Yaskawa MotionWorks IEC Toolboxes - Manual (Page 244)

Gantry Toolbox
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 231
Gantry Revision History
Current Version:
New for Gantry v203 – 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
Gantry 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
(*************************************** 2013-03-15 v203 released
*************************************)
(* Created from Gantry_Toolbox_v203_d_KH
PathPointArray increased to 2047.
1) GantryDataTypes file, added Tangent Axis to Gantry Struct. This axis will be tangential to X, Y axes
2) GantryDataTypes file, added InputConditions and StandStillDuration to Path details structure. These will be
used for pause sections in the path
3) GantryDataTypes file, made PathPointArray size 1000
4) GantryDataTypes file, added StandStill and WaitForInputs enum types to TB_PatternType
5) GantryDataTypes file, added TangentAxisTable to PathIDStruct
6) GantryDataTypes file, added InputConditions and StandStillDuration to SegmentDetails
7) GantryDataTypes file, made SegmentArray size 1000
8) GantryDataTypes file, created SegmentMapArray to map between managed segments and user defined
segments
9) GantryDataTypes file, added ManagedSegment, LastManagedSegment, AbortPath and SegmentMap to
Segmentstruct
10) GantryDataTypes file, added TangentActive to PathDetails. Used to decide if a segment requires a tangent
axis to be
oriented correctly at the beginning and/or end.
11) Gantry_Power - Removed Alarm and Warning outputs.