Yaskawa MotionWorks IEC Toolboxes - Manual (Page 422)

PLCopen Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 409
Function Blocks
AbsolutePositionManager
This function monitors for any controller or servo alarm related to the absolute encoder or battery backed
encoder offset data stored in the controller. It can serve as the single point of monitoring, clearing, and defining
the position of an absolute encoder. This function includes a retained Boolean output variable that once set,
requires that the alarm be cleared through this function, and that the position of the encoder is redefined. The
intention is to prevent the machine from operating until the position of the absolute encoder has been calibrated
to the machine coordinates.
This function includes the following PLCopen function blocks: MC_ReadAxisError, MC_ReadAlarm
MC_ResetAbsoluteEncoder, Y_ClearAlarm and MC_SetPosition.
Parameters
* Parameter Data
Type Description
VAR_IN_OUT
B Axis AXIS_REF Logical axis reference. This value can be located on the