Y_PLCopenPart4_Toolbox FB

Function block	Description
CARTESIANREF_TO_VECTOR	The CARTESIANREF_TO_VECTOR function block is used to convert an input of typeMC_CARTESIAN_REF to an array of thirty two LREALs that make up a vector structure.
COORDREF_TO_VECTOR	The COORDREF_TO_VECTOR function block converts a six element array of LREALs of type MC_COORD_REF to a thirty two element of LREALs of Type VECTOR. The first six elements of the Vector output are the elements of the input.
MC_GroupContinue	This Function Block transfers the motion engine back to the situation before MC_GroupInterrupt was executed. The interrupted motion function block's Busy output remains high and the Active output is set again after MC_GroupContinue outputs 'Done'. For remote hosted robot controllers, this function can be executed if an error occurred while performing a motion sequence. For this situation, the Y_GroupResetAndHold function block must be executed first to clear the error and preserve the motion buffer.
MC_GroupDisable	This Function Block changes the state for a group to GroupDisabled. The function does not influence the power state of any of the single axes in the group. If the group is not at StandBy when issuing this command, it is up to the IEC application program to take the necessary precautions.
MC_GroupEnable	This Function Block changes the state for a group from GroupDisabled to GroupStandby. MC_Group(Move) function blocks cannot be executed until the Group has been enabled.
MC_GroupInterrupt	This Function Block interrupts on-going motion and decelerates the group to a stop, however it does not abort motion, meaning that the interrupted motion block's (MC_MoveLinearAbsolutefor example) CommandAborted will not be Set. Motion blocks Busy output will remain high and Active is reset.
MC_GroupReadActualPos	This Function Block returns the actual position of an AxesGroup in the requested coordinate system.
MC_GroupReadError	This Function Block reports AxesGroup errors not related directly to a function block. If the ErrorClass = 13572 (3504 hex ) then the source of the error is the MotomanSync Robot Controller.
MC_GroupReadStatus	This Function Block returns the status of an AxesGroup.
MC_GroupReset	This Function Block makes the transition from the 'GroupErrorStop' state to 'GroupStandby' by resetting group related errors. This function block also resets all axes errors in this group similar to MC_Reset.
MC_GroupSetOverride	This function block accepts override inputs for coordinated motion. The commanded vector velocity, acceleration, deceleration are multiplied by these factors. Group motion affected by master- slave synchronized motion is not affected.
MC_GroupSetPosition	This Function Block sets the position of all axes in a group without moving the axes. MC_GroupSetPosition is a maintenance mode operation only to be used when commissioning a robot group, or after maintenance operations. Only the Axes Coordinate System is supported, but affects the higher level coordinate systems.
MC_GroupStop	This Function Block commands a controlled motion stop and transfers the AxesGroup to the "GroupStopping" state. It aborts any ongoing or buffered motion. While the AxesGroup is in the GroupStopping state, no other function block can perform any motion on the AxesGroup. After the commanded velocity of the AxesGroup has reached zero velocity, the Done output is set. The AxesGroup remains in the "GroupStopping" state as long as Execute is held TRUE or the zero velocity command is in progress. When Done is set and Execute becomes FALSE, the AxesGroup transitions to "GroupStandBy" state. This function block can only be aborted by MC_GroupDisable.
MC_MoveCircularAbsolute	This Function Block commands an interpolated arc movement on an AxesGroup from the commanded initial position of the TCP. The EndPoint, AuxPoint, and AuxPoint2 must be defined absolutely in the specified coordinate system.
MC_MoveCircularRelative	This Function Block commands an interpolated arc movement on an AxesGroup from the commanded initial TCP position. The EndPoint and AuxPoint point must be defined in the specified coordinate system relatively from the initial commanded position.
MC_MoveDirectAbsolute	This Function Block commands a movement of an axes group to the specified absolute position in the specified coordinate system without taking care of how (on which path) the target position is reached.
MC_MoveDirectRelative	This Function Block commands a movement of an axes group to a relative position without taking care of how (on which path) the target position is reached. The start position is the initial position of the TCP.
MC_MoveLinearAbsolute	This Function Block commands an interpolated linear movement on an AxesGroup to an absolute position in the specified coordinate system.
MC_MoveLinearRelative	This Function Block commands an interpolated linear movement on an AxesGroup from the commanded position of the group at the time this function block initiates motion to a relative position in the specified coordinate system.
MC_TrackConveyorBelt	This function block allows an AxesGroup to track objects moving in a straight line in space by activating a dynamic calculation of the PCS such that the positive X direction of the Part Coordinate System (PCS) is updated as the ConveyorBelt axis moves. (ConveyorBelt could be any mechanism providing linear motion.)
VECTOR_TO_CARTESIANREF	TheVECTOR_TO_CARTESIANREF function block converts elements of aVECTOR to the six elements of anMC_CARTESIAN_REF type output variable.
VECTOR_TO_COORDREF	TheVECTOR_TO_COORDREF function block converts the first six elemnts of the inputVECTOR datatype into a six element outputs variable of datatype MC_COORD_REF.
Y_ActivateIZ	This function block monitors a region of the groups workspace. If the TCP enters the zone in the coordinate system specified, the IZViolated output will go high, and depending on the ZoneAction, group motion will be stopped. Up to 32 zones can be configured.
Y_CalcCoordTransform	This Function Block performs a coordinate transformation between any of the supported Coordinate Systems.
Y_DefineTool	This Function Block defines a tool's properties such as offset (from the tool plate), moment of inertia, mass, center or gravity etc . The tool properties of the individual tool (defined by a unique ID between 0 and 63) are saved in a tool structure.
Y_GroupDirectControl	At each task interval, this Function Block can directly manipulate the position, velocity, or torque for each axis in a group. When using this function block, the application is responsible for managing initialization of the position values to avoid excessive deviation from current position, and generating the proper acceleration ramps to provide smooth motion.
Y_GroupInputs	This Function Block serves as a method to provide physical input / status information to the AxesGroup structure for signals typically associated with a group or mechanism. These conditions must be managed via wiring and / or a safety PLC external to the controller. The Y_GroupInputs function block only serves as a method to report the current conditions of the externally managed systems to other function blocks and allows the controller to share this data with a teach pendant or HMI.
Y_GroupJogJoint	This function block jogs a Group's Joint in the Axis Coordinate System (ACS).
Y_GroupJogLinear	This function block will jog a group toward a specified n dimensional Position in the specified CoordSystem. If used with a Mechatrolink group, the TCP will move at the Velocity, Acceleration, Deceleration and Jerk specified by the function block inputs. If used with an MotomanSync robot group, the TCP will use acceleration, deceleration and jerk values which are preset in the robot controller for the configured robot. The Position provided will guide the vector of the TCP, but is not necessarily a final target. When the Enable input goes low, the group will stop jogging.
Y_GroupJogTCP	This function block jogs a Group's TCP in the specified coordinate system.
Y_GroupPower	This Function Block energizes or de energizes the axes of the specified AxesGroup.
Y_GroupReadBoolParam	This function block will read a Boolean parameter for the AxesGroup specified. For a complete list of parameters that can be read using this function block, refer to parameters with BOOL Data Type in the Group Parameter List.
Y_GroupReadJointIndex	This function block provides the JointIndex for a joint within a group. Provide the joint name as described in the Hardware Configuration in the Group configuration.
Y_GroupReadParameter	This function block will read a parameter for the AxesGroup specified. For a complete list of parameters that can be read using this function block, refer to parameters with LREAL Data Type in the Group Parameter List .
Y_GroupReadVectorParam	This function block will read a parameter of type VECTOR for the AxesGroup specified. For a complete list of parameters that can be read using this function block, refer to parameters with VECTOR Data Type in the Group Parameter List.
Y_GroupSetFrameOffset	This Function Block sets an offset between the Coordinate Systems MCS and WCS, MCS and PCS, or WCS and PCS. The resulting offset can be verified by referencing AxesGroup.Machine.Offset or AxesGroup.Part.Offset.
Y_GroupWriteBoolParam	This function block will write a Boolean parameter to the AxesGroup specified. For a complete list of parameters that can be written using this function block, refer to parameters with BOOL Data Type in the Group Parameter List .
Y_GroupWriteParameter	This function block will write a parameter to the AxesGroup specified. For a complete list of parameters that can be written using this function block, refer to parameters with LREAL Data Type in the Group Parameter List .
Y_GroupWriteVectorParam	This function block will write a parameter to the AxesGroup specified. For a complete list of parameters that can be written using this function block, refer to parameters with VECTOR Data Type in the Group Parameter List .
Y_SyncTangentAxisToGroup	This function block initiates the ability of an axis to follow a 2D path of the specified AxesGroup such that a tool mounted to the Axis will remain tangent to the vector path in the specified Plane. Although this function block is included in the Y_CoordinatedMotion firmware library with PLCopen Part 4 function blocks for interpolation, it does not have any impact on the specified AxesGroup, it affects the motion of the specified Axis.
Y_GroupReadActualTorque	This function block returns the Actual Torque or force in percentage of rated torque,into a vector for each axis in the AxesGroup.