Yaskawa MotionWorks IEC User Manual
Page 175
PLCopenPlus Function Blocks for Motion Control 2013-04-13
167
velocity limit is increased
according to the Acceleration
input. Similarly, if the initial
velocity limit is greater than the
Velocity input, then the velocity
limit is decreased according to the
Deceleration input. Once the
velocity limit equals the Velocity
input, the velocity limit will not
change.
E
Acceleration
LREAL
Value of the acceleration in user
units/second^2 (acceleration is
applicable with same sign of
torque and velocity)
LREAL#0.0
E
Deceleration
LREAL
Value of the deceleration in user
units/second^2 (deceleration is
applicable with opposite signs of
torque and velocity)
LREAL#0.0
E
Jerk
LREAL
Value of the Jerk [u/s
3
]. Value of
the jerk in user units/second^3.
Jerk not supported . Reserved for
future use. (Not supported until
future version)
LREAL#0.0
E
Direction
MC_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#PositiveDirection
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