Yaskawa MotionWorks IEC Toolboxes - Manual (Page 312)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 299
Pick_Part
Assuming that a gripper actuator is empty and available to pick up a part in its mechanism, this function block
initiates a series of actions that involves moving the XY axes to a specific location, opening a gripper actuator,
moving the Z axis to a "Down" location, closing the gripper (to pick a part), and then finally moving the Z axis
back to its "Up" position.
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
as the Done output.
B Error BOOL Set high if error has occurred during the execution of the