Yaskawa MotionWorks IEC - Manual (Page 159)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 151
trigger the execute input.
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 LimitSwitchMode MC_SwitchMode Sensor condition to finalize
MC_StepLimitSwitch:
Only MC_SwitchMode#EdgeOn is
supported.
MC_SwitchMode#On = When
sensor is ON
MC_SwitchMode#Off = When
sensor is OFF
MC_SwitchMode#EdgeOn = When
Off to On transition in sensor
MC_SwitchMode#EdgeOff =
When On to Off transition in
sensor
MC_SwitchMode#EdgeOn
E Velocity LREAL Absolute value of the velocity in user
units/second LREAL#0.0
E TorqueLimit LREAL Maximum torque or force [in % of
rated torque].The amplifier's Torque
Limits (Pn402 and Pn403) will
override the torque limit set by this
value if they are lower than the
TorqueLimit setting. 100% of Rated Torque
E TimeLimit LREAL Time limit for homing to complete (in
seconds). LREAL#0.0 (no time limit)
E DistanceLimit LREAL Maximum distance the axis can travel
in search of home sensor. LREAL#0.0
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#Aborting