Yaskawa MotionWorks IEC - Manual (Page 9)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 1
Overview
This document contains instructions for using the PLCopenPlus and
YMotion firmware library function blocks integrated in the MPiec Series
Controllers.
Introduction
This manual is adopted from the PLCopen for motion control specification
at
www.plcopen.org , and includes additional information for functionality
with Yaskawa and other components.
Each function block is listed in alphabetical order, and is also linked to the
feature or function from the software environment. A comprehensive list
of axis parameters and error codes is at the back of the manual. A subset
of specific errors that each function block may generate is included under
each function block description.
The other main concepts covered in this manual are the Motion State
Diagram, and documentation concerning the Data Types supplied with the
PLCopenPlus Firmware Library.
The Firmware Library is the set of all PLCopen function blocks, plus
Yaskawa specific functions. The firmware library is called PLCopen Plus,
and is automatically loaded when a new project is created.
Model
The PLCopenPlus Function Block (FB) library is designed for the purpose of
controlling axes via the language elements consistent with those defined in
the IEC 61131-3 standard. It provides a set of command oriented function