Notes – Yaskawa MotionWorks IEC User Manual
Page 96
PLCopenPlus Function Blocks for Motion Control 2013-04-13
88
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 absolute position, as with all other inputs, can be updated while in
motion by retriggering the Execute input.
• This action completes with velocity zero if no further blocks are pending.
• Regarding the use of the 'Direction' input:
• If there is only one mathematical solution to reach the commanded
position (like in linear systems), the value of the input Direction is
ignored.
• For rotary axis - valid absolute position values are in the range of the
machine cycle. It is possible to specify a relative move of more than one
machine cycle using
. When motion is complete, the
position will be reported as somewhere between 0 and machine cycle.
• The Enum type MC_Direction#Shortest_Way will cause motion through
the shortest route. The controller will decide based on the current
position when the function block is executed.
• For further information about the Done output, Profile Complete, and
Motion Complete, see the