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.

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 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_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.