Yaskawa MotionWorks IEC Toolboxes - Manual (Page 402)

PLCopen Toolbox: DataTypes
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 389
Data Type: AxisStruct
For use as a container for all axis related data. (Customizable)
Data Type Declaration
TYPE
AxisStruct: STRUCT
Ref:AXIS_REF; (* Used with the Axis VAR_IN_OUT of many PLCopen function blocks *)
JogSpeed:LREAL; (* In user units/sec as defined in the Hardware Configuration *)
RunSpeed:LREAL; (* In user units/sec as defined in the Hardware Configuration *)
Position:LREAL; (* In user units as defined in the Hardware Configuration *)
Acceleration:LREAL; (* In user units/sec2 as defined in the Hardware Configuration *)
Deceleration:LREAL; (* In user units/sec2 as defined in the Hardware Configuration *)
Jerk:LREAL; (* In user units/sec/sec/sec as defined in the Hardware Configuration *)
Status:BOOL; (* To indicate if the drive is enabled *)
Warning:BOOL;
Alarm:BOOL;
DriveAlarmID:UINT;
DriveWarningID:UINT;
ControlAlarmID:UDINT;
Prm: AxisParameterStruct ;
Home: HomeStruct ;
Latch:RegistrationStruct;
Cam: CamStruct ;
END_STRUCT;