Yaskawa MotionWorks IEC Toolboxes - Manual (Page 292)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 279
initiated. To modify an input, change
the value and re-trigger the execute
input.
V PathID PathIDStruct
Structure containing data to be shared
between PathGenerator and MovePath
functions.
n/a
B Velocity LREAL
Absolute value of the velocity in user
units/second
LREAL#0.0
B Acceleration LREAL
Value of the acceleration in user
units/second^2 (acceleration is
applicable with same sign of torque and
velocity)
LREAL#0.0
B Deceleration LREAL
Value of the deceleration in user
units/second^2 (deceleration is
applicable with opposite signs of torque
and velocity)
LREAL#0.0
E Jerk LREAL
Not supported; reserved for future use.
Value of the jerk in [user units /
second^3].
LREAL#0.0
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 as the Done output.
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.
E ErrorID UINT
If Error is true, this output provides the Error ID. This
output is reset when 'Execute' or 'Enable' goes low.
V ActiveSegment INT
Indicates the active segment as the tool point moves
along the path.
V OutputFlags DWORD
Code which can be used to set up to 32 different
outputs at various points along the motion path.
Notes
• The motion path described is absolute relative from the start point of the move. The axes can be
moved using other motion blocks prior to executing
Move_Path to account for offsets.