Yaskawa MotionWorks IEC Toolboxes - Manual (Page 20)

Cam Toolbox: Revision History
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 7
Cam Revision History
Current Version:
New for Cam v204 – All firmware library DataType definitions were moved to a new toolbox called the DataTypes
Toolbox. Formerly, the PLCopen Toolbox contained the MotionInfoTypes and the PLCTaskInfoTypes datatype files.
These were removed and are now included in the DataTypes Toolbox. If upgrading from an older version of Cam
Toolbox, you must do the following:
1) Include the DataTypes Toolbox in your project.
2) Remove any other Yaskawa supplied datatype files with firmware library definitions such as
a. ControllInfoTypes
b. YDeviceCommTypes
(****************** 2013-09-01 v204 released. Developed using 2.4.0 firmware
*********************)
1) CamBlend - Added ErrorID 10084. One of the Cam Tables has an invalid TableID. *)
2) CamBlend - Fixed ExecuteStandStill contact in RETURN rung to be normally closed. *)
3) CamGenerator - Corrected mistake with Tangent Match & Tangent Blend formulas introduced in v202 when
CamGenerator was improved to allow blending segments.
4) CamBlend - Added check: If BlendData.Window = 0, then the code defaults the value to 1% of the
CamMasterCycle.
5) CamGenerator - Added curve type 32 for Arc profile. Also added radius and direction to CamSegmentStruct
6) Removed references to Math Toolbox functions where possible. Now only the CamShiftControl function block
requires the Math Toolbox.
7) Because of the reintroduction of functions with EN/ENO, the MP2600 requires firmware 2.1.
8) SlaveRegistrationCheck - Added ErrorID 10086 to report if the MaxPosCorrection or MaxNegCorrection are
not set correctly.
9) CamSlaveFeedToLength - Added RecordedPosition as output. Also included interlock to prevent adjustments
from occurring if the slave is not engaged.
10) CamGenerator - Added Parabolic with blended velocity as formula code 33. (for multi segment)
11) CamShift_Control - Consolidated Rotary Knife and Linear Flying shear math.
Previous Versions: