Yaskawa MotionWorks IEC - Manual (Page 123)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 115
negative motion is
commanded when this
input is FALSE. - Not
Supported
E BufferMode MC_BufferMode Not supported. The
behavior is as if
MC_BufferMode#Aborting
is set. MC_BufferMode#Aborting
VAR_OUTPUT
B Status BOOL Actual state of the axis, TRUE=Enabled, FALSE=Disabled.
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.
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.
E ErrorID UINT If error is true, this output provides the Error ID. This output
is reset when 'Execute' or 'Enable' goes low.
Notes
• If the MC_Power FB is called with the 'Enable' true while being in
'Disabled', this either leads to 'Standstill' motion state if there is no error
in the axis, or to ErrorStop if an Error exists.
• MC_Power is different than other block using the Enable/Valid
method. Since MC_Power actively enables or disables the servo
continuously, the Active output is always TRUE, and the Error and ErrorID
outputs are always output. Do not include more than one MC_Power
function block per axis in the IEC application program.
• When MC_Power is called with 'Enable' false, the axis goes to 'Disabled'
motion state from every state including 'ErrorStop'.
• If the controller detects that the command position deviates significantly
from the feedback position, the controller will post an alarm causing