Library and Related Function Blocks

Library Overview

Library:

oLibrary name: PLCopen MC part 1

Namespace: PLCO

oLibrary name: MotionInterface

Namespace: MOIN

The library PLCpen MC part 1 largely complies with the specifications of PLCopen Motion Control Part 1, Version 2.0. Deviations from or additions to the specifications are indicated in the present document.

The cam profiles executed by MC_CamIn and represented by ST_MultiCam are motion profiles defined by and parameterized according to VDI 2143.

Supported Controllers

The library supports the following devices:

oM262M15

oM262M25

oM262M35

oConnected Sercos devices (refer to the appropriate User Guides)

Function Blocks

Category	Function block	Brief Description
Single axis	MC_AbortTrigger	This function block terminates position capture.
	MC_CustomJob	This function block allows to control an axis by a custom algorithm that calculates cyclic set position, velocity, and acceleration of the axis in PLC code.
	MC_Halt	This function block stops the ongoing movement. The function block can be aborted by other function blocks. See MC_Stop for a stop that cannot be aborted.
	MC_Home	This function block homes the drive with the homing-specific settings of the drive.
	MC_MoveAbsolute	This function block performs a movement to a specified absolute target position.
	MC_MoveAdditive	This function block performs a movement with a specified distance with reference to the previous target position.
	MC_MoveRelative	This function block performs a movement with a specified distance with reference to the actual position.
	MC_MoveSuperImposed	This function block performs a superimposed movement with a specified position offset with reference to the position of an ongoing movement.
	MC_MoveVelocity	This function block performs a movement with a specified target velocity.
	MC_Power	This function block enables or disables the power stage of the drive.
	MC_Reset	This function block acknowledges detected axis-related errors and drive-related errors.
	MC_SetPosition	This function block sets a position value at the actual position of the motor to define the zero point.
	MC_Stop	This function block stops the ongoing movement. No other movements can be started as long as this function block is active. See MC_Halt for a stop that can be aborted.
	MC_TouchProbe	This function block configures and starts position capture.
Multi axis	MC_CamIn	This function block activates master-slave coupling with the profile for an electronic cam specified in a cam table.
	MC_GearIn	This function block activates coupling of a master axis and a slave axis with a given gear factor between velocity of the master axis and the slave axis.
	MC_PhasingAbsolute	This function block creates a position offset between the position of a master axis and the position of this master axis as it is seen by the slave axis.