Yaskawa MotionWorks IEC User Manual
Page 164
PLCopenPlus Function Blocks for Motion Control 2013-04-13
156
re-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
Velocity
LREAL
Absolute value of the velocity in
user units/second
LREAL#0.0
E
SetPosition
LREAL
Value of the absolute position [u]
to be set when homing is done.
The reference
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.
LREAL#0.0
E
TimeLimit
LREAL
Time limit for homing to complete
(in seconds).
LREAL#0.0
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#BlendingHigh
MC_BufferMode#Aborting
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.
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