Yaskawa MotionWorks IEC User Manual
Page 159
PLCopenPlus Function Blocks for Motion Control 2013-04-13
151
trigger the execute input.
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
LimitSwitchMode
Sensor condition to finalize
MC_StepLimitSwitch:
Only MC_SwitchMode#EdgeOn is
supported.
MC_SwitchMode#On = When
sensor is ON
MC_SwitchMode#Off = When
sensor is OFF
MC_SwitchMode#EdgeOn = When
Off to On transition in sensor
MC_SwitchMode#EdgeOff =
When On to Off transition in
sensor
MC_SwitchMode#EdgeOn
E
Velocity
LREAL
Absolute value of the velocity in user
units/second
LREAL#0.0
E
TorqueLimit
LREAL
Maximum torque or force [in % of
rated torque].The amplifier's Torque
Limits (Pn402 and Pn403) will
override the torque limit set by this
value if they are lower than the
TorqueLimit setting.
100% of Rated Torque
E
TimeLimit
LREAL
Time limit for homing to complete (in
seconds).
LREAL#0.0 (no time limit)
E
DistanceLimit
LREAL
Maximum distance the axis can travel
in search of home sensor.
LREAL#0.0
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#Aborting