Motion / PLCopen Library

These are the Motion/PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML. functions A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. and function blocks A function block groups an algorithm and a set of private data. It has inputs and outputs..

Control
Information
I/O
PLCopenMotion

Profile
Reference
Registration

Control

Name	Description
MC_ClearFaults	Sends a request to the drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. to clear any drive faults.
MC_CreatePLCAxis	Creates a PLCopen Axis.
MC_EStop	Causes an emergency stop (E-stop).
MC_InitAxis	Initializes a PLCopen Axis' data.
MC_InitAxisFeedback	Initializes a PLCopen digitizing Axis' position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. data.
MC_Power	Requests to either enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive. the drive and close the loop, or disable Removal of the ENABLE signal. Disables power stage. the drive and open the loop.
MC_ResetError	Resets New start of the microprocessor. the errors of the specified axis.
MC_Stop	Aborts the active move, removes the next move from the queue, performs a controlled stop, and switches the axis to Stopping state.

Information

Name	Description
MC_ReadActPos	Reads the actual position of the axis.
MC_ReadActVel	Reads the actual velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP of the axis.
MC_ReadAxisErr	Returns the error status of the specified axis.
MC_ReadBoolPar	Returns the value of the specified Boolean axis parameter.
MC_ReadParam	Returns the value of the specified axis parameter.
MC_ReadStatus	Returns the state of the specified axis.
MC_WriteBoolPar	Writes the specified axis Boolean parameter.
MC_WriteParam	Writes the specified axis parameter.

I/O

Name	Description
MC_AbortTrigger	When the Execute input transitions from low to high, this function block aborts an MC_TouchProbe function block.
MC_TouchProbe	Arms a Fast Input The inputs are taken into account at each cycle depending on the system periodicity (i.e., each millisecond). Under certain circumstances, this can be insufficient when more accuracy is needed or if a quick response is required from the system. To fill the gap, a drive may have some Fast Input connections (generally one or two). When an event happens that triggers a Fast Input (e.g., when a sensor sends a rising edge), the detection of a signal occurs faster. This can be 1000 times more accurate than the system periodicity. The timestamp associated with this input can be provided to the IPC to take corrective action. and returns the latched The control word is used to activate the drive's latch status machine. The latch control word is processed independently of the EtherCAT® bus cycle. The status word is used to return the drive's latch status. position when the Fast Input event occurs.

PLCopenMotion

Name	Description
MC_AddSuperAxis	Adds a Superimposed Axis to the Axis’s list of assigned superimposed axes.
MC_Halt	Decelerates an axis to zero velocity.
MC_MoveAbsolute	Performs a single-axis move to a specified endpoint position.
MC_MoveAdditive	Performs a single-axis move for a specified distance from the endpoint of the previous move.
MC_MoveContVel	Performs a single-axis non-ending move at a specified velocity with the option of continually updating the ongoing motion with the current input parameters.
MC_MoveRelative	Performs a single-axis move of a specified distance relative to the actual position at the time of the start of execution.
MC_MoveSuperimp	Performs a single-axis move superimposed upon the currently executing move.
MC_MoveVelocity	Performs a single-axis, non-ending move at a specified velocity.
MC_RemSuperAxis	Remove an axis from the axis's list of assigned, superimposed axes.
MC_SetOverride	Writes velocity and acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics) override factors.

Profile

Name	Description
MC_CamIn	Performs a slave axis move which follows the master axis based on the Cam Table specified by CamTableID.
MC_CamOut	Disengages the slave axis from an MC_CamIn move or the master axis immediately in a cam block.
MC_CamResumePos	Returns the slave axis position for resuming an MC_CamIn move.
MC_CamStartPos	Returns the slave axis position for starting an MC_CamIn move.
MC_CamTblSelect	Defined to read and initialize the specified profile. Selects the Cam tables by setting the pointers to the relevant tables.
MC_GearIn	Performs a slave axis move which follows the master axis based on the ratio specified by RatioNumerator and RatioDenominator.
MC_GearInPos	Performs a slave axis move which follows the master axis based on the ratio specified by RatioNumerator and RatioDenominator.
MC_GearOut	Disengages the slave axis from a MC_GearIn or MC_GearInPos move or the master axis.
MC_Phasing	Performs a master position phase shift Compensation for the lag between the electromagnetic and magnetic fields in the motor. for the slave axis.
MC_SyncSlaves	Allows the application to specify what slave axes are to be synchronized Combines an axis or axes group (as slave) with an axis as master. The slave executes its path with synchronization to the progress of the master. This is linked to a one dimension source for synchronization. and which master they follow.

Reference

Name	Description
MC_Reference	Used to execute a fast home The homing procedure allows, based on a position measurement, to set a position offset to the motor to ensure it is physically at the home position. to a switch.
MC_SetPos	Changes the present actual position of the axis (as reported by MC_ReadActPos) to the position specified by the Position and Mode inputs.
MC_SetPosition - Deprecated	Deprecated - See MC_SetPos.

Registration

Name	Description
MC_MachRegist	Enables Mark-to-Machine registration.
MC_MarkRegist	Enables Mark-to-Mark registration.
MC_StopRegist	Turns off registration for the specified axis and disarms the specified fast input.

See Also

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