Yaskawa MotionWorks IEC Toolboxes - Manual (Page 393)

PLCopen Toolbox
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 380
7) Jog converted to PLCopen convention (outputs) and code converted to ST.
8) Added CamSlave_FeedToLength, which uses MC_TouchProbe, SlaveRegistrationCheck, and Y_SlaveOffset.
(**************************************** 2009-01-27 v011 released
***************************************)
1) PLCopenPlus-v_2_2 firmware library used and included with this version.
2) Added AxisStruct STRUCT
(* Fixes *)
3) Simplified MoveRelativeByTime function, removed additional interlocks, and just copied MC_MoveRelative
outputs to MoveRelativeByTime outputs. *)
4) Made corrections to the AxisParameterArray, added cam parameters. NOTE: will require controller firmware
1.1.0.4 or greater to read some of the cam parameters. Set the READ flag for those parameters to FALSE
if you are using older firmware.
(********************************* 2009-01-12 v010 released
***********************************)
1) PLCopenPlus-v_2_1 firmware library used and included with this version.
2) Changed interface of homing blocks to use HomeStruct. Makes FB smaller and quicker to enter home data.
3) Added example initialization code as a Program POU to enable cut & paste to speed development.
4) Open the Toolbox as a project in a second copy of MotionWorks IEC as a project to see the Initialization POU.
5) Added 'ControllerAlarm' function block to provide BOOL output when there is a controller alarm.
(Uses Y_ReadAlarm and compares the AlarmID for non zero.
6) Added Homed BOOL to HomeStruct.
(********************************* 2008-11-05 v009 released
***********************************)