Yaskawa MotionWorks IEC Toolboxes - Manual (Page 283)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 270
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