Yaskawa MotionWorks IEC - Manual (Page 118)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 110
user units/second
E Acceleration LREAL Value of the acceleration in user
units/second^2 (acceleration is
applicable with same sign of
torque and velocity) LREAL#0.0
E Deceleration LREAL Value of the deceleration in user
units/second^2 (deceleration is
applicable with opposite signs of
torque and velocity) LREAL#0.0
E Jerk LREAL Value of the Jerk [u/s 3 ]. Value of
the jerk in user units/second^3.
Jerk not supported . Reserved for
future use.
LREAL#0.0
E Direction MC_Direction Specifies the direction of motion.
Allowable modes are
positive_direction, shortest_way,
negative_direction,
current_direction.
MC_Direction#Positive_Direction
MC_Direction#Shortest_Way
MC_Direction#Negative_Direction
MC_Direction#Current_Direction MC_Direction#Positive_Direction
E BufferMode MC_BufferMode Defines the behavior of the axis -
allowable modes are Aborting,
Buffered, BlendingLow,
BlendingPrevious, BlendingNext,
and BlendingHigh.-
MC_BufferMode#Aborting
MC_BufferMode#Buffered
MC_BufferMode#BlendingLow
MC_BufferMode#BlendingPrevious
MC_BufferMode#BlendingNext
MC_BufferMode#BlendingHigh MC_BufferMode#Aborting
VAR_OUTPUT
B InVelocity BOOL Set high upon successful completion of the function. This output is
reset when execute goes low.
E Busy BOOL Set high upon the rising edge of the 'Execute' or 'Enable' input, and
reset if Done, CommandAborted, or Error is true.
E Active BOOL For buffered modes, this output is set high at the moment the block
takes control of the axis. For non buffered modes, the outputs Busy
and Active have the same value.
E CommandAborted BOOL Set high if motion is aborted by another motion command or MC_Stop.
This output is cleared with the same behavior as the Done output.