Yaskawa MotionWorks IEC Toolboxes - Manual (Page 391)

PLCopen Toolbox
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 378
8) ReadAxisParameters changed to increase efficiency.
9) Added some outputs such as 'Valid' to some blocks for increased consistency with PLCopen.
10) First version formalized with help documentation.
(******************************* 2009-07-15 v017 released
************************************)
1) Created Home_Pulse, Homes to C Channel, performs moves offset and defines position.
2) Removed R_TRIGs from the ErrorID portion of Home_LS, Home_LS_Pulse, and Home_Pulse because it was
preventing the blocks from showing errors.
3) Updated ProductBuffer function block for both modularized and non modularized latch data.
4) Updated ReadAxisParameters to include VAR_IN_OUT (for speed) and additional input parameter to specify.
axis type. Also reduced parameter set to eliminate those that typically do not change.
5) Added MC_Status data.
6) Improved interlock logic in Home_LS_Pulse, Home_LS, Home_Pulse functions, added CommandAborted as
output, and fixed a typo in all three blocks where the variable attached to the Busy output of one of *)
the internal blocks was referencing an error bit.
(****************************** 2009-05-28 v016 released
************************************)
1) Y_AdjustMode in the DataTypes file was incorrectly named Y_AdjustMethod.
2) Added NOT(Busy) to the Execute of MC_TouchProbe in CamSlave_FeedToLength. New Error code in
firmware 1.1.2.5 caused new problem if the block was executed when already executing. This may occur if
there
is bounce on the input sensor.
3) Fixed MoveRelative_ByTime - calculations would cause error if negative distance. Also added checks for
negative time (causes error) and zero distance (No Error)