Yaskawa MotionWorks IEC - Manual (Page 155)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 147
system, not the motor type.
VAR_OUTPUT
B Done BOOL Set high when the commanded action has been completed
successfully. If another block takes control before the action is
completed, the Done output will not be set. This output is reset
when execute goes low.
B Busy BOOL Set high upon the rising edge of the 'Execute' or 'Enable' input, and
reset if Done, CommandAborted, or Error is true.
B Error BOOL Set high if error has occurred during the execution of the function
block. This output is cleared when 'Execute' or 'Enable' goes low.
E ErrorID UINT If error is true, this output provides the Error ID. This output is
reset when 'Execute' or 'Enable' goes low.
Notes
• If Mode=FALSE, the position input value is treated as an ABSOLUTE
position, and the axis position is defined as such. If Mode=TRUE, then the
value of the Position input is added to the current commanded position,
the sum of which becomes the new commanded position without any
motion occurring.
• If the specified axis has a Sigma Series absolute encoder, the absolute
encoder offset is calculated and stored in the controller's battery-backed
RAM when this block is executed. The next time the system is powered up,
the absolute encoder position is read, then automatically adjusted to
reflect the desired position for the machine. It is not necessary to
physically move the motor to a zero point and reset the absolute encoder.
• If Y_ResetAbsoluteEncoder was executed, a power cycle is required
before MC_SetPosition can effectively store the absolute encoder
offset. Y_ResetMechatrolink can be used to soft power cycle the network
and servopacks.
• A slave axis will jump when changing the master's position. Add
program logic to avoid this situation.It is recommended not to use