Yaskawa MotionWorks IEC Toolboxes - Manual (Page 319)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 306
XY_MoveAbsolute
This function block will perform an absolute move the X and Y axes to a specific location within the gantry
coordinate system. The X and Y axes 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
MC_MoveAbsolute function blocks simultaneously for each axis to create straight line motion at the tool point.
This is not considered interpolated motion. If configured, no motion on the Z axis will occur.
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
B X_Position LREAL Target X coordinate of the tool tip 0.0
B Y_Position LREAL Target Y coordinate of the tool tip 0.0
B Velocity LREAL Velocity of the tool tip 0.0
B Acceleration LREAL Acceleration of the tool tip 0.0
B Deceleration LREAL deceleration of the tool tip 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'