Yaskawa MotionWorks IEC - Manual (Page 84)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 76
MC_BufferMode#BlendingLow
MC_BufferMode#BlendingPrevious
MC_BufferMode#BlendingNext
MC_BufferMode#BlendingHigh
VAR_OUTPUT
E StartSync BOOL The slave has started to synchronize, but not yet synchronized
with the master
B InSync BOOL Set high when the slave first synchronizes with the master. 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.
B 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
•
If the master is stationary when the MC_GearInPos function is
executed, it will remain busy until motion occurs.
•
Only one SyncMode is supported: MC_SyncMode#Acc_Vel_Dec uses
the input parameters Acceleration, Velocity, & Deceleration to make
a move to the SlaveSyncPosition. The slave may attain
synchronization early if these parameters are set higher than
optimally required. If these parameters will not allow the slave to
engage by the time the master reached the MasterSyncPosition, an
error will result.
•
MasterStartDistance and MasterSyncPosition are in units of the
specified master.