Notes, Error description – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 104
Cam Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
91
VAR_OUTPUT
B
Done
BOOL
ERROR: Variable (Parameter bDescription_Done) is
undefined.
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.
B
ErrorID
UINT
If Error is true, this output provides the Error ID. This
output is reset when 'Execute' or 'Enable' goes low.
Notes
• In MotionWorks IEC, certain information must be hard coded at design time, such as the size of an array.
Because of this, we selected a default size of 200 for the CamSegmentArray DataType. If more segments are
required, edit the Cam Toolbox’s DataType definition by changing this value. There is no practical limit on the
number of segments, however the IEC code uses INT datatype for array definitions associated with this function.
There is also a hard coded check for the number of segments inside the CamGenerator function block. If you
change the array size, also change the line that reads:
SegmentSizeError:=(CamData.LastSegment = INT#0) OR (CamData.LastSegment > INT#200).
• The default size of a Y_MS_CAM_STRUCT is defined in the PLCopen Toolbox as:
MS_Array_Type:ARRAY[0..2880] OF Y_MS_PAIR.
If your cam profile requires more than 2880 master / slave pairs, this value can be increased by editing the
PLCopen Toolbox DataType definition. If you change the value, don’t forget to change the TableSize input to
CamGenerator.
•
The resolution specified for each point in the CamData STRUCT is resolution of the master. For
example, if MasterEnd = 100.0, and the previous segment's MasterEnd = 80.0, and the Resolution =
1.0, then 20 data points will be calculated along the CurveType specified.
•
for further details about creating cam profiles.
•
See the
on Yaskawa's YouTube Channel.
Error Description
ErrorID
Meaning
No error
CamData.LastSegment must be greater than 0 and less than 400, or whatever value has
been declared as the ARRAY size in the CTB_Types file.