PLCopen Function Blocks

This function block (FB) library is designed for controlling one or more servo axes using the IEC 61131-3 PLCopen standard. See Function Blocks (POU).

To offer flexibility, ease of use, and reusability, the library consists of command-oriented function blocks with a reference to the axis (e.g., the abstract data type AXIS_REF Structure).

The PLCopen Library contains function blocks for:

Control: Function blocks to define and initialize motion, control power, and reset errors.
I/O: Function blocks to control interaction with Digital I/O and Touch Probe and trigger PLCopen Registration functionality.
Info: Function blocks to provide information on motion, position, status, and the ability to read and write other drive parameters.
PLCopen Motion: Function blocks to execute different types of motion.
Profile: Function blocks for master/slave motion.
Reference: Function blocks to reset position.
Registration: Function blocks to perform registration.

Function Block	Description
MC_AddSuperAxis	Adds a Superimposed Axis to the Axis’s list of assigned superimposed axes.
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_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 using the ratio specified by RatioNumerator and RatioDenominator. Once engaged, the slave moves RatioNumerator units for every RatioDenominator units the master moves.
MC_GearOut	Disengages the slave axis from a MC_GearIn or MC_GearInPos move or the master axis.
MC_MachRegist	Enables Mark-to-Machine registration.
MC_MarkRegist	Enables Mark-to-Mark registration.
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_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_Power	Requests to either enable the drive and close the loop, or disable the drive and open the loop.
MC_ReadActPos	Reads the actual position of the axis.
MC_ReadAxisErr	Returns the error status of the specified axis.
MC_ReadBoolPar	Returns the value of the specified Boolean axis parameter. Returns the value of a drive parameter. The returned value has to be converted to REAL if required. If not possible, the vendor must provide a supplier-dependent FB for it.
MC_ReadParam	Returns the value of the specified axis parameter. Returns the value of a drive parameter. The returned value has to be converted to REAL if required. If not possible, the vendor must provide a supplier-dependent FB for it.
MC_ReadStatus	Returns the state of the specified axis.
MC_RemSuperAxis	Remove an axis from the axis's list of assigned, superimposed axes.
MC_ResetError	Resets 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.
MC_StopRegist	Turns off registration for the specified axis and disarms the specified fast input.
MC_WriteBoolPar	Writes the specified axis Boolean parameter.
MC_WriteParam	Writes the specified axis parameter.