PLCopen function blocks

PLCopen specification Part4 divides the defined FB according to their usage into administrative or motion FB.

Within each group an additional determination is done whether a FB is related only to an axes group (coordinated) or the FB implements a functionality that additional interacts with components out of an axes group (synchronized).

Following table shows the FB defined within PLCopen specification Part4 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.

Table 1-2: Classification of PLCopen-FB Part4 into administrative and motion FB
Administrative	Motion
Coordinated	Coordinated	Synchronized
MC_AddAxisToGroup	MC_GroupHome*	MC_SyncAxisToGroup*
MC_RemoveAxisFromGroup	MC_GroupStop	MC_SyncGroupToAxis*
MC_UngroupAllAxes	MC_GroupHalt	MC_TrackConveyorBelt*
MC_GroupReadConfiguration	MC_GroupInterrupt*	MC_TrackRotaryTable*
MC_GroupEnable*	MC_GroupContinue*
MC_GroupDisable	MC_MoveLinearAbsolute
MC_SetKinTransform*	MC_MoveLinearRelative
MC_SetCartesianTransform*	MC_MoveCircularAbsolute*
MC_SetCoordinateTransform*	MC_MoveCircularRelative*
MC_ReadKinTransform*	MC_MoveDirectAbsolute*
MC_ReadCartesianTransform*	MC_MoveDirectRelative*
MC_ReadCoordinateTransform*	MC_MovePath
MC_GroupSetPosition*
MC_GroupReadActualPosition
MC_GroupReadActualVelocity*
MC_GroupReadActualAcceleration*
MC_GroupReadStatus
MC_GroupReadError
MC_GroupReset
MC_PathSelect
MC_GroupSetOverride
MC_SetDynCoordTransform*