Y_MS_INPACT_Driver
Manage communication with INPACT card in YRC1000 and YRC1000micro via EtherCAT. The driver manages the overall MSync data structure, which includes read/write packet from/to the INPACT card, and manages buffering and updating commands sent to the robot controller. It is also in charge of updating the AxesGroup variable associated with the MSync group, and any status variables that are needed between other PLCopenPart4 function blocks.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| V | Input_SubArray_1 | Yt_ByteArray254 | First subset of input byte array which is used to receive data from the remote hosted robot controller. The Hardware Configuration automatically creates a Global variable which must be connected to this function block. | |
| V | Input_SubArray_2 | Yt_ByteArray186 | Second subset of input byte array which is used to receive data from the remote hosted robot controller. The Hardware Configuration automatically creates a Global variable which must be connected to this function block. | |
| V | Output_SubArray_1 | Yt_ByteArray254 | First subset of output byte array which is used to send data to the remote hosted robot controller. The Hardware Configuration automatically creates a Global variable which must be connected to this function block. | |
| V | Output_SubArray_2 | Yt_ByteArray186 | Second subset of output byte array which is used to send data to the remote hosted robot controller. The Hardware Configuration automatically creates a Global variable which must be connected to this function block. | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| B | Busy | BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) It may require several seconds to over a minute for the communication channel to become ready. This function block will remain in the Busy state and report valid once communication is ready. | |
| B | Error | BOOL | Set high if an 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
- Yaskawa recommends executing this function block in the fastest task of the application. It is not necessary for other PLCopen Part 4 function blocks related to this AxesGroup to be executed in the same cyclic task as this Driver, they can execute in a slower task.
- Y_MS_INPACT_Driver must be in a user task of 8ms or faster.
- The EtherCAT update task must be 8ms or faster and set to the task that Y_MS_INPACT_Driver runs on.
- The Hardware Configuration will automatically create the required Global Variables when an remote hosted robot controller group is configured.
Error Description
See the Function Block ErrorID List.
Example
