PLCopen function blocks
PLCopen specification Part1 devides the defined FB according to their usage into administrative or motion FB. Within each group an additional determination is done whether one axis (single axis) is affected or multiple axes (multiple axes) are affected by the command.
Following table shows the FB defined within PLCopen specification Part1 and is organized in the same way.
FB with names printed italic and marked with * aren’t implemented in Motion Library Part1. But it’s possible that there is a FB in the library with similar functionality that is defined by the motion control supplier.
|
Administrative |
Motion | ||
|---|---|---|---|
|
Single Axis |
Multiple Axes |
Single Axis |
Multiple Axes |
|
MC_Power |
MC_CamTableSelect |
MC_MoveAbsolute |
MC_CamIn |
|
MC_ReadStatus |
|
MC_MoveRelative |
MC_CamOut |
|
MC_ReadAxisError |
|
MC_MoveAdditive |
MC_GearIn |
|
MC_ReadParameter |
|
MC_MoveSuperimposed |
MC_GearOut |
|
MC_ReadBoolParameter* |
|
MC_MoveVelocity |
MC_Phasing |
|
MC_WriteParameter |
|
MC_Home |
MC_GearInPos* |
|
MC_WriteBoolParameter* |
|
MC_Stop |
|
|
MC_ReadActualPosition |
|
MC_PositionProfile* |
|
|
MC_Reset |
|
MC_VelocityProfile* |
|
|
MC_TouchProbe |
|
MC_AccelerationProfile* |
|
|
MC_AbortTrigger |
|
MC_TorqueControl* |
|
|
MC_ReadDigitalInput* |
|
MC_MoveContinuous* |
|
|
MC_ReadDigitalOutput* |
|
MC_Halt |
|
|
MC_WriteDigitalOutput* |
|
|
|
|
MC_SetPosition |
|
|
|
|
MC_SetOverride |
|
|
|
|
MC_ReadActualVelocity* |
|
|
|
|
MC_ReadActualTorque* |
|
|
|
|
MC_DigitalCamSwitch* |
|
|
|