Yaskawa MotionWorks IEC Toolboxes - Manual (Page 289)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 276
Interpolator3D
This function block calculates the required acceleration, deceleration, and velocity for X, Y and Z axes so that
straight line motion can occur between any two points in three dimensional space within the gantry coordinate
system. This function block is used by the
GotoXYZ function block.
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