PLCopen for efficiency in automation. Technical Paper PLCopen Technical Committee. Function Blocks for motion control: Part 2 - Extensions

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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 WARRANTIES THIS DOCUMENT IS PROVIDED ON AN AS IS BASIS AND MAY BE SUBJECT TO FUTURE ADDITIONS, MODIFICATIONS, OR CORRECTIONS. PLCOPEN HEREBY DISCLAIMS ALL WARRANTIES OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, FOR THIS DOCUMENT. IN NO EVENT WILL PLCOPEN BE RESPONSIBLE FOR ANY LOSS OR DAMAGE ARISING OUT OR RESULTING FROM ANY DEFECT, ERROR OR OMISSION IN THIS DOCUMENT OR FROM ANYONE S USE OF OR RELIANCE ON THIS DOCUMENT. Copyright by PLCopen. All rights reserved. Date: September 16, 2005

2 1. 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 page2/11

3 1.1. Statement of Supplier Supplier name Schneider Electric Motion Deutschland GmbH Supplier address Breslauer Str. 7 City D Lahr Country Germany Telephone Fax address info@schneider-electric-motion.com Product Name Lexium library for motion drives Product version Release date 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. Name of representation (person): Jürgen Fiess Date of signature (dd/mm/yyyy): 17/11/2009 Signature: Part 2 Extensions V. 1.0 September 16, 2005 page3/11

4 1.2. 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 No MC_AbortTrigger INPUT_REF MC_ReadDigitalInput Input_Ref_LXM OUTPUT_REF MC_DigitalCamSwitch Output_Ref_LXM MC_ReadDigitalOutput MC_WriteDigitalOutput CAMSWITCH_REF MC_DigitalCamSwitch No TRACK_REF MC_DigitalCamSwitch No Table 1: Supported derived datatypes Part 2 Extensions V. 1.0 September 16, 2005 page4/11

5 1.3. Appendix A - Overview of the Function Blocks Single Axis Function Blocks Supported / No Comments (<= 48 char.) MC_TouchProbe MC_AbortTrigger MC_ReadDigitalInput MC_ReadDigitalOutput MC_WriteDigitalOutput MC_SetPosition MC_SetOverride No MC_ReadActualVelocity MC_ReadActualTorque MC_TorqueControl MC_DigitalCamSwitch No MC_GearInPos No MC_MoveContinuous No MC_Halt Table 2: Short overview of the Function Blocks TouchProbe If Supported MC_TouchProbe Sup.Y/N Comments E TriggerInput N E WindowOnly N E FirstPosition N E LastPosition N V Unit (UINT) Y Selection of trigger unit V TriggerLevel (BOOL) Y Selection of trigger execution V SingleShot (BOOL) Y Selection for number of trigger events B Done Y E CommandAborted Y B RecordedPosition Y V Valid (BOOL) Y New Recorded Position available AbortTrigger If Supported MC_AbortTrigger Sup.Y/N Comments E TriggerInput N V Unit (UINT) Y Selection of trigger unit B Done Y Part 2 Extensions V. 1.0 September 16, 2005 page5/11

6 Part 2 Extensions V. 1.0 September 16, 2005 page6/11

7 ReadDigitalInput If Supported MC_ReadDigitalInput Sup.Y/N Comments B Input Y B Enable Y B InputNumber Y B Valid Y B Value Y V Inputs (WORD) Y All available inputs ReadDigitalOutput If Supported MC_ReadDigitalOutput Sup.Y/N Comments B Output Y B Enable Y B OutputNumber Y B Valid Y B Value Y V Outputs (WORD) Y All available outputs WriteDigitalOutput If Supported MC_WriteDigitalOutput Sup.Y/N Comments B Output Y B OutputNumber Y B Value Y V AllOutputs (BOOL) Y Selection for writing a single or all outputs V Outputs (WORD) Y All available outputs B Done Y Part 2 Extensions V. 1.0 September 16, 2005 page7/11

8 SetPosition If Supported MC_SetPosition Sup.Y/N Comments B Position Y E Mode Y B Done Y SetOverride Not supported If Supported MC_SetOverride Sup.Y/N Comments B Axis B Enable B VelFactor E AccFactor E JerkFactor B Enabled E Busy B Error E ErrorID ReadActualVelocity If Supported MC_ReadActualVelocity Sup.Y/N Comments B Enable Y V VelocityType (INT) Y Selection for different velocities B Valid Y B ActualVelocity Y Part 2 Extensions V. 1.0 September 16, 2005 page8/11

9 ReadActualTorque If Supported MC_ReadActualTorque Sup.Y/N Comments B Enable Y B Valid Y B ActualTorque Y TorqueControl If Supported MC_TorqueControl Sup.Y/N Comments B Torque Y E TorqueRamp Y E Velocity N E Acceleration N E Deceleration N E Jerk N E Direction N E BufferMode N B InTorque Y E Active N E CommandAborted Y Digital Cam Switch Not supported If Supported MC_DigitalCamSwitch Sup.Y/N Comments B Axis B Switches B Outputs E TrackOptions B Enable E EnableMask B InOperation E Busy B Error E ErrorID Basic elements within the structure of CAMSWITCH_REF Part 2 Extensions V. 1.0 September 16, 2005 page9/11

10 B/E Parameter Sup.Y/N Comments B TrackNumber B FirstOnPosition [u] B LastOnPosition [u] E AxisDirection E CamSwitchMode E Duration Basic elements within the array structure of TRACK_REF B/E Parameter Sup.Y/N Comments E OnCompensation E OffCompensation E Hysteresis [u] GearInPos Not supported If Supported MC_GearInPos Sup.Y/N Comments B Master B Slave B Execute B RatioNumerator 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 Busy E Active B CommandAborted B Error E ErrorID Part 2 Extensions V. 1.0 September 16, 2005 page10/11

11 MoveContinuous Not supported If Supported MC_MoveContinuous Sup. Y/N Comments B Axis B Execute B Distance B Velocity B EndVelocity E Acceleration E Deceleration E Jerk E BufferMode B InEndVelocity E Busy E Active B CommandAborted B Error E ErrorID Halt If Supported MC_Halt Sup. Y/N E Deceleration N Supported by vendor specific function block E Jerk N E BufferMode N B Done Y E Active N E CommandAborted Y Part 2 Extensions V. 1.0 September 16, 2005 page11/11