Yaskawa MotionWorks IEC - Manual (Page 242)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 234
VAR_INPUT Default
B Enable BOOL The function will continue
to execute while enable
is held high. FALSE
B ControlMode INT ControlMode: 1=position,
2=velocity, 3=torque INT#0
E Position LREAL A positive or negative
value within the
coordinate system in
user units. LREAL#0.0
E Velocity LREAL Velocity in user
units/second. See notes
below. LREAL#0.0
E Acceleration LREAL Not supported --
E Torque LREAL Value of the torque (in
percentage of rated
torque) LREAL
E FilterTimeConstant LREAL Moving average filter
specified in
seconds. See below for
details. LREAL#0.0 (No Filter)
V BufferMode MC_BufferMode The behavior of the axis
could be Aborting or
Buffered
MC_BufferMode#Aborting
MC_BufferMode#Buffered MC_BufferMode#Aborting
VAR_OUTPUT
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.