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.

Parameters

*	Parameter	Data Type	Description	Default
VAR_IN_OUT
B	Axis	AXIS_REF	Logical axis reference. This value can be located on the Configuration tab in the Hardware Configuration (logical axis number).
B	AxesGroup	AXES_GROUP_REF	A logical reference to a group of axes, which contains several additional substructures pertaining to the group.
VAR_INPUT
B	Execute	BOOL	Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input.	FALSE
V	Plane	INT	Enumeration with the meanings: 0=XY, 1=YZ, 2=ZX	INT#0
V	AngleOffset	LREAL	Output Offset in User Units. With a standard scale of 1.0 (degrees), 0.0 is in line with tangent and 90.0 is perpendicular.	LREAL#0.0
V	LimitVelocity	LREAL	Maximum allowable velocity in user units/sec. On MotomanSync robot, this parameter is in percentage of the maximum rating for the robot.	LREAL#0.0
V	LimitAccel	LREAL	The maximum allowable acceleration in user units/sec2. On an MotomanSync robot, this parameter is in percentage of the maximum rating for the robot.	LREAL#0.0
E	CoordSystem	MC_CoordinateSystem	Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS. The ACS Coordinate system is not valid for this function. Select an appropriate Coordinate System.	MC_CoordinateSystem#ACS
E	BufferMode	MC_BufferMode	Defines the behavior of the axis - allowable modes are Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh. MC_BufferMode#Aborting MC_BufferMode#Buffered MC_BufferMode#BlendingLow MC_BufferMode#BlendingPrevious MC_BufferMode#BlendingNext MC_BufferMode#BlendingHigh BufferMode pertains to the Axis, not the AxesGroup.	MC_BufferMode#Aborting
VAR_OUTPUT
B	InSync	BOOL	Set high when the axis or group is synchronized with the axis or group it is commanded to follow. Synchronized means that the two are position locked, any transitional period required to achieve synchronization has been completed.
E	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)
E	Active	BOOL	For buffered modes, this output is set high at the moment the block takes control of the axis. For non buffered modes, the outputs Busy and Active have the same value.
E	CommandAborted	BOOL	Set high if motion is aborted by another motion command or MC_Stop. This output is cleared with the same behavior as the Done output.
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.
E	ErrorID	UINT	If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low.

Notes

The command does not influence the AxesGroup in any way, it affects the Axis.
To cancel tangent following, use MC_Stopon the Axis.
Yaskawa recommends configuring the Axis as a rotary LoadType with a MachineCycle and FeedConstant of 360.0 degrees.
Use MC_MoveAbsolute to pre-align the axis to the required tangent angle before executing Y_SynctangentAxisToGroup. If there is a discrepancy between the Axis initial angle and the calculated Tangent angle when the AxesGroup starts moving, the angular error will be corrected by the LimitVelocity and LimitAccel. Set these values to avoid harsh motion.
Refer to parameter xxxx TrackingError which reports the difference between the calculated tangent angle requirement and the Axis command position. When Tangent following is perfectly achieved, this value will be zero. For situations such as transitioning from an arc to a straight line, there will be some instantaneous TrackingError, limited by LimitVelocity and LimitAccel.

Error Description

See the Function Block ErrorID List.