Notes – Yaskawa MotionWorks IEC User Manual
Page 74
PLCopenPlus Function Blocks for Motion Control 2013-04-13
66
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
This block is not necessary if the last homing block executed is
, MC_StepDirect, or MC_StepAbsolute because these
blocks will change the motion state back to 'Standstill' when complete.
This block is only necessary if the following homing blocks are last in a
homing sequence:
• MC_StepAbsSwitch