Notes – Yaskawa MotionWorks IEC User Manual
Page 219
PLCopenPlus Function Blocks for Motion Control 2013-04-13
211
DisengagePosition +/-
(DisengageWindow)/2.
Units are those of the cam
master.
V
DisengageData
Structure containing details
about how the cam will
disengage.
All zeros in
Y_Disengage_Data
structure
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.
B
Error
BOOL
Set high if error has occurred during the execution of the
function block. This output is cleared when 'Execute' or
'Enable' goes low.
E
ErrorID
UINT
If error is true, this output provides the Error ID. This
output is reset when 'Execute' or 'Enable' goes low.
Notes
• Unlike the PLCopen standards describing MC_CamOut, the slave's final
camming velocity is NOT held; the slave will stop and hold position at the
disengage event.
• If Y_CamOut is executed when the axis is not associated to a cam
master, there is no error; the Done output immediately becomes TRUE.
• For the DisengageData input, only
#AtPosition is
currently supported. To immediately stop the slave from being
synchronized to the master, use MC_Stop for the slave axis.