Yaskawa MotionWorks IEC Toolboxes - Manual (Page 14)

Cam Toolbox
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 1
Yaskawa's IEC61131-3 Toolboxes: 2013-09-13
Toolbox Introduction
Yaskawa has created several IEC-61131 projects for MotionWorks IEC which can be imported for use by another
project as a User Library, or "Toolbox." These toolboxes were designed to save time by providing application
code for a wide variety of situations.
• Cam toolbox contains functions that increase the power of the PLCopen cam function in the firmware
library by providing extras such as functions for calculating motion profiles, making adjustments based
on latch inputs, and estop recovery.
• Communications toolbox provides advanced communication protocol function blocks (DNS, SMTP,
FTP).
• File Read / Write toolbox builds upon the basic file manipulation functions available in the ProConOS
firmware library to more quickly read and write application data files.
• Gantry toolbox provides functions useful for operating an XY table with or without a Z (vertical) axis.
• Kinematics toolbox contains forward and inverse kinematics for selected mechanisms.
• Math Toolbox provides compatibility with the built in function that include EN and ENO outputs, and
also provides other tools such as ATAN2, and Floating Point Remainder (REM).
• PackML is both a Template and Toolbox for designing applications to take advantage of the PackML
specification. It emphasizes machine state and transition logic and provides predefined PackML data
structures.
• PLCopen toolbox contains functions that build upon the PLCopen standard functions. It can serve as a
starting point for every project.