoveStart ons_7 Axis_ReadyForMotion BlendMoveReq
19 ONS
Motion Axis Blend
Indication that 2nd
section is completed
BlendMoveReq MAB_1.B2_DN StopReq
/ /

Motion Axis Blend

BlendMoveReq MAB_Yaskawa
20 Motion Axis Blend
MAB_Yaskawa MAB_1 ... EN
Axis Axis
Blend1_Accel Accel B1_DN
20.0
Blend1_Decel Decel B1_IP
20.0
Blend1_Speed Speed1 B2_DN
5.0
Blend1_Position Position1 B2_IP
5.0
Blend2_Accel Accel ER
20.0
Blend2_Decel Decel FLT_RDY
20.0
Blend2_Speed Speed2 FLT_BSY
2.0
Blend2_Position Position2
20.0
MoveBlend1ErrorCode 0
MoveBlend2ErrorCode 0

RSLogix 5000
MainRoutine - Ladder Diagram Page 9
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

*************************************************************************************************************************************************************************************************************

MAG Electronic Gearing Section

When enabled, the motor follows the external encoder input at a ratio of Slave_Counts/Master_Counts
Superimposed Move allows the user to add a move on top of the gearing operation; This is enabled whenever SuperUse is set to 1.
Superimposed Move parameters can be updated even when gearing is enabled. The AOI looks at these parameters on the rising edge of SuperStart
Motion Axis Gear
GearReq Axis_Ready MAG_Yaskawa
21 Motion Axis Gear
MAG_Yaskawa MAG_1 ... EN
Axis Axis
Direction GearDirection DN
0
Slave_Counts Numerator IP
1
Master_Counts Denominator ER
1
Accel_Rate Accel SDN
20.0
Decel_Rate Decel SIP
20.0
SuperUse SuperUse SER
1
SuperStart SuperStart FLT_RDY
0
SuperSpeed SuperSpeed FLT_BSY
5.0
SuperAccel Accel
20.0
SuperDecel Decel
20.0
SuperDistance Offset
2.0

*************************************************************************************************************************************************************************************************************

Sequence Table Section; This executes a pre-programmed Sequence Table in SigmaLogic

Note: No Sequence Complete Bit exists so the Sequence Table in SigmaLogic has been programmed to turn on General Flag 64 (Axis.I.FlagStatusBit2.31)
after the last step is finished. This provides feedback that the sequence is complete. Flag 64 is reset (turned OFF) when the enable to the MSQR block is removed.
SeqStart ons_3 Axis_ReadyForMotion SeqEdit SeqReq
22 ONS /
Yaskawa SigmaLogic
Axis Structure Flag
Status cont.
1..64 are General
Flags,
Bits 0..31
correspond to Flag
33..64
SeqReq StopReq Axis.I.FlagStatusBit2.31
/ /

RSLogix 5000
MainRoutine - Ladder Diagram Page 10
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

Motion Sequence Run

SeqReq MSQR_Yaskawa
23 Motion Sequence Run
MSQR_Yaskawa MSQR_1 ... EN
Axis Axis
StepNumber SeqStartStep IP
1
SeqPause SeqPause FLT_RDY
0
SeqResume SeqResume FLT_BSY
0
SeqCancel SeqCancel
0
CurrentStep 0

Sequence Edit Type was selected to be 3 (Speed and Distance); This was picked arbitrarily for demo purposes.
Whenever the SeqEdit bit it triggered, the Speed and Distance for the step (EditStepNum) will be modified.
Note: These changes take effect immediately but are not saved when power is cycled.
Motion Sequence Edit
SeqEdit SeqReq MSQE_Yaskawa
24 / Motion Sequence Edit
MSQE_Yaskawa MSQE_1 ... EN
Axis Axis
SeqEditType 3 DN

SeqEditStepNo EditStepNum ER
1
SeqEditSpeed EditStepSpeed FLT_BSY
5.0
SeqEditDistance EditStepDist
5.0

*************************************************************************************************************************************************************************************************************

MAS Stop Block to Stop Motion Regardless of the Current State of the Axis
Motion Axis Stop
StopReq MAS_Yaskawa
25 Motion Axis Stop
MAS_Yaskawa MAS_1 ... EN
Axis Axis PC
Deceleration 50

RSLogix 5000
MainRoutine - Ladder Diagram Page 11
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

*************************************************************************************************************************************************************************************************************

Section to Scale Feedback parameters from SigmaLogic into REAL for display purposes and easy use in comparison functions
DIV DIV DIV
26 Divide Divide Divide
Source A Axis.I.Position Source A Axis.I.Speed Source A Axis.I.Torque
2500 0 -1300
Source B 1000.0 Source B 1000.0 Source B 1000.0

Dest ActualPosition Dest ActualVelocity Dest ActualTorque

2.5 0.0 -0.83

*************************************************************************************************************************************************************************************************************

MTRQ Motion Axis Torque Block

TorqueStart will start the motor spinning in torque mode. The torque will be clamped at the Torque setpoint (SP).
If the torque has been achieved for at least 500ms, then it is considered successful.
If the torque has not been achieved for 5 seconds, it is assumed that the torque operation has failed.
TorqueStart ons_9 Axis_ReadyForMotion TorqueReq
27 ONS

TorqueReq TorqueSuccessful TorqueFailed

/ /

Motion Axis Torque

Control
TorqueReq MTRQ_Yaskawa
28 Motion Axis Torque Control
MTRQ_Yaskawa MTRQ_1 ... EN
Axis Axis
Torque_Limit TorqueSP IP
40.0
Torque_Ramp Torque_Ramp ER
100.0
Speed_Limit Speed_Limit FLT_RDY
5.0
Accel_Rate Accel FLT_BSY
20.0
Decel_Rate Decel
20.0
Axis_FaultCode 0

RSLogix 5000
MainRoutine - Ladder Diagram Page 12
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

Yaskawa SigmaLogic
Axis Structure
Structure of data
coming from the
Yaskawa SigmaLogic
controller.
TorqueReq Axis.I.b61_TorqueAtTorque TON TON_2.DN TorqueSuccessful
29 Timer On Delay EN
Timer TON_2
Preset 500 DN
Accum 0

TorqueReq TorqueSuccessful TON TON_1.DN TorqueFailed

30 / Timer On Delay EN
Timer TON_1
Preset 5000 DN
Accum 0

TorqueSuccessful LastTorqueSuccess
31

LastTorqueSuccess TorqueStart
/

TorqueFailed LastTorqueFail
32

LastTorqueFail TorqueStart
/

*************************************************************************************************************************************************************************************************************

MCLK Motion Set Clock Block

When Enabled, the MCLK AOI sends over the Year, Month, Day, Hour, Minute and Second to the SigmaLogic Axis
This example uses a built-in System function to read the date and time and store it into a User-Defined Data Type (structure) called TIME
The variable LocalDateTime was defined using the TIME data type. The details of the TIME UDT are found in the DataTypes -> User-Defined folder in the Controller Organizer
The TIME structure is then copied into individual INT variables for use with the MCLK AOI.
GSV
33 Get System Value
Class Name WallClockTime
Instance Name
Attribute Name LocalDateTime
Dest LocalDateTime.Year
2015

RSLogix 5000
MainRoutine - Ladder Diagram Page 13
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

MOV MOV MOV MOV

34 Move Move Move Move
Source LocalDateTime.Yea Source LocalDateTime.Month Source LocalDateTime.Day Source LocalDateTime.Hou
2015 8 7 7
Dest Year Dest Month Dest Day Dest Hour
2015 8 7 7

MOV MOV
Move Move
Source LocalDateTime.Minute Source LocalDateTime.Second
50 50
Dest Minute Dest Second
50 50

Motion Set Clock

UpdateServoClock MCLK_Yaskawa
35 Motion Set Clock
MCLK_Yaskawa MCLK_1 ... EN
Axis Axis
Year Year ER
2015
Month Month PC
8
Day Day
7
Hour Hour
7
Minute Minute
50
Second Second
50
Axis_FaultCode 0

RSLogix 5000
MainRoutine - Ladder Diagram Page 14
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

*************************************************************************************************************************************************************************************************************

MPLS Motion Programmable Limit Switch Block Section

Switch 1 defined as: (Flag 73) CN 13 DO 00 is ON when 0 <= ActualPosition <= 2
Switch 2 defined as: (Flag 74) CN 13 DO 01 is ON when 1.5 <= ActualPosition <= 4
Switches 3 & 4 not configured
Structure of
parameters needed
for PLS switch
operation using Structure of
MPLS_Yaskawa If parameters needed
OnPosition < for PLS switch
OffPosition output operation using
is ON between them. MPLS_Yaskawa Assigns
If OnPosition > Structure of a Flag number to the
OffPosition output parameters needed PLS output channel.
is OFF between them for PLS switch Must be a physical
and ON everywhere operation using output Flag 73-80,
else. MPLS_Yaskawa 88-90.
MOV MOV MOV
36 Move Move Move
Source Switch1OnPosition Source Switch1OffPosition Source 73
0.5 2.0
Dest Switch1Data.OnPosition Dest Switch1Data.OffPosition Dest Switch1Data.FlagNumbe
0.5 2.0 73

Structure of
parameters needed
for PLS switch
operation using Structure of
MPLS_Yaskawa If parameters needed
OnPosition < for PLS switch
OffPosition output operation using
is ON between them. MPLS_Yaskawa Assigns
If OnPosition > Structure of a Flag number to the
OffPosition output parameters needed PLS output channel.
is OFF between them for PLS switch Must be a physical
and ON everywhere operation using output Flag 73-80,
else. MPLS_Yaskawa 88-90.
MOV MOV MOV
37 Move Move Move
Source Switch2OnPosition Source Switch2OffPosition Source 74
1.5 4.0
Dest Switch2Data.OnPosition Dest Switch2Data.OffPosition Dest Switch2Data.FlagNumbe
1.5 4.0 74

RSLogix 5000
MainRoutine - Ladder Diagram Page 15
SoftLogix:MainTask:MainProgram 8/7/2015 8:02:25 AM
Total number of rungs in routine: 40 Z:\VM Share Folder\SigmaLogic_RSLogix_Example_v1.ACD

Motion Programmable
Limit Switch
PLS_Used MPLS_Yaskawa
38 Motion Programmable Limit Switch
MPLS_Yaskawa MPLS_1 ... EN
Axis Axis DN
Switch1Data Switch1Data IP
Switch2Data Switch2Data ER
Switch3Data Switch3Data S1
Switch4Data Switch4Data S2
ActivateSwitch1 Switch1Used S3
1 S4
ActivateSwitch2 Switch2Used FLT_RDY
1
ActivateSwitch3 Switch3Used
0
ActivateSwitch4 Switch4Used
0
Axis_FaultCode 0

Write Digital Outputs to SigmaLogic (CN13 DO 0-7 and CN1 SO 1-3)

Code above writes to the OutputCommandBits variable and this MOV instruction sends the command to SigmaLogic
Yaskawa SigmaLogic
Axis Structure
Digital Output
commands.
Bits 0-7 correspond
to CN13 Digital
Outputs 0-7, used as
Flag 73-80.
Bits 8-10 correspond
to CN1 Digital
Outputs 0-2 used as
Flag 88-90"
MOV
39 Move
Source OutputCommandBits
0
Dest Axis.O.DigitalOutCommandBits
0

(End)

RSLogix 5000