Yaskawa Motion Kernel (Motion Axes Limits & Cycle time)
| Version Number | Description |
|---|---|
| 1.0 | Initial version |
| 2.0 | Added motion kernel cycle time information |
This application note lists the axis limits for EtherCAT on an iC9200 controller and the cycle time update of the Yaskawa Motion Kernel.
1. Supported Components
| Component Name | Version |
|---|---|
| iC9200 series | ≥ 2024.3 |
| iCube Engineer | ≥ 2024.3 |
2. Motion Axis limit
-
If no license is active, axis count is 4. 4 servo axes and 4 virtual axes are supported.
-
With a 64 axis count license, 64 servo axes and 64 virtual axes are supported.
-
When max axis count is exceeded, configured axes within the licensed limit are still useable.
-
When max axis count is exceeded,
user receives WBM feedback that axis creation failed - unclearable motion alarm.
-
There is no limit on external encoders.
3. Motion Kernel cycle time
Starting the version 2025.6 it is possible to monitor the motion kernel cycle time with the following system variables "Y_FMK_MOTIONSCAN_INFO.INTERVAL" (see#69987 for more details).
The interval selected by the Motion Kernel depends on the
Hardware
configuration, as shown below in the table of truth in light blue highlights.
| Scenario Number | EtherCAT sub device linked to Motion axis* | EtherCAT IO sub device | Slicebus module linked to motion Axis* | Slicebus IO module | Slicebus cycle time | Slicebus synchronization | FMK |
|---|---|---|---|---|---|---|---|
| 1 | Yes | Yes | Yes | Yes | Slicebus Cycle time must be set to EtherCAT cycle time (iCE). | Must be activated | FMK = SB rate = EC rate |
| 2 | Yes | Yes | Yes | No | Slicebus Cycle time must be set to EtherCAT cycle time (iCE). | Must be activated | FMK = SB rate = EC rate |
| 3 | Yes | Yes | No | Yes | Slicebus can be different from ECAT. | FMK = EC rate | |
| 4 | Yes | Yes | No | No | Slicebus can be different from ECAT. | FMK = EC rate | |
| 5 | Yes | No | Yes | Yes | Slicebus Cycle time must be set to EtherCAT cycle time (iCE). | Must be activated | FMK = SB rate = EC rate |
| 6 | Yes | No | Yes | No | Slicebus Cycle time must be set to EtherCAT cycle time (iCE). | Must be activated | FMK = SB rate = EC rate |
| 7 | Yes | No | No | Yes | Slicebus can be different from ECAT. | FMK = EC rate | |
| 8 | Yes | No | No | No | Slicebus can be different from ECAT. | FMK = EC rate | |
| 9 | No | Yes | Yes | Yes | Slicebus can be different from ECAT. | Must be activated | FMK = SB rate |
| 10 | No | Yes | Yes | No | Slicebus can be different from ECAT. | Must be activated | FMK = SB rate |
| 11 | No | Yes | No | Yes | Slicebus can be different from ECAT. | FMK = ECAT rate | |
| 12 | No | Yes | No | No | Slicebus can be different from ECAT. | FMK = ECAT rate | |
| 13** | No | No | Yes | Yes | Slicebus can be different from ECAT. | Must be activated | FMK = SB rate |
| 14** | No | No | Yes | No | Slicebus can be different from ECAT. | Must be activated | FMK = SB rate |
| 15** | No | No | No | Yes | Slicebus can be different from ECAT. | FMK = ECAT rate** | |
| 16** | No | No | No | No | Slicebus can be different from ECAT. | FMK = ECAT rate**
|
*If link between the
device/module
has been removed, then the
EtherCAT device/Slicebus module
should be interpreted as a normal
EtherCAT IO sub device/Slicebus IO module.
**When there is no device defined on the EtherCAT fieldbus, the EtherCAT cycle does NOT run at the specified cycle defined by the software but runs at 16ms.
Note: Virtual Motion axis are not impacting the motion kernel cycle.