Yaskawa MotionWorks IEC Toolboxes User Manual

MotionWorks IEC61131-3 Toolboxes MotionWorks IEC Toolboxes Rev: 2013-09-013

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 x Data Types for PLCopen Toolbox ...

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 87 Application Example This example illustrates how the CamControl b

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 88

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 89

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 90 CamGenerator This function can calculate the information requi

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 91 VAR_OUTPUT B Done BOOL ERROR: Variable (Parameter bDescription_

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 92 10039 Cam Segment 'Resolution' cannot be zero unless th

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 93 Example 2

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 94 CamMaster_Lookup This function block provides the master posit

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 95 not be set. This output is reset when execute goes low. B Busy

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 96 CamShift_Control The CamShift_Control block manages cam shift

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 xi Feed_To_Length ...

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 97 V UpdateUsePointer BOOL RegistrationData.UsePointer will be upd

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 98 7282 Cam Shift Aborted. Verify that the CamShift_Control function

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 99 Application Example This example illustrates how the CamControl

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 100

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 101

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 102

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 103 CamSlave_FeedToLength CamSlave_FeedToLength was designed for

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 104 B Slave AXIS_REF A logical reference to the slave axis V SlaveP

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 105 ProductSize if left unconnected.) V MissedLatchLimit UINT The

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 106 1) It will report an ErrorID 10021 if the user enters a non zero

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 xii Data Type: MovingAverageArray ...

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 107 match the required data size. Right click on the function block

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 108

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 109 Application Example Consider a form fill and seal application a

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 110 The film drive belt is the slave to a constantly running master

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 111 A sample screen shot of data that needs to be entered for the s

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 112 slave cycle, the distance between two successive registrations i

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 113

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 114 CamSlave_FeedToLength2 CamSlave_FeedToLength2 is an enhanceme

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 115 Parameters * Parameter Data Type Description VAR_IN_OUT B Maste

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 116 V SensorMinimum LREAL The earliest slave position where a sens

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 xiii Sweep ...

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 117 ErrorID Meaning 0 No error 4370 The move could not be started be

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 118

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 119

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 120 CamSlave_Lookup This function block returns the slave positi

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 121 the function block. This output is cleared when 'Execute&ap

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 122

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 123 CamSlave_PullToLength CamSlave_PullToLength was designed for

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 124 * Parameter Data Type Description VAR_IN_OUT B Master AXIS_REF A

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 125 V SensorMaximum LREAL The latest slave position where a sensor

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 126 ErrorID Meaning 0 No error 10020 ProductSize cannot be less than

Cam Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 1 Yaskawa's IEC61131-3 Toolboxes: 2013-09-13 Toolbox Introduction Yaskawa has c

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 127 CamSlave_Recover The CamSlave_Recover block moves a Slave bac

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 128 corresponding to this MasterPosition value. B Velocity LREAL V

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 129 Notes After CamSlave_Recover is done, in most cases, the slave

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 130 57620 The DataType connected to a function block parameter speci

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 131

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 132

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 133 CamSlave_WindowCheck This function block is used by the CamS

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 134 B Error BOOL Set high if error has occurred during the executi

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 135 CamTableManager This function block serves as a FIFO buffer f

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 136 block. This output is cleared when 'Execute' or '

Cam Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 2 • Yaskawa toolbox contains functions that add basic functionality, such as PID Con

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 137 Application Example

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 138 CamTableUpdate This function block aids with cam file managem

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 139 input, and reset if Done, CommandAborted, or Error is true. B E

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 140 Example 2: Using Two Cam Tables • One will be actively running

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 141 4377 File reading already in progress 4378 The function block is

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 142 SlaveIndex_Lookup This function block returns the array inde

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 143 'Enable' input, and reset if Done, CommandAborted, or

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 144

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 145 SlaveRegistrationCheck This function block was designed for u

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 146 VAR_INPUT Default B Enable BOOL The function will continue to

Cam Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 3 Cam Toolbox Cam Toolbox Cam Toolbox contains functions which provide enhanced suppo

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 147 SensorMaximum. B Error BOOL Set high if error has occurred dur

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 148 10086 MaxPosCorrection must be zero or positive, MaxNegCorrectio

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 149 Communications Toolbox Communications Toolbox The Communicat

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 150 FTP Datatype Customization: If the file used with FTP needs t

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 151 Getting Started: Communications Requirements for v201 To use

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 152 Communications Revision History Current Version: ****** 2

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 153 Data Types Data Type: SMTP_Data Data Type Declaration TYPE SM

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 154 smtpdata.SMTPDomain := 'smtp.example.com';

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 155 Data Type: FTP_Data Data Type Declaration TYPE FTP_Data : S

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 156 Data Type: CircularBufferStruct Data Structure used to manage

Cam Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 4 CamStruct For use with Y_CamIn and Y_CamOut function blocks CamSyncStruct For use w

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 157 Data Type: CommStruct For use with CommunicationChannel funct

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 158 Data Type: DelimiterArray Supporting array for CircularBuffer

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 159 Data Type: EthernetConfig Supporting data structure for CommS

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 160 Data Type: RecipientArray If more than 10 recipients are need

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 161 Data Type: RecipientStruct TYPE RecipientStruct : STRUCT Emai

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 162 Data Type: SerialConfig Supporting data structure for CommStr

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 163 Enumerated Types Enumerated Type: COM_Type Enum Type for Comm

Communications Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 164 Enumerated Type: Method Enum Type for GetParameter Method Dat

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 165 Function Blocks CommunicationChannel The Communicatio

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 166 B ClearBuffer BOOL Clears all contents of the circula

Cam Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 5 camming was interrupted unexpectedly CamSlave_WindowCheck Used inside CamSlave_Feed

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 167 8726 The serial port ID was not a valid serial port. 87

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 168 DNS_LookUp This function block performs a DNS looku

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 169 B Busy BOOL Set high upon the rising edge of 'Ex

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 170 You can also perform DNS lookups from the command line

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 171 The basic command structure is "nslookup [hostnam

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 172 Error Description ErrorID Meaning 0 No error 8705 The

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 173 8724 The device option ID was invalid. 8725 The device

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 174 If you compare the output of the block ("74.125.2

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 175 FTP_SendFile This function block uses the FTP (File

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 176 Notes • This block utilizes FTP, not SFTP as SSL is no

Cam Toolbox: Getting Started MotionWorks IEC61131-3 Toolboxes: 2013-09-13 6 Getting Started: Cam Requirements for v204 To use the Cam Toolbox,

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 177 8724 The device option ID was invalid. 8725 The device

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 178 12553 Requested action not taken, file name not allowed

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 179

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 180 The destination folder is empty to begin with and the F

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 181

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 182 The results of this block can be seen in the destinatio

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 183 This examples demonstrates how to write a program to se

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 184

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 185 This entire program is enabled by the "MetricsEnab

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 186 GetCommand The GetCommand function block is a support

Cam Toolbox: Revision History MotionWorks IEC61131-3 Toolboxes: 2013-09-13 7 Cam Revision History Current Version: New for Cam v204 – All firm

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 187 execute goes low. B CommandCreated BOOL Indicates tha

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 188 GetParameter The GetParameter function block provid

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 189 either the number of the parameter value to be found or

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 190 ErrorID Meaning 0 No error 10160 CommandString length i

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 191 InputBufferManager The InputBufferManager function b

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 192 B Valid BOOL Indicates that the outputs of the function

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 193 ReName_CommandProcessor The ReName_CommandProcessor f

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 194 execute while enable is held high. VAR_OUTPUT B Done

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 195 2. Data type MyMachineStruct (VAR_IN_OUT ‘MachineData’

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 196 block will cause an error. Normally, this value is 819

Cam Toolbox: Revision History MotionWorks IEC61131-3 Toolboxes: 2013-09-13 8 (************* 2013-01-16 v203 released. Created using 2.4

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 197 d. Use the GetParameter function block to separate com

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 198 ReName_CommunicationsMgr ReName_CommunicationsMgr is

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 199 SendEmail This function block sends an e-mail via S

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 200 server and low when 'Done' or 'Error&apo

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 201 8720 An error occurred trying to get or set the device

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 202 As this is a complicated function, additional examples

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 203 And to demonstrate the end result, here is the e-mail

Communications Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 204 UpdatePointer The UpdatePointer function block is a s

File_RW Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 205 File Read Write Toolbox File_RW Toolbox The File Read / Write Template is dif

File_RW Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 206 Getting Started: File_RW Requirements for v202 To use the File_RW Template, y

Cam Toolbox: Revision History MotionWorks IEC61131-3 Toolboxes: 2013-09-13 9 3) CamFileMgmt - CamTableMgmt renamed CamTableManager 4) CamSlave

File_RW Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 207 File_RW Revision History Current Version: (****************** 2013-0

File_RW Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 208 Data Types Data Type: ByteBufferStruct Data Type Declaration TYPE

File_RW Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 209 Data Type: MyDataStruct This datatype MyDataStruct and its two sup

File_RW Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 210 Data Type: SeparatorList Optional SeparatorList can be populated b

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 211 Function Blocks Read_CSV_File This function block will read

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 212 STRING#'flash/user/data/mydata.csv' V Separators S

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 213 Notes • Don't forget to include the ProConOS firmware li

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 214 10126 NoDataError - The End Of File was reached, but the recor

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 215 The 15 columns of data defined above relate to the data shown

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 216 Customizing the code in the function block 5) To customize th

Cam Toolbox: Revision History MotionWorks IEC61131-3 Toolboxes: 2013-09-13 10 (********************************* 2011-02-02 v007 re

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 217 Customizing for file versioning The function has the capabilit

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 218 3) Customize the Read-CSV_File function block to determine if

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 219 NOTE: The capability of the function block to read multiple

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 220 Write_CSV_File This function block will format and write a

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 221 B Execute BOOL Upon the rising edge, this function block wil

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 222 • It is strongly recommended to write files only to the Ramdi

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 223 10123 Column Start Error. The data is corrupted. 10124 Unsuppo

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 224 3) Initialize the data required for "MyDataStruct"

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 225 5) To customize the function block, go to the variables grid a

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 226 Original code: Modified code: Application Example

Cam Toolbox: Revision History MotionWorks IEC61131-3 Toolboxes: 2013-09-13 11 3) Moved window logic into the main Enable section of SlaveRegis

File_RW Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 227

Gantry Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 228 Gantry Toolbox Gantry Toolbox The Gantry Toolbox consists of the following: Da

Gantry Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 229 Function Block Description Calculate_Angles Calculates start and traversed ang

Gantry Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 230 Getting Started: Gantry Requirements for v203 To use the Gantry Toolbox, your

Gantry Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 231 Gantry Revision History Current Version: New for Gantry v203 – All firmware li

Gantry Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 232 12) Gantry_Power - Added support for a Tangent axis. 13) Gantry_Power - Added

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 233 Data Types Data Types for Gantry Toolbox The following is a complet

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 234 Data Type: AXIS_REF The AXIS_REF data type identifies an axis and t

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 235 MCMoveAbsoluteY(Axis:=AxisY, Execute:=FALSE); AxisX:=MCMoveAbsolutY

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 236 Data Type: GantryPositions This datatype can be used to store absol

Cam Toolbox: Revision History MotionWorks IEC61131-3 Toolboxes: 2013-09-13 12 Changed to F_TRIG to let initialize section run on the first

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 237 Data Type: GantryStruct This datatype contains all information pert

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 238 Alternate usage: ZPosition *) Down:LREAL

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 239 Data Type: PathDetails For use with the PathGenerator Function Bloc

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 240 Data Type: PathIDStruct This datatype contains all information pert

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 241 Data Type: PathPairs For use with the PathGenerator Function Block

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 242 Data Type: PathPointArray For use with the PathGenerator Function B

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 243 Data Type: PathStruct For use with the PathGenerator Function Block

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 244 PathStruct Example 3

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 245 Data Type: SegmentArray For use with the PathGenerator and MovePath

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 246 Data Type: SegmentDetails For use with the PathGenerator and MovePa

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 13 Creating Cam Tables Cam Curve Characteristics Cam Curve does

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 247 Data Type: SegmentStruct For use with the PathGenerator and MovePat

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 248 Data Type: WPos Supporting structure for GantryPositions. Data Type

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 249 Data Type: XPos Supporting structure for GantryPositions. Data Type

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 250 Data Type: YPos Supporting structure for GantryPositions. Data Type

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 251 Data Type: ZPos Supporting structure for GantryPositions. Data Type

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 252 Enumerated Types Enumerated Type: TB_PatternType ENUM Type for Path

Gantry Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 253 Enumerated Type: TB_PatternType ENUM Type for PathDetails' Seg

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 254 Function Blocks Calculate_Angles This function block uses ei

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 255 B Radius LREAL Radius of arc 0.0 B Direction MC_Direction 0: cl

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 256 The two modes of data entry are shown in detail below. Mode 0:

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 14

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 257 Step1: Using Calculate_Angles to calculate start and traverse a

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 258 Step 4: Result on XY system

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 259 Gantry_Home This function block will move all gantry axes in

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 260 B Error BOOL Set high if error has occurred during the execut

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 261 10037 Offset cannot be in the same direction as the original mo

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 262 Gantry_Power This function block will enable or disable all

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 263 V ZAxisErrorID UINT ErrorID on the Z axis B Status BOOL TRUE

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 264 Gantry_Return_Home This function block will move all gantry

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 265 or MC_Stop. This output is cleared with the same behavior as th

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 266 Gantry_Stop This function block will execute the MC_Stop blo

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 15

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 267 output is reset when 'Execute' or 'Enable'

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 268 GotoXY This function block will perform an absolute move the

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 269 B Error BOOL Set high if error has occurred during the execut

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 270 GoToXYZ This function block will perform an absolute move t

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 271 as the Done output. B Error BOOL Set high if error has occurr

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 272 GripperControl This function block can operate a simple gri

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 273 Error Description ErrorID Meaning 0 No error 10035 Gripper Clo

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 274 Interpolator This function block calculates the required acc

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 275 V Vy LREAL Y axis component of gantry velocity V ACCx LREAL X a

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 276 Interpolator3D This function block calculates the required

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 16 Cam Curve Types Cam Curve Types • Parabolic • Simple Harmon

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 277 completed, the Done output will not be set. This output is rese

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 278 Move_Path Based on the axes specified in the GantryStruct, t

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 279 initiated. To modify an input, change the value and re-trigger

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 280 • See Yaskawa's Youtube channel for more info, details, a

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 281 4893 The specified external axis may not be used. A physical ax

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 282 The MovePath function block uses SegmentData and PathID from t

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 283 The logic analyzer plot of independent axis parameters from the

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 284 Code Example 2 Consider the following circular profile The log

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 285 The actual profile plotted by the XY system is: Application Ex

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 286 Step 3: Validation using logic analyzer. Step 4: Result on XY

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 iii Table Of Contents Yaskawa's IEC61131-3 Toolboxes: 2013-09-13 ...

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 17 • ParabolicVelocityBlend

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 287

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 288 PathGenerator This function block pre processes path data to

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 289 VAR_OUTPUT B Done BOOL Set high when the commanded action has

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 290 • See Yaskawa's Youtube channel for more info, details,

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 291 PathStruct Example 1

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 292 PathStruct Example 2 PathStruct Example 3

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 293 Application example Step1: Using Calculate_Angles to calculate

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 294 Step 3: Validation using logic analyzer Step 4: Result on XY

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 295

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 296 PathIDManager This function block serves as a FIFO buffer f

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 18 Parabolic Designed for use as the only segment in the motion

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 297 B Busy BOOL Set high upon the rising edge of the 'Execut

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 298 Application Example

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 299 Pick_Part Assuming that a gripper actuator is empty and avai

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 300 function block. This output is cleared when 'Execute'

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 301 Place_Part Given that a gripper actuator already has a part

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 302 'Enable' goes low. B ErrorID UINT If Error is true,

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 303 SegmentLookup This function block outputs the number of the

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 304 B ActiveSegment INT Current active segment B OutputFlags DWOR

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 305

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 306 XY_MoveAbsolute This function block will perform an absolute

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 19 ParabolicVelocityBlend

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 307 input, and reset if Done, CommandAborted, or Error is true. B

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 308 The velocities, accelerations and decelerations of the two axes

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 309 XY_MoveRelative This function block will perform a relative

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 310 B Acceleration LREAL Acceleration of the tool tip 0.0 B Deceler

Gantry Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 311 57620 The DataType connected to a function block parameter spec

Math Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 312 Math Toolbox Math Toolbox The Math toolbox contains many functions that already

Math Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 313 Function Blocks ATAN2 The ATAN2 function is useful in many applications invol

Math Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 314 This is a function, not a function block and only provides one output. If ENO i

Math Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 315 REM This function block returns the modulo division result of two LREAL input

Math Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 316 Correction:=REM((-RegistrationData.BufferNonCyclic[TempUsePointer] - Regist

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 20 Simple Harmonic This curve is also one of the discontinuous c

Pack ML Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 317 Pack ML Toolbox Getting Started: PackML Requirements for v202 To use the Pack

Pack ML Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 318 PackML Revision History Current Version: (***********************************

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 319 Enumerated Types Enumerated Type: PackMLState ENUM Type for indica

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 320 • (* 16 : Completing *) • (* 17 : Complete *)

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 321 Enumerated Type: PackMLState ENUM Type for indicating the PackML s

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 322 • (* 17 : Complete *)

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 323 DataTypes Data Type: PackML_Commands_STRUCT Supporting structure f

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 324 Data Type: EquipmentModule_STRUCT Supporting data type used by Equ

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 325 Sts_Aborting_SC : BOOL; (* When set, the machine is in the

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 326 Data Type: PackML_States_STRUCT Supporting structure for PackTags_

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 21 Cycloidal

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 327 Data Type: EquipmentModule_Array Supporting Array used to pass com

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 328 Data Type: UNitMachine_STRUCT Contains all the information about t

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 329 Data Type: PackTags_Admin_STRUCT Data Type Declaration PackTags_Ad

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 330 Data Type: PackTags_Status_STRUCT Data Type Declaration PackTags_S

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 331 ModeChangeNotAllowed : BOOL; (* This bit is set if an invalid mode

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 332 Data Type: PackTags_Commands_STRUCT Data Type Declaration PackTags

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 333 (* Node : Node_ARRAY; (*Node (machine) interface & ID structur

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 334 Data Type: ControlModule_Array Supporting array used to pass comma

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 335 Data Type: PackML_Module_Commands_STRUCT Supporting data type used

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 336 ModuleActive : BOOL; (* Indicates if the module is active to recei

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 22 Modified Trapezoid

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 337 Data Type: Parameter_STRUCT Supporting Structure for Parameter_ARR

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 338 Data Type: Parameter_ARRAY An array containing the names, units an

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 339 Data Type: ProcessVariable_STRUCT Supporting structure for Process

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 340 Data Type: ProcessVariable_ARRAY An array containing the names, un

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 341 Data Type: Node_STRUCT Supporting structure for Node_ARRAY. Data T

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 342 Data Type: Node_ARRAY Array that contains information used to coor

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 343 Data Type: Ingredient_STRUCT A structure of parameters containing

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 344 Data Type: Ingredient_ARRAY An array that contains all the paramet

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 345 Data Type: Product_STRUCT A structure containing product informati

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 346 Data Type: Product_ARRAY An array containing product information D

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 23 Modified Sine

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 347 Data Type: Limit_STRUCT Supporting structure for Limit_ARRAY. Data

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 348 Data Type: Limit_ARRAY An array containing user defined machine li

Pack ML Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 349 Supporting Arrays Arrays used by function blocks and other data ty

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 350 Function Blocks CM_Control_Inputs The CM_Control_Inputs fun

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 351 deactivated, commands will not be sent down to the CM, for tes

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 352 CM_Control_Outputs The CM_Control_Outputs function block s

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 353 Parameters * Parameter Data Type Description VAR_IN_OUT V PML

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 354 ‘UnHolding’ and is ready to move to the next state B Suspendi

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 355 EM_ModuleSummation The EM_Module_Summation function block r

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 356 B Valid BOOL Indicates that the outputs of the function are va

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 24 Modified Constant Velocity

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 357 PackMLCommands_Init The PackMLCommands_Init function block

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 358 PackMLModeStateTimes The PackMLModeStateTimes function blo

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 359 being counted for the Sts_ModeCurrent will be cleared. B Cmd_

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 360 Error Description ErrorID Meaning 0 No Error 12563 Time rollo

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 361 PackML_State_Diagram

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 362 The PackML_State_Diagram function block handles the operation

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 363 B EnableIn BOOL The function will continue to execute while

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 364 active EMs if it is a legal transition from the current machin

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 365 enabled and active EMs if it is a legal transition from the cu

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 366 B Stopping BOOL When this bit is set, the machine is in the

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 25 Arc The CamSegmentStruct elements ArcRadius and ArcDirection

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 367 Notes • Should always be enabled when program is running to e

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 368 UN_ModuleSummation The UN_ModuleSummation function block ro

Pack ML Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 369 deactivate EM_3, set EM_Mask.X3 =TRUE) VAR_OUTPUT B Valid BOOL

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 370 PLCopen Toolbox PLCopen Toolbox This toolbox already includes the PLCTaskInfo

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 371 function block Enumerated Types: Enumerated Type Description MC_Direction For

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 372 MC_MoveRelative, and MC_SetPosition. Home_LS_Pulse Combines the PLCopen funct

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 373 Getting Started: PLCopen Requirements for v205 To use the PLCopen Toolbox, yo

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 374 PLCopen Revision History Current Version: New for PLCopen v205 – All firmware

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 375 3) Jog_To_Position - Improved deceleration ramp. 4) Feed_To_Length - Add

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 376 (**************** 2011-02-24 v022beta created - developed using firmwa

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 26 Asymmetrical Cycloidal

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 377 (*********************************** 2010-02-03 v019 released *****

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 378 8) ReadAxisParameters changed to increase efficiency. 9) Added some outputs s

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 379 (****************************** 2009-05-07 v015 released ******

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 380 7) Jog converted to PLCopen convention (outputs) and code converted to ST. 8)

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 381 1) Completed and tested the MoveRelative_ByTime function. 2) Previous version

PLCopen Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 382 4) MoveRelative_ByTime (********************************* 2008-08

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 383 Data Types Data Types for PLCopen Toolbox The following is a compl

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 384 Data Type: AXIS_REF The AXIS_REF data type identifies an axis and

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 385 Data Type: AxisParamData Supporting structure for AxisPrmArray. U

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 386 Data Type: AxisParameterStruct For use with the ReadAxisParameters

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 iv One Dwell Trapecloid ...

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 27 Asymmetrical Modified Trapezoid

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 387 CommandedPosition:LREAL; (* 1010 *) CommandedPositi

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 388 Data Type: AxisPrmArray Used by the ReadAxisParameters function bl

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 389 Data Type: AxisStruct For use as a container for all axis related

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 390 END_TYPE

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 391 Data Type: CAMSWITCH_ARRAY Supporting structure for CAMSWITCH_REF.

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 392 Data Type: CAMSWITCH_REF Used by the Y_DigitalCamSwitch function b

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 393 Data Type: CAMSWITCH_STRUCT Supporting structure for CAMSWITCH_ARR

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 394 A setting of 0.0 will result in a block error.*) END_STRUCT; END_T

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 395 Data Type: HomeStruct For use with all HOME_*** function blocks. D

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 396 Data Type: IndividualParamDetails Used by the ReadAxisParameters f

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 28 Trapecloid

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 397 Data Type: LatchBufferArray Supporting structure for ProductBuffer

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 398 Data Type: MoveStruct For use with MC_MoveAbsolute, MC_MoveRelativ

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 399 Data Type: ProductBufferStruct For use with the ProductBuffer func

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 400 END_STRUCT; END_TYPE NOTES: INPUT - Indicates a value that the U

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 401 Data Type: SWERROR_STRUCT Used by the Y_DigitalCamSwitch function

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 402 END_TYPE

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 403 Data Type: TRACK_ARRAY Supporting structure for TRACK_REF. Used b

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 404 Data Type: TRACK_REF Used by the Y_DigitalCamSwitch function block

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 405 Data Type: TRACK_STRUCT Supporting structure for TRACK_ARRAY. Use

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 406 Enumerated Types Enumerated Type: MC_Direction ENUM type for indic

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 29 One Dwell Cycloidal_1

PLCopen Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 407 Enumerated Type: TB_AxisType ENUM type for indicating the axis typ

PLCopen Toolbox: Programs MotionWorks IEC61131-3 Toolboxes: 2013-09-13 408 PTB_Initialize This is not a function block but a Program POU in th

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 409 Function Blocks AbsolutePositionManager This function monit

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 410 Configuration tab in the Hardware Configuration (logical axis

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 411 4382 When the axis is in rotary mode, and the MC_SetPosition t

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 412 AccDecLimits This function block manages the parameters as

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 413 V LimitAccelNegative LREAL Parameter 1220 LREAL#0.0 V LimitDec

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 414 Accel / Decel Limits • The software acceleration & decele

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 415 • The parameters are called LimitDecelPositive and LimitDecelN

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 416 Axes_Interlock This function block checks MC_ReadAxisError

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 30 One Dwell Cycloidal_2_3

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 417 V Offset LREAL Offset between the two axes. This value will

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 418 AxisControl This function block combines MC_Power, MC_Read

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 419 V AlarmClear BOOL Clears axis related alarms using MC_Reset FA

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 420 4378 The function block is not applicable for the external axi

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 421 AxisStatus This function block uses MC_ReadAxisError to pr

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 422 VAR_OUTPUT B Valid BOOL Indicates that the outputs of the func

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 423 ControllerAlarm This function block provides a BOOL output

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 424 Error Description ErrorID Meaning 0 No error 4625 Axis ID does

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 425 Feed_To_Length FeedToLength was designed for use with applic

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 426 VAR_INPUT Default B Enable BOOL The function will continue t

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 31 One Dwell Trapezoid_1

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 427 true. B CommandAborted BOOL Set high if motion is aborted by

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 428 4641 Buffer mode does not correspond to a valid enumeration va

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 429 MaxCorrection limits the correction if an erroneous registrat

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 430 The FeedToLength function block will position the axis exactl

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 431 The FeedToLength function block will position the axis exactl

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 432 HighSpeedOutput This function block combines several of th

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 433 B Valid BOOL Indicates that the outputs of the function are va

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 434

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 435 Home_Init This function block provides a method to initiali

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 436 an input, change the value and re-trigger the execute input. B

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 32 One Dwell Trapezoid

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 437 Home_LS This function block combines the PLCopen function b

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 438 action is completed, the Done output will not be set. This out

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 439 4667 Jerk is less than or equal to zero. 4893 The specified ex

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 440 Home_LS_Pulse This function block combines the PLCopen fun

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 441 input, and reset if Done, CommandAborted, or Error is true. B

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 442 4642 Direction does not correspond to a valid enumeration valu

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 443 Home_Pulse This function block combines the PLCopen functi

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 444 successfully. If another block takes control before the action

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 445 4660 Deceleration is less than or equal to zero. 4667 Jerk is

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 446 Jog This function block combines the PLCopen functions MC_M

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 33 One Dwell Trapezoid_2_3

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 447 torque and velocity) B Jerk LREAL Not supported; reserved fo

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 448 4642 Direction does not correspond to a valid enumeration valu

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 449 Jog_To_Position This function block combines the PLCopen f

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 450 with same sign of torque and velocity) B Deceleration LREAL

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 451 MC_Power.Status output. MC_Stop.Execute might be held high, pr

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 452 Example 2 In this example, the axis requires about 13 revolut

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 453 Example 3 The third example shows a deceleration to stop at 5

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 454

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 455 MoveRelative_ByTime This function block converts the MoveTi

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 456 is completed, the Done output will not be set. This output is

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 34 One Dwell Modified Sine

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 457 4665 Velocity parameter is negative. 4667 Jerk is less than or

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 458 PositionLimits This function block enables or disables the

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 459 VAR_OUTPUT B Valid BOOL Indicates that the outputs of the func

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 460 • The software position limits are managed by the MP2000iec

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 461 0 No error 4378 The function block is not applicable for the e

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 462 ProductBuffer This function block uses MC_TouchProbe and p

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 463 cycle" the machine by simulating products using the TestT

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 464 10022 Product or circular buffer overrun / full 10023 Buffer s

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 465

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 466

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 35 One Dwell Trapecloid

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 467 o

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 468 ReadAxisParameters This function block reads all the commo

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 469 parameter sets, such as camming. VAR_OUTPUT B Valid BOOL Indic

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 470 Parameters categorized as BasicMotion are always read. ParamT

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 471 BasicMotion LatchPositionNonCyclic 1031 BasicMotion Positio

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 472 4648 The parameter number does not exist for the specified axi

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 473 r

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 474 Reverse_MC_Direction This function block was designed for

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 475

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 476 VelocityLimits This function block enables or disables the

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 36 No Dwell Simple Harmonic

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 477 B Valid BOOL Indicates that the outputs of the function are va

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 478 • The software velocity limits are managed by the MP2000iec co

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 479 Y_DigitalCamSwitch This function block commands a group of

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 480 enable is held high. E EnableMask DWORD Individually enables

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 481 If the cam-like lobes of multiple switches intersect with each

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 482 Output Bits: Boolean Outputs are exclusive Data Validation The

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 483 Off Position : 10 degrees Switch 1: On

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 484 Once the Y_DgitalCamSwitch is enabled and is in operation, th

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 485 Example 2: If speed compensation needs to be applied to indiv

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 486

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 v Enumerated Type: TB_CurveType ...

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 37 No Dwell Modified Trapezoid

PLCopen Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 487

Yaskawa Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 488 Yaskawa Toolbox Yaskawa Toolbox The Yaskawa Toolbox consists of the following

Yaskawa Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 489 Scaler UnpackByte UnpackWord WindowCheck XYLookup

Yaskawa Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 490 Getting Started: Yaskawa Requirements for v204 To use the Yaskawa Toolbox, yo

Yaskawa Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 491 Yaskawa Revision History Current Version: (********************* 2013-0

Yaskawa Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 492 4) Blink function - resolution improved. (******************************

Yaskawa Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 493 (************************************* 2011-03-25: v009 released ***

Yaskawa Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 494 Improved templates with new, reduced logic that does not use SET or RESET coi

Yaskawa Toolbox MotionWorks IEC61131-3 Toolboxes: 2013-09-13 495 Shell code with all logic to replicate the behavior of PLCopen FB with Execut

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 496 Explicit Data Types ExplicitSendDataStruct For use with the Explic

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 38 No Dwell Modified Constant Velocity

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 497 ED_InterfaceHandle4 : BYTE; ED_TimeOut1 : BYTE; ED_TimeOut2 : BYTE

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 498 ExplicitReceiveDataStruct For use with the Explicit_Message functi

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 499 ED_TimeOut1 : BYTE; ED_TimeOut2 : BYTE; ED_ItemCount1 : BYTE; ED_I

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 500 RegSessionRequestStruct For use with the Explicit_Message function

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 501 END_STRUCT;

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 502 UnRegSessionRequestStruct For use with the Explicit_Message functi

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 503 SenderContext For use with the Explicit_Message function block. Da

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 504 Service For use with the Explicit_Message function block. Data Typ

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 505 ExplicitData For use with the Explicit_Message function block. Dat

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 506 Data Types Data Types for Yaskawa Toolbox The following is a compl

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 39 NC2 Curve Notes: Deceleration is twice as long as accelerati

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 507 Data Type: MovingAverageArray For use with the MovingAverage funct

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 508 Data Type: PIDStruct Used with the PIDControl function block. Data

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 509 Data Type: RTCStruct Used with the RealTimeClock, DateCompare, and

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 510 Data Type: XYArray Supporting structure for XYDataStruct. For use

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 511 Data Type: XYData Supporting structure for XYArray. For use with

Yaskawa Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 512 Data Type: XYDataStruct For use with the XYLookup function block D

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 513 Function Blocks Action This function block is only for demo

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 514 function block. This output is cleared when 'Execute&apos

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 515 Blink This function block will toggle the Output at the fre

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 516 Logic Analyzer output:

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 40 Tangent Matching Provides a speed matched profile to minimiz

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 517 ByteSwap This function block swaps the upper and lower byte

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 518 CommWatchDog This function block allows the application pro

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 519 DataRecord This function block will record Data into the a

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 520 V Index INT Indicates the last array index recorded V DataFil

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 521 DataSort This function block will sort data from the lowest

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 522 B ErrorID UINT If Error is true, this output provides the Er

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 523 DateCompare This function block will calculate the differen

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 524 Enable_FB_Template This function block is a template which

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 525 Enable_ST_Template This function block is a template which

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 526 Execute_FB_Template This function block is a template which

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 41

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 527 Notes Depending on the exact usage, there may be outputs in th

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 528 Execute_ST_Template This function block is a template which

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 529 Notes This template contains supporting code for: • Initializ

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 530 Explicit_Message This function block will write/read a bloc

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 531 Destination Element is the data (as an array of bytes) where t

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 532 • The Explicit_Message function block uses the Y_DeviceComm f

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 533 8717 The socket is already connected to another endpoint. 8718

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 534

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 535 MovingAverage This function block will provide the MovingA

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 536 Notes • See Yaskawa's Youtube webinar - MPiec Web Tensio

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 42 Reverse Trapecloid This cam curve type is not currently suppo

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 537

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 538 PackByte This function block converts 8 Boolean inputs to a

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 539 No errors will be generated Example

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 540 PackWord This function block converts 16 Boolean inputs to

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 541 V Bit4 BOOL Bit 4 of the WORD to be output V Bit5 BOOL Bit 5

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 542

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 543 PIDControl This function block can be used as a generic co

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 544 Notes • All time parameters in the PIDStruct (Ts, Td1, and Td

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 545 LowerLimit Lower PID Limit UpperLimit Upper PID limit Deadband

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 546 The following series of graphs show changes made to the PID g

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 43 Double Harmonic This cam curve type is not currently supporte

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 547 c. PID Control – Increasing the derivative gain: d. Furthe

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 548

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 549 e. PD Control – Integral gain is set to zero, which is best

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 550

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 551

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 552 RangeCheck This function block will set the output 'In

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 553 ExeRange does not need to be toggled if Value is changed, as d

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 554 RateCalculator This function block determines the frequency

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 555 chosen time period Notes • Upon enabling or a change of the t

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 556 RealTimeClock This function block provides the controllers

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 44 Reverse Double Harmonic This cam curve type is not currently

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 557 No errors will be generated. Example The output of this block

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 558 Scaler This function block performs the calculation y:= mx

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 559 be scaled. V CalY2 LREAL Datapoint specifying a line along w

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 560 Sweep This function block generates an output that rises an

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 561 Example:

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 562 UnpackByte This function block converts a byte into discret

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 563 No errors will be generated. Example

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 564 UnpackWord This function block separates a word into indivi

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 565 VAR_OUTPUT V Bit0 BOOL Bit 0 of the InputWord V Bit1 BOOL Bit

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 566

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 45 Tangent Blending Provides the same profile as Tangent Matchin

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 567 WindowCheck This function block sets the InWindiow output

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 568 ErrorID Meaning 0 No error 10076 WindowSize must be greater th

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 569 XYLookup This function block will do a binary search on the

Yaskawa Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 570 ErrorID Meaning 0 No error 10038 CamData.LastSegment must be g

Toolboxes Function Block ErrorID List MotionWorks IEC61131-3 Toolboxes: 2013-09-13 571 Function Block ErrorID List ErrorID Description 0 No erro

Toolboxes Function Block ErrorID List MotionWorks IEC61131-3 Toolboxes: 2013-09-13 572 4405 Y_CamOut was aborted. 4406 Continuous Latch Mode not

Toolboxes Function Block ErrorID List MotionWorks IEC61131-3 Toolboxes: 2013-09-13 573 4667 Jerk is less than or equal to zero. 4669 Engage posi

Toolboxes Function Block ErrorID List MotionWorks IEC61131-3 Toolboxes: 2013-09-13 574 8715 The socket could not be connected. 8716 There is no

Toolboxes Function Block ErrorID List MotionWorks IEC61131-3 Toolboxes: 2013-09-13 575 10043 Tangent Match formula error, cannot have only one s

Toolboxes Function Block ErrorID List MotionWorks IEC61131-3 Toolboxes: 2013-09-13 576 10077 Cubic Spline maximum number of consecutive segments

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 46 Cubic Spline In this example, the left or beginning portion

Toolboxes Function Block ErrorID List MotionWorks IEC61131-3 Toolboxes: 2013-09-13 577 10151 Theta1 Above Maximum 10152 Theta2 Below Minimum 101

Toolboxes Function Block ErrorID List MotionWorks IEC61131-3 Toolboxes: 2013-09-13 578 12322 No data could be read from file 12421 Service not a

Toolboxes Function Block ErrorID List MotionWorks IEC61131-3 Toolboxes: 2013-09-13 579  Sigma II with NS115: SIEPC71080001, see section 9.3 

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 vi Data Type: DelimiterArray ...

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 47 seg:=Seg + INT#1; Profile4.CamParameters[Seg].CurveType:=TB

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 48 Profile4.CamParameters[Seg].CurveType:=TB_CurveType#CubicSpli

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 49 Profile4.CamParameters[Seg].SlaveEnd:=LREAL#0.005; Profile4.C

Cam Toolbox: Cam Tables and Curves MotionWorks IEC61131-3 Toolboxes: 2013-09-13 50 seg:=Seg + INT#1; Profile4.CamParameters[Seg].CurveType:=TB

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 51 Data Types Data Types for Cam Toolbox The following is a complete list

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 52 Data Type: AXIS_REF The AXIS_REF data type identifies an axis and thus

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 53 MCMoveAbsoluteY(Axis:=AxisY, Execute:=FALSE); AxisX:=MCMoveAbsolutY.Axi

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 54 Data Type: AxisParameterStruct For use with the CamSlave_FeedToLength a

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 55 CommandedPosition:LREAL; (* 1010 *) CommandedPositionCyc

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 56 Data Type: BlendStruct Used by the CamBlend function block Data Type De

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 vii Getting Started: Gantry ...

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 57 Data Type: CamPairs Used by the CamGenerator function block Data Type D

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 58 Data Type: CamParameters Supporting structure for CamSegmentStruct. Fo

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 59 Data Type: CamSegmentArray Supporting structure for CamSegmentStruct.

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 60 Data Type: CamSegmentStruct For use with the CamGenerator function bloc

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 61 RampInCam.CamParameters[2].SlaveEnd:=LREAL#1.0; RampInCam.CamParamete

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 62 Data Type: CamStruct For use with Y_CamIn and Y_CamOut function blocks

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 63 Data Type: CamSyncStruct For use with the CamControl and CamShift_Contr

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 64 Data Type: Matrix For use by the CamGenerator for Cubic Spline calculat

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 65 Data Type: SubMatrix For use by the CamGenerator for Cubic Spline calcu

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 66 Data Type: TableIDStruct For use with the CamTableUpdate function block

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 viii GoToXYZ ...

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 67 Data Type: UINTArray For use with the CamTableManager Function Block

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 68 Data Type: Y_MS_CAM_STRUCT This data type is for use with the CamGenera

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 69 Y_MS_CAM_STRUCT:STRUCT Header:Y_CAM_HEADER;

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 70 Enumerated Types Enumerated Type: TB_CurveType ENUM type for describing

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 71 OneDwellTrapecloid, (* INT#17 - One Dwell Trapecloid *) NoD

Cam Toolbox: DataTypes MotionWorks IEC61131-3 Toolboxes: 2013-09-13 72 Enumerated Type: TB_Mode ENUM Type for CamShift_Control to select rotar

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 73 Function Blocks CalcSpline This function block is for interna

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 74 Cam_Analyzer The CamAnalyzer function block provides the slave

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 75 been completed successfully. If another block takes control befor

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 76

Table Of Contents MotionWorks IEC61131-3 Toolboxes: 2013-09-13 ix Data Type: PackTags_Commands_STRUCT ...

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 77

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 78 CamBlend This function block was designed for applications tha

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 79 prepare to switch to the RampOut cam profile at the SwitchOver po

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 80 Error Description ErrorID Meaning 0 No error 4370 The move could

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 81 Timing Diagram Application Example

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 82 Timing Diagram The speed matching, or normal running cam is desi

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 83

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 84 CamControl The CamControl block makes decisions regarding eng

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 85 while enable is held high. VAR_OUTPUT B Valid BOOL Indicates that

Cam Toolbox: Function Blocks MotionWorks IEC61131-3 Toolboxes: 2013-09-13 86