Yaskawa MotionWorks IEC - Manual (Page 288)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 280
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#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
• The Offsets provided by this function are not related to any initial offset
the slave may have had when engaged with
Y_Start_Mode.SlaveAbsolute:=FALSE.
• The Offset input absolute. If the current Offset is at 15mm, and this
function block is executed with an Offset input parameter value of 22mm,
this function will increase the Offset by an additional 7mm.
• The underlying table is not affected; this function block only adds an
Offset after the result of cam table lookup.