Yaskawa MotionWorks IEC User Manual
Page 17
PLCopenPlus Function Blocks for Motion Control 2013-04-13
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value from the previous invocation of this
instance will be used. In the first invocation the
default value is applied.
Position versus
distance
'Position' is a value defined within a coordinate
system. 'Distance' is a relative measure, the
difference between two positions.
Sign rules
The 'Velocity', 'Acceleration', 'Deceleration' and
'Jerk' are always positive values. 'Position' and
'Distance' can be positive or negative.
Error Handling
Behavior
All blocks have two outputs, which deal with
errors that can occur while executing that
Function Block. These outputs are defined as
follow:
Error: Rising edge of 'Error' indicates that an
error occurred during the execution of the
Function Block.
ErrorID: Error number - see the
at the end of the manual.
'Done', 'InVelocity', 'InGear', and 'InSync'
indicate successful completion, so these signals
are logically exclusive to “Error”.
Types of errors:
• Function Block Error (e.g. parameters out of
range, state machine violation attempted)
• Communication Error
• Amplifier/Axis Error
Instance errors do not always result in an axis
error (forcing the axis to 'StandStill'). The error
outputs of the relevant FB are reset with falling