Yaskawa MotionWorks IEC - Manual (Page 176)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 168
B InTorque BOOL Setpoint value of torque or force is reached for the first time
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
1. The movement is limited by velocity, acceleration / deceleration, and
jerk, or by the value of the torque, depending on the mechanical
circumstances.
2. Specific additional tests are outside this FB. For instance, checking on
the traveled distance could be done via tracing the actual positions during
the action.
3. Velocity is always a positive value. The direction is dependent on the
torque and load.
4. The axis ceases to be in torque control mode when any motion control
(not administrative) Function Block is accepted on the same axis.
5. If the velocity limit is reached, then the actual torque will often be much
lower than the command torque. Since the command torque does not
change after equaling the Torque input, the actual torque response due to
sudden changes in loads is based on the servo drive characteristics, and
the rate of change of the actual torque may exceed the TorqueRamp input.