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Gotoxyz, Parameters – Yaskawa MotionWorks IEC Toolboxes User Manual

Page 283

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Gantry Toolbox: Function Blocks

MotionWorks IEC61131-3 Toolboxes: 2013-09-13

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GoToXYZ

This function block will perform an absolute move the X, Y, and Z axes to a specific location within the gantry
coordinate system. The absolute positions must be specified in

GantryStruct

before executing this function

block. This block calculates the required acceleration, deceleration and velocity for each axis and then executes
an MC_MoveAbsolute function block simultaneously for each to create straight line motion at the tool point,
however this is not considered an interpolated motion.

Parameters

*

Parameter

Data Type

Description

VAR_IN_OUT

V

Gantry

GantryStruct

Contains all information pertaining to a gantry system.

VAR_INPUT

Default

B

Execute

BOOL

Upon the rising edge, all other function block
inputs are read and the function is initiated.
To modify an input, change the value and re-
trigger the execute input.

FALSE

VAR_OUTPUT

B

Done

BOOL

Set high when the commanded action has been completed
successfully. If another block takes control before the
action is completed, the Done output will not be set. This
output is reset when execute goes low.

B

Busy

BOOL

Set high upon the rising edge of the 'Execute' or 'Enable'
input, and reset if Done, CommandAborted, or Error is
true.

B

CommandAborted

BOOL

Set high if motion is aborted by another motion command
or MC_Stop. This output is cleared with the same behavior