Yaskawa MotionWorks IEC - Manual (Page 299)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 291
the maximum index.
V BlockSize UDINT Size of cam data in bytes copied per
application task rate (if BlockSize is
unconnected, then the full amount). UDINT#0
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..
B Busy BOOL Set high upon the rising edge of the 'Execute' or 'Enable'
input, and reset if Done, CommandAborted, or Error is true.
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 requires that a cam file was previously loaded with
Y_CamFileSelect or
Y_CamStructSelect .
• When writing the cam table, this function block shall not exceed the
EndIndex, the cam table size, or the number of elements in Data.
• If EndIndex=0, then it defaults to the cam table size.
• Each scan, the function block copies a portion of data from the
application program memory to the motion memory area. The BlockSize
input specifies the number of data pairs to transfer per scan. If BlockSize
is 0, then the entire table is copied in one PLC scan. If the table is large
and the task time is small, a watchdog error may result.
• Y_MS_CAM_STRUCT is any 'ANY' input, but the motion kernel memory
checks that it starts with a valid Y_CAM_HEADER.