Yaskawa MotionWorks IEC - Manual (Page 77)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 69
re-trigger the execute input.
B RatioNumerator DINT Gear ratio numerator DINT#0
B RatioDenominator DINT Gear ratio denominator DINT#1
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.
LREAL#0.0
E BufferMode MC_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 InGear BOOL Set high upon successful completion of the function. 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.