Yaskawa MotionWorks IEC - Manual (Page 18)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 10
edge of 'Execute'.
Behavior of Done
output The “Done” output (as well as 'InGear',
'InSync', ..) is set when the commanded action
has been completed successfully. With multiple
Function Blocks working on the same axis in a
sequence, the following applies:
When one movement on an axis is interrupted
with another movement on the same axis
without having reached the final goal, 'Done' of
the first FB will not be set.
Behavior of
CommandAborted
output 'CommandAborted' is set when a commanded
motion is interrupted by another motion
command. The reset-behavior of
'CommandAborted' is like that of 'Done'. When
'CommandAborted' occurs, the other output-
signals such as 'InVelocity' are reset.
Inputs exceeding
application limits If a FB is commanded with parameters which
result in a violation of application limits, the
instance of the FB generates an error. The
consequences of this error for the axis are
application specific and thus should be handled
by the application program.
Behavior of Busy
output 'Busy' output indicates that the FB is not
finished. 'Busy' is SET at the rising edge of
'Execute' and RESET when one of the outputs
'Done', 'Aborted', or 'Error' is set. It is
recommended that this FB should be kept in the
active loop of the application program for at
least as long as ‘Busy’ is true, because the