Yaskawa MotionWorks IEC Toolboxes - Manual (Page 388)

PLCopen Toolbox
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 375
3) Jog_To_Position - Improved deceleration ramp.
4) Feed_To_Length - Added. This function will index a default amount, and update the final target based on a
registration input.
(*************** 2012-06-29 v202 released - developed using firmware 2.2.1
******************)
1) ReadAxisParameters - Added the following parameters FilterCmdVelocity 1021, CmdAcceleration 1022, and
postFilterCmdTorque 1024.
2) PLCTaskInfoTypes - Added DataTypes to mirror the 2.0 additions for high resolution task timing.
3) AbsolutePositionManager - Added additional alarm detection to catch A830, A840, and ACC0 alarms. Also
added code to clear EncoderAlarmID and ControllerAlarmID when the block goes inactive.
4) Jog_To_Position - Added. For rotary applications that must stop at a specific location.
5) HighSpeedOutput - Fixed issue with MinTime. Was not working correctly if Min Time not zero. (YEU)
(***************** 2011-12-08 v201 released - developed using firmware 2.0.0
*******************)
1) ProductBuffer - Added two optional inputs to allow FB to operate in a test or simulation mode.
2) ReadAxisParameters - Disabled reading parameter 1311 because it causes an error on MP2600iec. This
parameter is scheduled to return a zero instead of an ErrorID in firmware 2.2.
3) ReadAxisParameters - Fixed two swapped values CamOffset and CamScale were swapped in v200.
(***************** 2011-07-29 v200 released - developed using firmware 2.0.0
*******************)
Built from v022beta
ReadAxisParameters - Upgraded to use the new Y_ReadMultipleParameters firmware function block.