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

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*