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• Engage / Disengage Window

Engage / Disengage Window

The optimal Engage or Disengage Window requires knowing the fastest master speed at which the machine is expected to operate. The window must be large enough to ensure that the motion engine, executing at the motion network update rate can see the master position within the window during one scan. Yaskawa recommends setting the window to the distance the master can travel in two scans.

1. Convert maximum expected master speed into the same units as configured for the master axis.
2. Determine the motion network update rate by looking in the Plant tree.
3. Convert to find the distance the master can travel in one motion network update interval.
4. Double the scan rate for safety margin.

Example:

Maximum expected speed: 500 ft/min.

Convert to configured user units of ft/sec: 500 / 60 = 8.333 ft/sec.

Motion network update rate = 2 mSec.

Invert update rate to find number of scans per second: 1000 / 2 = 500.

Maximum distance travelled per scan: 8.333 / 500 = 0.016666 feet.

Double for safety margin: 0.03333.

Setting a larger window is not recommended. At extreme levels approaching 50% of the cam master cycle or greater, the slave will seem to casually engage at any master position, and exhibit a jump in position when synchronizing with the master.