Yaskawa MotionWorks IEC - Manual (Page 160)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 152
MC_BufferMode#BlendingHigh
VAR_OUTPUT
B Done BOOL Set high when the commanded action has 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.
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.
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
• This function block acts in conjunction with the Sigma Servo's P-OT and
N-OT functions. Refer to the servo amplifier parameters Pn50A and
Pn50B for P-OT and N-OT configurations.
• For proper operation, it is recommended to set Pn001.1 to 1 to maintain
the servo lock state. The function block cannot complete successfully if
the servo is disabled during the process.
• TimeLimit, DistanceLimit, and TorqueLimit have a default value of 0.0,
which means an infinite limit.
• It is recommended to disable controller velocity feedforward component
(1310) for smooth servo motion while homing using MC_StepLimitSwitch.
• Sigma II with NS115: SIEPC71080001 , see Appendix B.
• Sigma III: YEA-SIA-S800-11 , see section 7.5.2
• Sigma-5 with rotary motor: SIEPS80000046 , see Section 10.1