# PLCopen function blocks

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

In these two areas, a distinction is made whether an FB only refers to the axis group (coordinated) or whether the FB commands a function which interacts with components outside the axis group (synchronised).

Following table shows the FB defined within PLCopen specification Part4 and is organized in the same way.

## Notice

FBs marked by an * are not implemented in the Motion Library Part4. However, there may be FBs in the libraries with a similar functionality but specified by the control unit supplier.

## Classification of PLCopen-FB Part4 into administrative and motion-related FBs

Administrative | Motion
Coordinated | Coordinated | Synchronised
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_GrpReset |  |
MC_PathSelect |  |
MC_GroupSetOverride |  |
MC_SetDynCoordTransform* |  |