Yaskawa MotionWorks IEC User Manual
Yaskawa Equipment
Table of contents
Document Outline
- Overview
- Introduction
- The State Diagram
- Error Handling
- Function block interface
- General rules
- Why the command input is edge sensitive
- Example 1: Same Function Block instance controls different motions of an axis
- Example 2: Different FB instances control the motions of an axis
- Aborting Versus Buffered Modes: Input BufferMode
- Rules for the definition of Motion Control function blocks according to PLCopen
- Data Types
- Enumerated Types
- Function Block List
- Function Blocks for Motion Control
- MC_AbortTrigger
- MC_FinishHoming
- MC_GearIn
- MC_GearInPos
- MC_GearOut
- MC_MoveAbsolute
- MC_MoveRelative
- MC_MoveSuperImposed
- MC_MoveVelocity
- MC_Power
- MC_ReadActualPosition
- MC_ReadActualTorque
- MC_ReadActualVelocity
- MC_ReadAxisError
- MC_ReadBoolParameter
- MC_ReadParameter
- MC_ReadStatus
- MC_Reset
- MC_SetPosition
- MC_StepLimitSwitch
- MC_StepRefPulse
- MC_Stop
- MC_TorqueControl
- MC_TouchProbe
- MC_WriteBoolParameter
- MC_WriteParameter
- Y_CamFileSelect
- Y_CamIn
- Y_CamOut
- Y_CamScale
- Y_CamShift
- Y_CamStructSelect
- Y_ClearAlarms
- Y_DirectControl
- Y_HoldPosition
- Y_ProbeContinuous
- Y_ReadAlarm
- Y_ReadCamTable
- Y_ReadDriveParameter
- Y_ReadMultipleParameters
- Y_ReadStringParameter
- Y_RebootController
- Y_ReleaseCamTable
- Y_ResetAbsoluteEncoder
- Y_ResetMechatrolink
- Y_SetRTC
- Y_SlaveOffset
- Y_VerifyParameters
- Y_WriteCamTable
- Y_WriteDriveParameter
- Y_WriteParameters
- Controller AlarmID List
- Function Block ErrorID List
- Axis Parameter List
- High Speed Output
- Timing Diagram
- Camming
- Camming Introduction
- CamState
- Cam Masters
- Master Cycle
- Camming Function Blocks
- Creating a Cam Table
- Externally Created Cam Data
- Transferring Cam Files to an MPiec Controller
- User File Storage
- Configuring FileName Input for Y_CamFileSelect
- Internally Created Cam Data
- Cam Table Types
- On-The-Fly Adjustments
- Camming Block Diagram
- Engage / Disengage Window
- Cam Transitions Matrix
- Motion Details