Enumerated types, Programs, Function blocks – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 384
PLCopen Toolbox
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
371
function block
Enumerated Types:
Enumerated
Type
Description
For use with the Reverse_MC_Direction function block to select positive or negative
direction for LimitDirection and PulseDirection
For use with the ReadAxisParameters function block to select the type of axis, such
as servo, external encoder, VFD, etc.
Programs:
Program
Description
Initialize
A template of code which can be copied to reduce the time required to enter initialization
code into your project.
Function Blocks:
Function Block
Description
This function block can serve as a central point for monitoring, clearing,
and defining the position of an absolute encoder.
Manages the parameters associated with enabling/disabling the
acceleration and deceleration limits.
Checks MC_ReadAxisError and the actual position of both axes to verify
that they are both free of alarms and within the position tolerance
specified.
Combines MC_Power, MCReadAxisError, and MC_Reset and provides
separate outputs for controller and drive alarms and warnings.
Uses MC_ReadAxisError to provide further breakdown of the ErrorClass and
AxisErrorID.
Provides a BOOL output to indicate if there is a controller alarm not related
to an axis.
Combines several of the parameters for use with the High Speed Output
function available on the LIO-01, LIO-02, LIO-06, and MP2600iec. It allows
changing the "OnPosition" value on the fly. While the "OnPosition" will be
triggered at the hardware level with a response time of 13us, the output
will be turned off when either the MinDistance has been travelled or the
MinTime has elapsed, which will be based on the application scan in which
this function is operating.
Combines the PLCopen function blocks MC_StepLimitSwitch,