Yaskawa MotionWorks IEC Toolboxes - Manual (Page 392)

PLCopen Toolbox
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 379
(****************************** 2009-05-07 v015 released
************************************)
1) Added interlock to Jog's MC_MoveVelocity to prevent rising edge of exe if Stop is busy to prevent ErrorID
4370 from appearing.
2) Added Axes_Interlock function.
(****************************** 2009-04-16 v014 released
************************************)
(* Fixed AxisControl and Enable Servo to allow a re attempt to enable servo if MC_Power has Error. *)
(* Previously they had a normally closed contact from the MC_Power FB preventing the block from enabling
*)
(* again. Also changed these two blocks to reset Error & ErrorID outptus when Enable=FALSE *)
(* Changed the Jog Block Error and ErrorID outputs to only come on if JogFwd or JogRev is On *)
(* Added CommandAborted to the Busy interlock circuits of Home_LS_Pulse and Home_LS. *)
(****************************** 2009-03-30 v013 released
************************************)
Released version of v012.
1) Explicitly set some parameters in ReadAxisParameters to LREAL#0.0 and documented as being unavailable.
because they were causing Access Violation Errors when viewed in the Watch Window.
(****************************** 2009-01-27 v012 created
************************************)
1) This version was released to a few people as a work in progress.
2) PLCopenPlus-v_2_2 firmware library used and included with this version.
3) Added LatchPositionNonCyclic to the AxisParameterStruct structure for ReadAxisParameters FB.
4) Corrected naming of Cam parameters 1500, 1501, 1502.
5) Corrected AxisStatus FB, Drive Warnings and Errors were backwards.
6) Changed AxisControl.ControlAlarmID And AxisStaus.ControlAlarmID to a 32 bit UDINT output.