Yaskawa MotionWorks IEC - Manual (Page 16)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 8
Function block interface
General rules
The following table provides general rules about the interface of the Motion
Control function blocks.
Rule applies to Rule
Output exclusivity When 'Execute' is true, the outputs ‘Busy’,
‘Done’, ‘Error’, and ‘CommandAborted’ are
mutually exclusive.
Output status The 'Done', 'InGear', 'InSync', 'InVelocity',
'Error', 'ErrorID' and 'CommandAborted' outputs
are reset with the falling edge of
'Execute'. However, the falling edge of 'Execute'
does not stop or even influence the execution of
the actual FB. The corresponding outputs are
set for at least one cycle if the situation occurs,
even if execute was reset before the FB
completed. If an instance of a FB receives a
new 'Execute' before it finishes (as a series of
commands on the same instance), the FB won’t
return any feedback, like ‘Done’ or
‘CommandAborted’, for the previous action.
Input parameters The parameters are read at the rising edge of
the 'Execute' input. To modify any parameter, it
is necessary to change the input parameter(s)
and trigger the 'Execute' again.
Missing input
parameters According to IEC 61131-3, if any parameter of a
function block input is missing (“open”) then the