Yaskawa MotionWorks IEC Toolboxes - Manual (Page 88)

Cam Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 75
been completed successfully. If another block
takes control before the action is completed,
the Done output will not be set. This output is
reset when execute goes low.
B Busy BOOL
Set high upon the rising edge of the 'Execute'
or 'Enable' input, and reset if Done,
CommandAborted, or Error is true.
B Error BOOL
Set high if error has occurred during the
execution of the function block. This output is
cleared when 'Execute' or 'Enable' goes low.
B ErrorID UINT
If Error is true, this output provides the Error
ID. This output is reset when 'Execute' or
'Enable' goes low.
B MaximumVelocity LREAL
Peak slave velocity for the given cam profile at
the maximum master velocity.
B MaximumAcceleration LREAL
Peak slave acceleration for the given cam
profile at the maximum master velocity.
B MaximumJerk LREAL
Peak slave jerk for the given cam profile at the
maximum master velocity.
Error Description
ErrorID Meaning
0 No error
10113 Incorrect cam table size (check the CamTable.Header.Datasize)
Example
Consider a linear flying shear application. The maximum slave velocity of the profile is in the speed matching
region. The master maximum velocity was given as 24 units/sec and the maximum velocity output of the
CamAnalyzer is 24.