Yaskawa MotionWorks IEC Toolboxes - Manual (Page 275)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 262
Gantry_Power
This function block will enable or disable all axes configured as part of a gantry system. This block uses the
AxisControl function block from the PLCopen Toolbox . If the gantry is configured with dual motors on the same
physical axis, then the secondary or prime axes are geared to the other axis in the same physical motion plane.
Parameters
* Parameter Data Type Description
VAR_IN_OUT
V Gantry GantryStruct Contains all information pertaining to a gantry system.
VAR_INPUT Default
B Enable BOOL
The function will continue to execute while
enable is held high.
FALSE
V ClearAlarm BOOL
This input will clear any axis specific
alarms on the Gantry axes
FALSE
VAR_OUTPUT
V XAxisErrorID UINT ErrorID on the X axis
V YAxisErrorID UINT ErrorID on the Y axis