Yaskawa MP2000 - Manual (Page 23)

TECHNICAL NOTE
File: MP2000_IndividualFunctionDocument_RevC 23/168
Doc Number:
EF.MCD.05.101 11/17/2005
<CAMOFFST> Function Block Operation Notes
• Rising edge of EXECUTE input initiates block operation, and all block input
values are read once.
• To use the function block, the EXECUTE bit must be held ON. If the EXECUTE
bit goes off during operation, the block will stop executing (will not complete the
change), the offset up to that point will remain, and all outputs will be set to zero.
• The
RUNNING output bit will be held high until the Offset is completed,
EXECUTE
goes low, or an Error occurs.
• The
DST-TIME bit must be set to TRUE to use the master position change or
FALSE for the time duration.
• Distance mode note: Be sure to set the duration in the same direction as the
master movement. Example: If the block is in Distance mode and the master is
moving in the negative direction, and the DURATION is set positive, it will
subtract the relative offset and hence the resulting offset will not complete. As a
result, the DONE output will not go on because the full move is not complete in
the correct direction.
• The ‘Block Running’ value will appear in the Master/Slave pair section of the
RDA RDA(MW56**6).
• Issuing a STOP block on the slave axis will have no affect on the OFFSET block
execution.
• Note that the master/slave pairs are separated by 50 words in the RDA (up to 10
pairs). Example: Master/Slave pair #1 starts at MW56000, Master/Slave pair #2
starts at MW56050, Master/Slave pair #3 starts at MW56100, etc.
• Twenty-three words are used as working registers for this function, starting at the
address in Data23W.
<CAMOFFST> Input and Output Register Map
Output Registers
The following registers are used as outputs from the function block. They can be
monitored by the LadderWorks program to check the execution of the function.
Output Type Description
RUNNING Bit Goes high while offset value is being updated
in RDA and there are no errors
DONE Bit Goes high when offset change is complete in
RDA
ERROR Bit Latches high if any block errors occur