YASKAWA VIPA SPEED7 - Behavior of the Inputs and Outputs

13.9.3 Behavior of the inputs and outputs
n The outputs Busy, Done, Error and CommandAborted exclude each other, so at a
function block only one of these outputs can be TRUE at a time.
n As soon as the input Execute is TRUE, one of the outputs must be TRUE. Only one
of the outputs Active, Error, Done and CommandAborted can be TRUE at one time.
n The outputs Done, InVelocity, Error, ErrorID and CommandAborted are reset with an
edge 1-0 at the Execute input if the function block is not active (Busy = FALSE).
n The command execution is not affected by an edge 1-0 of Execute.
n If Execute is already reset during command execution, so it is guaranteed that one of
the outputs is set at the end of the command for a PLC cycle. Only then the outputs
are reset.
n The input parameters are taken with edge 0-1 at Execute.
n To change the parameters the command must be retriggered.
n If an input parameter is not passed to the function block, the last transferred value to
this block remains valid.
n With the first call a sensible default value must be passed.
n The input Position designates an absolute position value.
n Distance designates a relative measure as distance between two positions.
n Both Position and Distance are preset in technical units e.g. [mm] or [°], in accord-
ance to the scaling of the axis.
n The dynamic parameter for Move functions are preset in engineering units with
second as the time base.
If an axis is scaled in millimetres so the units are for Velocity [mm/s], Acceleration
[mm/s
2
], and Deceleration [mm/s
2
].
n All the function blocks have two fault outputs to indicate errors during command exe-
cution.
n Error indicates the error and ErrorID shows an additional error number.
n The outputs Done and InVelocity designate a successful command execution and are
not set if Error becomes TRUE.
n Function block errors
– Function block errors are errors that only concerns the function block and not the
axis such as e.g. incorrect parameters.
– Function block errors need not be explicitly reset , but will automatically reset
when the input Execute is reset.
n Communication errors
– Communication error such as e.g. the function block can not address the axis.
– Communication errors often indicate an incorrect configuration or parametrization.
– A reset is not possible, but the function block can be retriggered after the configu-
ration has been corrected.
n Axis errors
– Axis errors usually occur during the move such as e.g. position error.
– An axis error must be reset by MC_Reset.
Exclusivity of the outputs
Output status
Input parameter
Position an distance
Parameter for the dynamic
behavior
Error handling
Error types
VIPA SPEED7
Motion control - Simple Motion Control Library
States and behavior of the outputs > Behavior of the inputs and outputs
HB00 | OPL_SP7 | Operation list | en | 18-30 636