Yaskawa MotionWorks IEC Toolboxes - Manual (Page 389)

PLCopen Toolbox
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 376
(**************** 2011-02-24 v022beta created - developed using firmware 2.0.0
*****************)
1) Home_Init - Added for users who prefer to avoid structured text POU for initializing the HomeStruct
2) Math Toolbox - Upgraded to v004 with Enable / Valid as function block I/O for compatibility with FW 2.1*)
3) Changed AxisControl to allow clearing a drive warning while the servo is enabled.
(**************** 2011-01-24 v021 released - developed using firmware 1.2.3
********************)
1) HighSpeedOutput - Added. For simplified operation with the external encoder high speed output.
2) Home_LS_Pulse - Added a MC_MoveRelative between searching for the limit switch and C channel to prevent
ErrorID 4397 from occurring: "Over travel limit still ON after attempting to move away from it."
3) Axes_Interlock - Enhanced to work with axes configured for rotary mode.
(***************** 2010-10-04 v020 released. developed using firmware 1.2.2.9
*********************)
1) Jog - Rewrote function to follow the 'Enable' template standard created for ST functions.
2) ProductBuffer - Improved lockout operation when a manual offset was applied. See ProductBuffer FB
comments for more details.
3) Jog - Improved Done output (It will only pulse; this block is a special case of Enable type
4) AxisParams Struct - Added CamTableCumulativeOutput
5) Home_LS - Fixed rung 6 (incorrect execute bit), duplicated StartOffset from rung 5.
6) DigitalCamSwitch - Added. See the initialize POU for example data setup.
7) ReadAxisParameters - Added LoadType and MachineCycle parameters.
8) AbsolutePositionManager - Added. For confirmation that the absolute position was set and valid
9) Moved Math functions to Math Toolbox