Notes, Error description – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 423
PLCopen Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
410
Configuration tab in the Hardware Configuration (logical axis
number).
VAR_INPUT
Default
B
Enable
BOOL
The function will continue to execute while
enable is held high.
FALSE
V
SetPosition
BOOL
Value of the absolute position [u] to be set
when homing is done. The reference
FALSE
V
Position
LREAL
A positive or negative value within the
coordinate system in user units.
LREAL#0.0
V
ResetEncoder
BOOL
Initiates the Y_ResetAbsoluteEncoder
function to clear any absolute encoder
related SERVOPACK alarm, including A.810
and A.CC0
LREAL#0.0
VAR_OUTPUT
B
Valid
BOOL
Indicates that the outputs of the function are valid.
V
SetPositionDone
BOOL
Indicates that MC_SetPosition has successfully completed.
V
PositionValid
BOOL
Indicates that the absolute encoder has no alarms, and the
MC_SetPosition has been used at some point in the past to
align the encoder with the mechanical system.
V
ResetDone
BOOL
Indicates that the ResetEncoder request has completed
successfully.
V
EncoderAlarmID
UINT
SERVOPACK alarm related to the absolute encoder.
V
ControllerAlarmID
UDINT
Controller alarm related to the SRAM or battery, which stores
the absolute encoder offset.
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
•
Check the Hardware Configuration to ensure that the alarm format for Sigma III and higher drives is
set for 3 digit alarm mode.
•
See the
on Yaskawa's YouTube channel.
Error Description
ErrorID
Meaning
The function block is not applicable for the external axis specified
MC_SetPosition can not be executed while the axis is moving.