Yaskawa MotionWorks IEC User Manual
Page 118
PLCopenPlus Function Blocks for Motion Control 2013-04-13
110
user units/second
E
Acceleration
LREAL
Value of the acceleration in user
units/second^2 (acceleration is
applicable with same sign of
torque and velocity)
LREAL#0.0
E
Deceleration
LREAL
Value of the deceleration in user
units/second^2 (deceleration is
applicable with opposite signs of
torque and velocity)
LREAL#0.0
E
Jerk
LREAL
Value of the Jerk [u/s
3
]. Value of
the jerk in user units/second^3.
Jerk not supported . Reserved for
future use.
LREAL#0.0
E
Direction
Specifies the direction of motion.
Allowable modes are
positive_direction, shortest_way,
negative_direction,
current_direction.
MC_Direction#Positive_Direction
MC_Direction#Shortest_Way
MC_Direction#Negative_Direction
MC_Direction#Current_Direction
MC_Direction#Positive_Direction
E
BufferMode
Defines the behavior of the axis -
allowable modes are Aborting,
Buffered, BlendingLow,
BlendingPrevious, BlendingNext,
and BlendingHigh.-
MC_BufferMode#Aborting
MC_BufferMode#Buffered
MC_BufferMode#BlendingLow
MC_BufferMode#BlendingPrevious
MC_BufferMode#BlendingNext
MC_BufferMode#BlendingHigh
MC_BufferMode#Aborting
VAR_OUTPUT
B
InVelocity
BOOL
Set high upon successful completion of the function. This output is
reset when execute goes low.
E
Busy
BOOL
Set high upon the rising edge of the 'Execute' or 'Enable' input, and
reset if Done, CommandAborted, or Error is true.
E
Active
BOOL
For buffered modes, this output is set high at the moment the block
takes control of the axis. For non buffered modes, the outputs Busy
and Active have the same value.
E
CommandAborted
BOOL
Set high if motion is aborted by another motion command or MC_Stop.
This output is cleared with the same behavior as the Done output.