PLCopen for efficiency in automation

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1 Subset of the Technical Specification PLCopen - Technical Committee 2 Task Force Function blocks for motion control (Formerly Part 1 and Part 2) Version 2.0 Appendix DISCLAIMR OF WARATIS THIS DOCUMT IS PROVIDD O A AS IS ASIS AD MAY SUJCT TO FUTUR ADDITIOS, MODIFICATIOS, OR CORRCTIOS. PLCOP HRY DISCLAIMS ALL WARRATIS OR CODITIOS OF AY KID, XPRSS OR IMPLID, ICLUDIG, WITHOUT LIMITATIO, AY WARRATIS, OR CODITIOS OF TITL, O-IFRIGMT, MRCHATAILITY OR FITSS FOR A PARTICULAR PURPOS, FOR THIS DOCUMT. I O VT WILL PLCOP RSPOSIL FOR AY LOSS OR DAMAG ARISIG OUT OR RSULTIG FROM AY DFCT, RROR OR OMISSIO I THIS DOCUMT OR FROM AYO S US OF OR RLIAC O THIS DOCUMT. Copyright by PLCopen. All rights reserved. March 17, Function locks for Motion Control Version 2.0, Appendix page 1/ 25

2 Appendix. Listed in this Appendix are the requirements for the compliance statement from the supplier of the Motion Control Function locks. The compliance statement consists of two main groups: supported data types and supported Function locks, in combination with the applicable inputs and outputs. The supplier is required to fill out the tables for the used data types and Function locks, according to their product, committing their support to the specification. y submitting these tables to PLCopen, and after approval by PLCopen, the list will be published on the PLCopen website, as well as a shortform overview, as specified in Appendix 2 Supported Data types and Appendix 3 Overview of the Function locks as below. In addition to this approval, the supplier is granted access and usage rights of the PLCopen Motion Control logo, as described in Appendix 4: The PLCopen Motion Control Logo and Its Usage.. Data types The data type RAL listed in the Function locks and parameters (e.g. for velocity, acceleration, distance, etc.) may be exchanged to SIT, IT, DIT or LRAL without to be seen as incompliant to this standard, as long as they are consistent for the whole set of Function locks and parameters. Implementation allows the extension of data types as long as the basic data type is kept. For example: WORD may be changed to DWORD, but not to RAL. Function locks and Inputs and Outputs An implementation which claims compliance with this PLCopen specification shall offer a set of Function locks for motion control, meaning one or more Function locks, with at least the basic input and output variables, marked as in the tables. These inputs and outputs have to be supported to be compliant. For higher-level systems and future extensions any subset of the extended input and output variables, marked as in the tables can be implemented. Vendor specific additions are marked with V, and can be listed as such in the supplier documentation. - asic input/output variables are mandatory Marked in the tables with the letter - xtended input /output variables are optional Marked in the tables with the letter - Vendor Specific additions Marked in the vendor s compliance documentation with V All the vendor specific items will not be listed in the comparison table on the PLCopen website, but in the detailed vendor specific list, which also is published. All vendor specific in- and outputs of all Fs must be listed in the certification list of the supplier. With this, the certification listing from a supplier describes all the I/Os of the relevant Fs, including vendor-specific extensions, and thus showing the complete Fs as used by the supplier. Function locks for Motion Control Version 2.0, Appendix page 2/ 25

3 Appendix 1. Statement of Supplier Supplier name eckhoff Automation GmbH & Co. KG Supplier address Huelshorstweg 20 City Verl Country Germany Telephone Fax mail address info@beckhoff.com Product ame TwinCAT Product version 3.1 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. ame of representation (person): Klaus ernzen Date of signature (dd/mm/yyyy): 11/01/2016 Signature: Function locks for Motion Control Version 2.0, Appendix page 3/ 25

4 Appendix 2. Supported Data types Defined datatypes with MC library: Supported If not supported, which datatype used OOL Y IT DIT WORD DWORD, UDIT RAL LRAL UM Y UIT UDIT Table 1: Supported 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 AXIS_RF early all Fs Y MC_DIRCTIO (extended) MC_MoveAbsolute MC_MoveVelocity MC_TorqueControl MC_MoveContinuousAb solute MC_TP_RF MC_PositionProfile MC_TV_RF MC_VelocityProfile MC_TA_RF MC_AccelerationProfile MC_CAM_RF MC_CamTableSelect Y MC_CAM_ID (extended) MC_CamTableSelect MC_CamIn Y Y MC_START_MOD (extended) MC_CamIn MC_CamTableSelect Y MC_UFFR_MOD uffered Fs Y MC_XCUTIO_MOD MC_SetPosition MC_WriteParameter MC_WriteoolParamete r MC_WriteDigitalOutput MC_CamTableSelect MC_SOURC MC_ReadMotionState MC_CamIn MC_GearIn MC_GearInPos MC_CombineAxes MC_DigitalCamSwitch MC_SYC_MOD MC_GearInPos MC_COMI_MOD MC_CombineAxes MC_TRIGGR_RF MC_TouchProbe MC_AbortTrigger Y Y MC_IPUT_RF MC_ReadDigitalInput MC_OUTPUT_RF MC_DigitalCamSwitch MC_ReadDigitalOutput MC_WriteDigitalOutput Y MC_CAMSWITCH_RF MC_DigitalCamSwitch Y MC_TRACK_RF MC_DigitalCamSwitch Y Y Table 2: Supported derived datatypes Function locks for Motion Control Version 2.0, Appendix page 4/ 25

5 Appendix 3. Overview of the Function locks Single Axis Function locks Supported as Comments (<= 48 char.) V1.0/ V1.1/ V2.0 or ot MC_Power V2.0 MC_Home V2.0 MC_Stop V2.0 MC_Halt V2.0 MC_MoveAbsolute V2.0 MC_MoveRelative V2.0 MC_MoveAdditive V2.0 MC_MoveSuperimposed V2.0 MC_HaltSuperimposed MC_MoveVelocity V2.0 MC_MoveContinuousAbsolute V2.0 MC_MoveContinuousRelative V2.0 MC_TorqueControl MC_PositionProfile MC_VelocityProfile MC_AccelerationProfile MC_SetPosition V2.0 MC_SetOverride V2.0 MC_ReadParameter & MC_ReadoolParameter V2.0 V2.0 MC_WriteParameter & MC_WriteoolParameter V2.0 V2.0 MC_ReadDigitalInput MC_ReadDigitalOutput MC_WriteDigitalOutput MC_ReadActualPosition V2.0 MC_ReadActualVelocity V2.0 MC_ReadActualTorque MC_ReadStatus V2.0 MC_ReadMotionState MC_ReadAxisInfo MC_ReadAxisrror V2.0 MC_Reset V2.0 MC_DigitalCamSwitch V2.0 additional library MC_TouchProbe V2.0 MC_AbortTrigger V2.0 Multi-Axis Function locks Supported as V1.0/ V1.1/ Comments (<= 48 char.) V2.0 or ot MC_CamTableSelect V2.0 additional library MC_CamIn V2.0 additional library MC_CamOut V2.0 additional library MC_GearIn V2.0 MC_GearOut V2.0 MC_GearInPos V2.0 additional library MC_PhasingAbsolute V2.0 MC_PhasingRelative V2.0 MC_CombineAxes Table 3: Short overview of the Function locks Function locks for Motion Control Version 2.0, Appendix page 5/ 25

6 Appendix 3.1 MC_Power If Supported MC_Power Sup. Y/ Comments Axis Y nable Y nablepositive Y nableegative Y Status Y Valid rror Y rrorid Y Appendix 3.2 MC_Home If Supported MC_Home Sup. Y/ Comments Axis Y xecute Y Position Y uffermode Y Done Y usy Y Active Y CommandAborted Y rror Y rrorid Y Appendix 3.3 MC_Stop If Supported MC_Stop Sup. Y/ Comments Axis Y xecute Y Deceleration Y Jerk Y Done Y usy Y CommandAborted Y rror Y rrorid Y Function locks for Motion Control Version 2.0, Appendix page 6/ 25

7 Appendix 3.4 MC_Halt If Supported MC_Halt Sup. Y/ Axis Y xecute Y Deceleration Y Jerk Y uffermode Y Done Y usy Y Active Y CommandAborted Y rror Y rrorid Y Appendix 3.5 MC_MoveAbsolute If Supported MC_MoveAbsolute Sup.Y/ Comments Axis Y xecute Y ContinuousUpdate Position Y Velocity Y Acceleration Y Deceleration Y Jerk Y Direction uffermode Y Done Y usy Y Active Y CommandAborted Y rror Y rrorid Y Function locks for Motion Control Version 2.0, Appendix page 7/ 25

8 Appendix 3.6 MC_MoveRelative If Supported MC_MoveRelative Sup. Y/ Comments Axis Y xecute Y ContinuousUpdate Distance Y Velocity Y Acceleration Y Deceleration Y Jerk Y uffermode Y Done Y usy Y Active Y CommandAborted Y rror Y rrorid Y Appendix 3.7 MC_MoveAdditive If Supported MC_MoveAdditive Sup. Y/ Comments Axis Y xecute Y ContinuousUpdate Distance Y Velocity Y Acceleration Y Deceleration Y Jerk Y uffermode Y Done Y usy Y Active Y CommandAborted Y rror Y rrorid Y Function locks for Motion Control Version 2.0, Appendix page 8/ 25

9 Appendix 3.8 MC_MoveSuperimposed If Supported MC_MoveSuperimposed Sup. Y/ Comments Axis Y xecute Y ContinuousUpdate Distance Y VelocityDiff Y Acceleration Y Deceleration Y Jerk Y Done Y usy Y CommandAborted Y rror Y rrorid Y CoveredDistance Appendix 3.9 MC_HaltSuperimposed If Supported MC_HaltSuperimposed Sup. Y/ Comments Axis xecute Deceleration Jerk Done usy CommandAborted rror rrorid Function locks for Motion Control Version 2.0, Appendix page 9/ 25

10 Appendix 3.10 MC_MoveVelocity If Supported MC_MoveVelocity Sup. Y/ Comments Axis Y xecute Y ContinuousUpdate Velocity Y Acceleration Y Deceleration Y Jerk Y Direction Y uffermode Y InVelocity Y usy Y Active Y CommandAborted Y rror Y rrorid Y Appendix 3.11 MC_MoveContinuousAbsolute If Supported MC_MoveContinuousAbsolute Sup. Y/ Comments Axis Y xecute Y ContinuousUpdate Position Y ndvelocity Y Velocity Y Acceleration Y Deceleration Y Jerk Y Direction uffermode Y InndVelocity Y usy Y Active Y CommandAborted Y rror Y rrorid Y Function locks for Motion Control Version 2.0, Appendix page 10/ 25

11 Appendix 3.12 MC_MoveContinuousRelative If Supported MC_MoveContinuousRelative Sup. Y/ Comments Axis Y xecute Y ContinuousUpdate Distance Y ndvelocity Y Velocity Y Acceleration Y Deceleration Y Jerk Y uffermode Y InndVelocity Y usy Y Active Y CommandAborted Y rror Y rrorid Y Appendix 3.13 MC_TorqueControl If Supported MC_TorqueControl Sup.Y/ Comments Axis xecute ContinuousUpdate Torque TorqueRamp Velocity Acceleration Deceleration Jerk Direction uffermode InTorque usy Active CommandAborted rror rrorid Function locks for Motion Control Version 2.0, Appendix page 11/ 25

12 Appendix 3.14 MC_PositionProfile If Supported MC_PositionProfile Sup. Y/ Comments Axis TimePosition xecute ContinuousUpdate TimeScale PositionScale Offset uffermode Done usy Active CommandAborted rror rrorid Appendix 3.15 MC_VelocityProfile If Supported MC_VelocityProfile Sup. Y/ Comments Axis TimeVelocity xecute ContinuousUpdate TimeScale VelocityScale Offset uffermode ProfileCompleted usy Active CommandAborted rror rrorid Function locks for Motion Control Version 2.0, Appendix page 12/ 25

13 Appendix 3.16 MC_AccelerationProfile If Supported MC_AccelerationProfile Sup. Y/ Comments Axis TimeAcceleration xecute ContinuousUpdate TimeScale AccelerationScale Offset uffermode ProfileCompleted usy Active CommandAborted rror rrorid Appendix 3.17 MC_SetPosition If Supported MC_SetPosition Sup.Y/ Comments Axis Y xecute Y Position Y Relative Y available as mode input xecutionmode Done Y usy Y rror Y rrorid Y Appendix 3.18 MC_SetOverride If Supported MC_SetOverride Sup.Y/ Comments Axis Y nable Y VelFactor Y AccFactor Y JerkFactor Y nabled Y usy Y rror Y rrorid Y Function locks for Motion Control Version 2.0, Appendix page 13/ 25

14 Appendix 3.19 MC_ReadParameter & MC_ReadoolParameter If Supported MC_ReadParameter Sup. Y/ Comments Axis Y nable Y Parameterumber Y Valid Y usy Y rror Y rrorid Y Value Y If Supported MC_ReadoolParameter Sup. Y/ Comments Axis Y nable Y Parameterumber Y Valid Y usy Y rror Y rrorid Y Value Y ame / R/W Supp. Y/ CommandedPosition R Y SWLimitPos R/W Y SWLimiteg R/W Y nablelimitpos R/W Y nablelimiteg R/W Y nableposlagmonitoring R/W Y MaxPositionLag R/W Y MaxVelocitySystem R Y MaxVelocityAppl R/W Y ActualVelocity R Y CommandedVelocity R Y MaxAccelerationSystem R Y MaxAccelerationAppl R/W Y MaxDecelerationSystem R Y MaxDecelerationAppl R/W Y MaxJerkSystem R Y MarkJerkAppl R/W Y Comments Table 4: Parameters for MC_Read(ool)Parameter and MC_Write(ool)Parameter Function locks for Motion Control Version 2.0, Appendix page 14/ 25

15 Appendix 3.20 MC_WriteParameter & MC_WriteoolParameter If Supported MC_WriteParameter Sup. Y/ Comments Axis Y xecute Y Parameterumber Y Value Y xecutionmode Done Y usy Y rror Y rrorid Y If Supported MC_WriteoolParameter Sup. Y/ Comments Axis Y xecute Y Parameterumber Y Value Y xecutionmode Done Y usy Y rror Y rrorid Y Appendix 3.21 MC_ReadDigitalInput If Supported MC_ReadDigitalInput Sup.Y/ Comments Input nable Inputumber Valid usy rror rrorid Value Function locks for Motion Control Version 2.0, Appendix page 15/ 25

16 Appendix 3.22 MC_ReadDigitalOutput If Supported MC_ReadDigitalOutput Sup.Y/ Comments Output nable Outputumber Valid usy rror rrorid Value Appendix 3.23 MC_WriteDigitalOutput If Supported MC_WriteDigitalOutput Sup.Y/ Comments Output xecute Outputumber Value xecutionmode Done usy rror rrorid Appendix 3.24 MC_ReadActualPosition If Supported MC_ReadActualPosition Sup. Y/ Comments Axis Y nable Y Valid Y usy Y rror Y rrorid Y Position Y Function locks for Motion Control Version 2.0, Appendix page 16/ 25

17 Appendix 3.25 MC_ReadActualVelocity If Supported MC_ReadActualVelocity Sup.Y/ Comments Axis Y nable Y Valid Y usy Y rror Y rrorid Y Velocity Y Appendix 3.26 MC_ReadActualTorque If Supported MC_ReadActualTorque Sup.Y/ Comments Axis nable Valid usy rror rrorid Torque Appendix 3.27 MC_ReadStatus If Supported MC_ReadStatus Sup. Y/ Comments Axis Y nable Y Valid Y usy Y rror Y rrorid Y rrorstop Y Disabled Y Stopping Y Homing Y Standstill Y DiscreteMotion Y ContinuousMotion Y SynchronizedMotion Y Function locks for Motion Control Version 2.0, Appendix page 17/ 25

18 Appendix 3.28 MC_ReadMotionState If Supported MC_ReadMotionState Sup. Y/ Comments Axis nable Source Valid usy rror rrorid ConstantVelocity Accelerating Decelerating DirectionPositive Directionegative Appendix 3.29 MC_ReadAxisInfo If Supported MC_ReadAxisInfo Sup. Y/ Comments Axis nable Valid usy rror rrorid HomeAbsSwitch LimitSwitchPos LimitSwitcheg Simulation CommunicationReady ReadyForPowerOn PowerOn IsHomed AxisWarning Appendix 3.30 MC_ReadAxisrror If Supported MC_ReadAxisrror Sup. Y/ Comments Axis Y nable Y Valid Y usy Y rror Y rrorid Y AxisrrorID Y Function locks for Motion Control Version 2.0, Appendix page 18/ 25

19 Appendix 3.31 MC_Reset If Supported MC_Reset Sup. Y/ Comments Axis Y xecute Y Done Y usy Y rror Y rrorid Y Appendix 3.32 MC_DigitalCamSwitch If Supported MC_DigitalCamSwitch Sup.Y/ Comments Axis Y Switches Y Outputs Y TrackOptions Y nable Y nablemask ValueSource InOperation Y usy Y rror Y rrorid Y asic elements within the array structure of MC_CAMSWITCH_RF / Parameter Sup.Y/ Comments Trackumber Tracknumber implicitly handled by block instance FirstOnPosition [u] Y LastOnPosition [u] Y AxisDirection Y CamSwitchMode Y Duration Y asic elements within the array structure of MC_TRACK_RF / Parameter Sup.Y/ Comments OnCompensation Y OffCompensation Y Hysteresis [u] Y Function locks for Motion Control Version 2.0, Appendix page 19/ 25

20 Appendix 3.33 MC_TouchProbe If Supported MC_TouchProbe Sup.Y/ Comments Axis Y TriggerInput Y xecute Y WindowOnly Y FirstPosition Y LastPosition Y Done Y usy Y CommandAborted Y rror Y rrorid Y RecordedPosition Y Appendix 3.34 MC_AbortTrigger If Supported MC_AbortTrigger Sup.Y/ Comments Axis Y TriggerInput Y xecute Y Done Y usy Y rror Y rrorid Y Appendix 3.35 MC_CamTableSelect If Supported MC_CamTableSelect Sup. Y/ Comments Master Y Slave Y CamTable Y xecute Y Periodic Y MasterAbsolute Y SlaveAbsolute Y xecutionmode Done Y usy Y rror Y rrorid Y CamTableID Y Used as an input of this block Function locks for Motion Control Version 2.0, Appendix page 20/ 25

21 Appendix 3.36 MC_CamIn If Supported MC_CamIn Sup. Y/ Comments Master Y Slave Y xecute Y ContinuousUpdate MasterOffset Y SlaveOffset Y MasterScaling Y SlaveScaling Y MasterStartDistance MasterSyncPosition StartMode Y MasterValueSource CamTableID Y uffermode Y InSync Y usy Y Active Y CommandAborted Y rror Y rrorid Y ndofprofile Appendix 3.37 MC_CamOut If Supported MC_CamOut Sup. Y/ Comments Slave Y xecute Y Done Y usy Y rror Y rrorid Y Function locks for Motion Control Version 2.0, Appendix page 21/ 25

22 Appendix 3.38 MC_GearIn If Supported MC_GearIn Sup. Y/ Comments Master Y Slave Y xecute Y ContinuousUpdate Ratioumerator Y RatioDenominator Y MasterValueSource Acceleration Y Deceleration Y Jerk Y uffermode Y InGear Y usy Y Active Y CommandAborted Y rror Y rrorid Y Appendix 3.39 MC_GearOut If Supported MC_GearOut Sup. Y/ Comments Slave Y xecute Y Done Y usy Y rror Y rrorid Y Function locks for Motion Control Version 2.0, Appendix page 22/ 25

23 Appendix 3.40 MC_GearInPos If Supported MC_GearInPos Sup.Y/ Comments Master Y Slave Y xecute Y Ratioumerator Y RatioDenominator Y MasterValueSource MasterSyncPosition Y SlaveSyncPosition Y SyncMode Y MasterStartDistance Y Velocity Y Acceleration Y Deceleration Y Jerk Y uffermode Y StartSync Y InSync Y usy Y Active Y CommandAborted Y rror Y rrorid Y Appendix 3.41 MC_PhasingAbsolute If Supported MC_PhasingAbsolute Sup. Y/ Comments Master Y Slave Y xecute Y PhaseShift Y Velocity Y Acceleration Y Deceleration Y Jerk Y uffermode Y Done Y usy Y Active Y CommandAborted Y rror Y rrorid Y AbsolutePhaseShift Y Function locks for Motion Control Version 2.0, Appendix page 23/ 25

24 Appendix 3.42 MC_PhasingRelative If Supported MC_PhasingRelative Sup. Y/ Comments Master Y Slave Y xecute Y PhaseShift Y Velocity Y Acceleration Y Deceleration Y Jerk Y uffermode Y Done Y usy Y Active Y CommandAborted Y rror Y rrorid Y CoveredPhaseShift Y Appendix 3.43 CombineAxes If Supported MC_CombineAxes Sup. Y/ Comments Master1 Master2 Slave xecute ContinuousUpdate CombineMode GearRationumeratorM1 GearRatioDenominatorM1 GearRatioumeratorM2 GearRatioDenominatorM2 MasterValueSourceM1 MasterValueSourceM2 uffermode InSync usy Active CommandAborted rror rrorid Function locks for Motion Control Version 2.0, Appendix page 24/ 25

25 Appendix 4. The PLCopen Motion Control Logo and Its Usage For quick identification of compliant products, PLCopen has developed a logo for the Motion Control Function locks: Figure 1: The PLCopen Motion Control Logo This motion control logo is owned and trademarked by PLCopen. In order to use this logo free-of-charge, the relevant company has to fulfill all the following requirements: 1. the company has to be a voting member of PLCopen; 2. the company has to comply with the existing specification, as specified by the PLCopen Task Force Motion Control, and as published by PLCopen, and of which this statement is a part; 3. this compliance application is provided in written form by the company to PLCopen, clearly stating the applicable software package and the supporting elements of all the specified tables, as specified in the document itself; 4. in case of non-fulfillment, which has to be decided by PLCopen, the company will receive a written statement concerning this from PLCopen. The company will have a one month period to either adopt their software package in such a way that it complies, represented by the issuing of a new compliance statement, or remove all reference to the specification, including the use of the logo, from all their specification, be it technical or promotional material; 5. the logo has to be used as is - meaning the full logo. It may be altered in size providing the original scale and color setting is kept. 6. the logo has to be used in the context of Motion Control. Function locks for Motion Control Version 2.0, Appendix page 25/ 25

PLCopen for efficiency in automation

PLCopen for efficiency in automation Subset of the Technical Specification PLCopen - Technical Committee 2 Task Force Function blocks for motion control (Formerly Part 1 and Part 2) Version 2.0 Appendix DISCLAIMR OF WARATIS THIS DOCUMT IS