Libraries and Related Function Blocks

Library Overview

Libraries:

The GMC Independent PLCopen MC library

Library name: GMC Independent PLCopen MC

Namespace: GIPLC
The GMC Independent Altivar library

Library name: GMC Independent Altivar

Namespace: GIATV
The GMC Independent Lexium library

Library name: GMC Independent Lexium

Namespace: GILXM

Naming conventions:

Function blocks with the prefix MC_ (Motion Control) are compliant with the PLCopen specification V2.00. They conform to a global standard for programming motion control applications.
Function blocks without a prefix MC_ are vendor-specific (Schneider Electric); however, they comply with the general PLCopen rules.

Supported Drives and Fieldbuses

Drive	CANopen	EtherNet/IP	Modbus TCP
ATV320, ATV340, ATV6••, ATV9••, LXM32M, Lexium ILA, ILE and ILS	✓	✓	✓
LXM32A, LXM32ICAN, SD328A	✓	-	-
✓ Supported - Not supported

Function Blocks of GMC Independent PLCopen MC (GIPLC)

The GMC Independent PLCopen MC library contains these function blocks that can be used with Altivar, Lexium 32, Lexium SD328A and Lexium ILA, ILE and ILS integrated drives:

Category	Function block	Description
Single axis	MC_Power	Initialization
	MC_Jog	Operating mode: Jog
	MC_TorqueControl	Operating mode: Profile Torque
	MC_MoveVelocity	Operating mode: Profile Velocity
	MC_MoveAbsolute	Operating mode: Profile Position
	MC_MoveAdditive
	MC_MoveRelative
	MC_Home	Operating mode: Homing
	MC_SetPosition	Operating mode: Homing
	MC_Stop	Stopping
	MC_Halt	Stopping
	MC_TouchProbe	Position capture via signal input
	MC_AbortTrigger	Position capture via signal input
Administrative	MC_ReadActualTorque	Reading a parameter
	MC_ReadActualVelocity
	MC_ReadActualPosition
	MC_ReadAxisInfo
	MC_ReadMotionState
	MC_ReadStatus
	MC_ReadParameter
	MC_WriteParameter	Writing a parameter
	MC_ReadDigitalInput	Inputs and outputs
	MC_ReadDigitalOutput
	MC_WriteDigitalOutput
	MC_ReadAxisError	Error handling
	MC_Reset	Error handling

NOTE: Whether or not a function block is supported depends on the corresponding drive. The drive responds with the diagnostic code 139 if a function block is not supported by that drive.

Function Blocks of GMC Independent Altivar (GIATV)

The GMC Independent Altivar library contains these function blocks that can be used with Altivar drives:

Category	Function block	Description
Single axis	VelocityControlAnalogInput_ATV	Operating mode: Profile Velocity
	VelocityControlSelectAI_ATV
	Control_ATV
Administrative	SetDriveRamp_ATV	Writing a parameter
	SetFrequencyRange_ATV
	ResetParameters_ATV
	StoreParameters_ATV
	ReadAnalogInput_ATV	Inputs and outputs

Function Blocks of GMC Independent Lexium (GILXM)

The GMC Independent Lexium library contains function blocks that can be used with Lexium drives.

These function blocks can be used with Lexium 32 drives:

Category	Function block	Description
Single axis	Jog_LXM32	Operating mode: Jog
	SetTorqueRamp_LXM32	Operating mode: Profile Torque
	TorqueControl_LXM32	Operating mode: Profile Torque
	MoveVelocity_LXM32	Operating mode: Profile Velocity
	Home_LXM32	Operating mode: Homing
	SetStopRamp_LXM32	Stopping
	Stop_LXM32
	Halt_LXM32
	TouchProbe_LXM32	Position capture via signal input
Multi axis	GearlnPos_LXM32	Operating mode: Electronic Gear
Multi axis	Gearln_LXM32	Operating mode: Electronic Gear
Administrative	SetDriveRamp_LXM32	Writing a parameter
	SetLimitSwitch_LXM32
	ResetParameters_LXM32
	StoreParameters_LXM32
	ReadAxisWarning_LXM32	Error handling

These function blocks can be used with Lexium SD328A drives:

Category	Function block	Description
Single axis	Jog_SD328A	Operating mode: Jog
	MoveVelocity_SD328A	Operating mode: Profile Velocity
	Home_SD328A	Operating mode: Homing
	TouchProbe_SD328A	Position capture via signal input
Multi axis	GearlnPos_SD328A	Operating mode: Electronic Gear
Administrative	SetDriveRamp_SD328A	Writing a parameter
	SetLimitSwitch_SD328A
	ResetParameters_SD328A
	StoreParameters_SD328A

These function blocks can be used with Lexium ILA, ILE and ILS integrated drives:

Category	Function block	Description
Single axis	Jog_ILX	Operating mode: Jog
	Home_ILX	Operating mode: Homing
	SetStopRamp_ILX	Stopping
	TouchProbe_ILX	Position capture via signal input
	SpeedControl_ILX	Operating mode: Speed Control
Multi axis	GearlnPos_ILX	Operating mode: Electronic Gear
Administrative	SetDriveRamp_ILX	Writing a parameter
	SetLimitSwitch_ILX
	ResetParameters_ILX
	StoreParameters_ILX
	ReadAxisWarning_ILX	Error handling