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1 Technical Paper PLCopen Technical Committee Function Blocks for motion control: Part 2 - Extensions PLCopen Official Document, Version 1.0 Appendix A : and Compliance List DISCLAIMER OF WARRATIES THIS DOCUMET IS PROVIDED O A AS IS BASIS AD MAY BE SUBJECT TO FUTURE ADDITIOS, MODIFICATIOS, OR CORRECTIOS. PLCOPE HEREBY DISCLAIMS ALL WARRATIES OF AY KID, EXPRESS OR IMPLIED, ICLUDIG AY WARRATY OF MERCHATABILITY OR FITESS FOR A PARTICULAR PURPOSE, FOR THIS DOCUMET. I O EVET WILL PLCOPE BE RESPOSIBLE FOR AY LOSS OR DAMAGE ARISIG OUT OR RESULTIG FROM AY DEFECT, ERROR OR OMISSIO I THIS DOCUMET OR FROM AYOE S USE OF OR RELIACE O THIS DOCUMET. Copyright by PLCopen. All rights reserved. Date: September 16, 2005

2 Appendix A Compliance Statement Listed in this Appendix are the requirements for the compliance statement from the supplier of the Motion Control Function Blocks. This part should be seen as integral to Part 1 Function Blocks for Motion Control. The compliance statement consists of two main groups: supported datatypes and supported Function Blocks, in combination with the applicable inputs and outputs. The supplier has to fill out the tables for the used datatypes and Function Blocks, according to their product, committing their support to the specification. By submitting these tables to PLCopen, as well as those from Part 1, and after approval by PLCopen, the list will be published on the PLCopen website, as well as a short form overview, as specified in Appendix A 2 Supported Datatypes and Appendix A 3 Overview of the Function Blocks as below. In addition to this approval, the supplier is permitted access and usage rights to the PLCopen Motion Control logo, as described in Part 1, chapter Appendix A4 - The PLCopen Motion Control Logo and Its Usage. Part 2 Extensions V. 1.0 September 16, 2005 page2/10

3 Statement of Supplier Supplier name Bosch Rexroth AG, Drives & Controls Supplier address Bgm.- Dr.- ebel - Str. 2 City Lohr am Main Country Germany Telephone +49 (9352) Fax +49 (9352) address wolfgang.czech@boschrexroth.de Product ame ML_PLCopen.library Product version V10.6.0,0 Release date December 2009 I hereby state that the following tables as filled out and submitted do match our product as well as the accompanying user manual, as stated above. ame of representation (person): Wolfgang Czech Date of signature (dd/mm/yyyy): 11/02/2010 Signature: Part 2 Extensions V. 1.0 September 16, 2005 page3/10

4 1.1. Appendix A - Supported Derived Datatypes Within the specification the following derived datatypes are defined. Define which of these structures are used in this system: Derived datatypes: Where used Supported Which structure TRIGGER_REF MC_TouchProbe MC_AbortTrigger IPUT_REF MC_ReadDigitalInput OUTPUT_REF MC_DigitalCamSwitch MC_ReadDigitalOutput MC_WriteDigitalOutput Y TYPE MC_COUTPUT_REF : STRUCT Output: ARRAY[0..7] OF BOOL; ED_STRUCT ED_TYPE CAMSWITCH_REF MC_DigitalCamSwitch Y TYPE MC_CAMSWITCH_REF : STRUCT rswitch: ARRAY[0..31] OF ML_BASIC_CAMSWITCH_REF; ED_STRUCT ED_TYPE TYPE MC_BASIC_CAMSWITCH_REF : STRUCT FirstOnPosition : REAL; LastOnPosition : REAL; Duration : TIME; Trackumber : IT; AxisDirection : IT; CamSwitchMode : IT; ED_STRUCT ED_TYPE TRACK_REF MC_DigitalCamSwitch Y TYPE MC_TRACK_REF : STRUCT rtrack: ARRAY[0..7] OF ML_BASIC_TRACK_REF; ED_STRUCT ED_TYPE Table 1: Supported derived datatypes TYPE MC_BASIC_TRACK_REF : STRUCT OnCompensation : TIME; OffCompensation : TIME; Hysteresis : REAL; TimeDefinitions : WORD; ED_STRUCT ED_TYPE Part 2 Extensions V. 1.0 September 16, 2005 page4/10

5 1.2. Appendix A - Overview of the Function Blocks Single Axis Function Blocks Supported Yes / o Comments (<= 48 char.) MC_TouchProbe MC_AbortTrigger MC_ReadDigitalInput MC_ReadDigitalOutput MC_WriteDigitalOutput MC_SetPosition MC_SetOverride MC_ReadActualVelocity MC_ReadActualTorque MC_TorqueControl Y MC_DigitalCamSwitch Y MC_GearInPos MC_MoveContinuous MC_Halt Table 2: Short overview of the Function Blocks TouchProbe If Supported MC_TouchProbe Sup.Y/ Comments E TriggerInput E WindowOnly E FirstPosition E LastPosition B Done E CommandAborted B RecordedPosition AbortTrigger If Supported MC_AbortTrigger Sup.Y/ Comments E TriggerInput B Done Part 2 Extensions V. 1.0 September 16, 2005 page5/10

6 ReadDigitalInput If Supported MC_ReadDigitalInput Sup.Y/ Comments B Input B Enable B Inputumber B Valid B Value ReadDigitalOutput If Supported MC_ReadDigitalOutput Sup.Y/ Comments B Output B Enable B Outputumber B Valid B Value WriteDigitalOutput If Supported MC_WriteDigitalOutput Sup.Y/ Comments B Output B Outputumber B Value B Done Part 2 Extensions V. 1.0 September 16, 2005 page6/10

7 SetPosition If Supported MC_SetPosition Sup.Y/ Comments B Position E Mode B Done SetOverride If Supported MC_SetOverride Sup.Y/ Comments B Enable B VelFactor E AccFactor E JerkFactor B Enabled ReadActualVelocity If Supported MC_ReadActualVelocity Sup.Y/ Comments B Enable B Valid B ActualVelocity Part 2 Extensions V. 1.0 September 16, 2005 page7/10

8 ReadActualTorque If Supported MC_ReadActualTorque Sup.Y/ Comments B Enable B Valid B ActualTorque TorqueControl If Supported MC_TorqueControl Sup.Y/ Comments Y Y B Torque Y E TorqueRamp Y E Velocity E Acceleration E Deceleration E Jerk E Direction E BufferMode B InTorque Y E Active Y E CommandAborted Y Y Y V ErrorIdent Y Digital Cam Switch If Supported MC_DigitalCamSwitch Sup.Y/ Comments Y B Switches Y B Outputs Y E TrackOptions Y B Enable Y E EnableMask Y B InOperation Y Y Y Part 2 Extensions V. 1.0 September 16, 2005 page8/10

9 V ErrorIdent Y Basic elements within the structure of CAMSWITCH_REF B/E Parameter Sup.Y/ Comments B Trackumber Y B FirstOnPosition [u] Y B LastOnPosition [u] Y E AxisDirection Y E CamSwitchMode Y E Duration Y Basic elements within the array structure of TRACK_REF B/E Parameter Sup.Y/ Comments E OnCompensation Y E OffCompensation Y E Hysteresis [u] Y V TimeDefinitions Y GearInPos If Supported MC_GearInPos Sup.Y/ Comments B Master B Slave B Ratioumerator B RatioDenominator B MasterSyncPosition B SlaveSyncPosition E SyncMode E MasterStartDistance E Velocity E Acceleration E Deceleration E Jerk E BufferMode E StartSync B InSync E Active B CommandAborted Part 2 Extensions V. 1.0 September 16, 2005 page9/10

10 MoveContinuous If Supported MC_MoveContinuous Sup. Y/ Comments B Distance B Velocity B EndVelocity E Acceleration E Deceleration E Jerk E BufferMode B InEndVelocity E Active B CommandAborted Halt If Supported MC_Halt Sup. Y/ E Deceleration E Jerk E BufferMode B Done E Active E CommandAborted Part 2 Extensions V. 1.0 September 16, 2005 page10/10