PLCopen for efficiency in automation

Size: px

Start display at page:

Download "PLCopen for efficiency in automation"

Norman Lucas
6 years ago
Views:

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 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 1.1. Appendix A Statement of Supplier Supplier name Eckelmann AG Supplier address Berliner Strasse 161 City Wiesbaden Country Germany Telephone +49 (0) Fax +49 (0) address info@eckelmann.de Product Name EMC55/EMC66 Product version V2.10 Release date March 2007 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): Roland Simon Date of signature (dd/mm/yyyy): September 2007 Signature: Part 2 Extensions V. 1.0 September 16, 2005 page3/10

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 MC_AbortTrigger TYPE TRIGGER_REF : STRUCT Input : INPUT_REF; InputNumber : BYTE; TriggerNumber : BYTE; TriggerPattern : BYTE; TriggerPlace END_STRUCT INPUT_REF MC_ReadDigitalInput TYPE INPUT_REF: WORD; OUTPUT_REF MC_DigitalCamSwitch MC_ReadDigitalOutput MC_WriteDigitalOutput TYPE OUTPUT_REF: WORD; CAMSWITCH_REF MC_DigitalCamSwitch TYPE CAMSWITCH_REF : STRUCT NoOfSwitches: CamSwitchPtr: END_STRUCT TYPE CAMSWITCH_TR : STRUCT TrackNumber: INT; FirstOnPosition: LREAL; LastOnPosition: LREAL; AxisDirection: INT; CamSwitchMode: INT; Duration: TIME; END_STRUCT : BYTE; BYTE; DWORD; TRACK_REF MC_DigitalCamSwitch TYPE TRACK_REF : ARRAY[0..31] OF TRACK_TR; TYPE TRACK_TR : OnCompensation: TIME; OnCompensationMode: OffCompensation: Hysteresis: INT; TIME; LREAL; Table 1: Supported derived datatypes Part 2 Extensions V. 1.0 September 16, 2005 page4/10

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 MC_ReadActualVelocity MC_ReadActualTorque MC_TorqueControl MC_DigitalCamSwitch MC_GearInPos MC_MoveContinuous No MC_Halt No Table 2: Short overview of the Function Blocks TouchProbe If Supported MC_TouchProbe Sup.Y/N Comments B Axis E TriggerInput B Execute E WindowOnly E FirstPosition E LastPosition B Done E Busy E CommandAborted B RecordedPosition AbortTrigger If Supported MC_AbortTrigger Sup.Y/N Comments B Axis E TriggerInput B Execute B Done E Busy Part 2 Extensions V. 1.0 September 16, 2005 page5/10

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

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

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

9 Basic elements within the structure of CAMSWITCH_REF B/E Parameter Sup.Y/N Comments B TrackNumber B FirstOnPosition [u] B LastOnPosition [u] E AxisDirection E CamSwitchMode E Duration PLCopen Basic elements within the array structure of TRACK_REF B/E Parameter Sup.Y/N Comments E OnCompensation E OffCompensation E Hysteresis [u] GearInPos 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 Part 2 Extensions V. 1.0 September 16, 2005 page9/10

10 MoveContinuous 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 B Axis B Execute E Deceleration E Jerk E BufferMode B Done E Busy E Active E CommandAborted B Error E ErrorID Part 2 Extensions V. 1.0 September 16, 2005 page10/10

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

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