Notes, Error description, Example – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 268
Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
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B
Radius
LREAL
Radius of arc
0.0
B
Direction
0: clockwise, 1: counter clockwise
0
VAR_OUTPUT
B
Valid
BOOL
Indicates that the outputs of the function are valid.
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.
B
ErrorID
UINT
If Error is true, this output provides the Error ID. This
output is reset when 'Execute' or 'Enable' goes low.
B
StartAngle
LREAL
Angle subtended by a line drawn from the arc center to
the start point of the arc with the positive X axis on an XY
plane
B
TraversedAngle
LREAL
Angle traversed by the arc generated
Notes
•
See Yaskawa's Youtube channel for
and
Error Description
ErrorID
Meaning
No error
The center to co-ordinate distance for the two input co-ordinates are not the same
Zero radius is invalid
Only modes 0 (center + 2 co-ordinates) and 1 (radius + 2 coordinates) are supported
The coordinates of the two data points are the same
Must be greater than zero and less than 20
Example
The Calculate_Angles function block is used to calculate Start and Traversed angles which can be used by the
structure to create a path in the
function block. The two modes of data entry for an
arc are a) two co-ordinates and center point of an arc or b) two co-ordinates and radius as shown below.