Notes – Yaskawa MotionWorks IEC User Manual
Page 230
PLCopenPlus Function Blocks for Motion Control 2013-04-13
222
final position of the master where
the adjustment must be
completed. Units are those of the
cam master.
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
takes control of the axis. For non buffered modes, the outputs Busy
and Active have the same value.
E
CommandAborted
BOOL
Set high if motion is aborted by another motion command or
MC_Stop. This output is cleared with the same behavior as the Done
output.
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
• The PhaseShift amount input is a relative shift from the current absolute
shift value as stored in Parameter 1511, CamMasterShift.
• This function uses a modified sine pattern to ‘meter in’ the adjustment
from the current adjustment to current + PhaseShift. The effects of
multiple Y_CamShifts are cumulative.