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 2009 2011 by PLCopen. All rights reserved. March 17, 2011. Function locks for Motion Control Version 2.0, Appendix page 1/ 26
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, www.plcopen.org 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/ 26
Appendix 1. Statement of Supplier Supplier name MITSUISHI LCTRIC CORPORATIO Supplier address 5-1-14 Yada-minami, Higashi-ku City agoya, Aichi 461-8670 Country Japan Telephone +81-52-712-2302 Fax +81-52-712-3960 mail address Kumekawa.Shizuo@ds.Mitsubishilectric.co.jp Product ame Product version 1.00A Release date 01.04.2016 CC-Link I Field etwork master module and the CC-Link I Field etwork servo amplifier MR-J4-GF. Representative MITSUISHI LCTRIC UROP.V. Address Mitsubishi-lectric-Platz 1, 40882 Ratingen City Ratingen Country Germany Telephone +49-2102-486-3040 Fax +49-2102-486-4050 mail address Andreas.Pfaff@meg.mee.com 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): Andreas Pfaff, Department Manager of FA-uropean Development Center Date of signature (dd/mm/yyyy): 28/06/2016 Signature: Function locks for Motion Control Version 2.0, Appendix page 3/ 26
Appendix 2. Supported Data types Defined datatypes with MC library: Supported If not supported, which datatype used OOL Y Also called it IT Y Also called Word[Signed] WORD Y Also called Word[Unsigned]/it String[16-bit] RAL Y Also called FLOAT UM UIT 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 Structured Data Types MC_DIRCTIO (extended) MC_MoveAbsolute MC_MoveVelocity MC_TorqueControl MC_MoveContinuousAbsolute MC_TP_RF MC_PositionProfile MC_TV_RF MC_VelocityProfile MC_TA_RF MC_AccelerationProfile MC_CAM_RF MC_CamTableSelect MC_CAM_ID (extended) MC_CamTableSelect MC_CamIn MC_START_MOD (extended) MC_CamIn MC_CamTableSelect MC_UFFR_MOD uffered Fs MC_XCUTIO_MOD MC_SetPosition MC_WriteParameter MC_WriteoolParameter 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 MC_IPUT_RF MC_ReadDigitalInput MC_OUTPUT_RF MC_DigitalCamSwitch MC_ReadDigitalOutput MC_WriteDigitalOutput MC_CAMSWITCH_RF MC_DigitalCamSwitch MC_TRACK_RF MC_DigitalCamSwitch Y Table 2: Supported derived datatypes Function locks for Motion Control Version 2.0, Appendix page 4/ 26
Appendix 3. Overview of the Function locks Single Function locks Supported as Comments (<= 48 char.) V1.0/ V1.1/ V2.0 or MC_Power V2.0 MC_Home Here we use the vendor specific MCv_Home because the mandatory Position" we set via our configurator or via PLC program before we activate the MC_Power F. MC_Stop V2.0 MC_Halt MC_MoveAbsolute V2.0 MC_MoveRelative V2.0 MC_MoveAdditive MC_MoveSuperimposed MC_HaltSuperimposed MC_MoveVelocity MC_MoveContinuousAbsolute MC_MoveContinuousRelative MC_TorqueControl MC_PositionProfile MC_VelocityProfile MC_AccelerationProfile MC_SetPosition MC_SetOverride MC_ReadParameter & MC_ReadoolParameter MC_WriteParameter & MC_WriteoolParameter MC_ReadDigitalInput MC_ReadDigitalOutput MC_WriteDigitalOutput MC_ReadActualPosition V2.0 MC_ReadActualVelocity MC_ReadActualTorque MC_ReadStatus V2.0 MC_ReadMotionState MC_ReadInfo V2.0 MC_Readrror V2.0 MC_Reset V2.0 MC_DigitalCamSwitch MC_TouchProbe MC_AbortTrigger Multi- Function locks MC_CamTableSelect MC_CamIn MC_CamOut MC_GearIn MC_GearOut MC_GearInPos MC_PhasingAbsolute MC_PhasingRelative MC_CombineAxes Supported as V1.0/ V1.1/ V2.0 or Comments (<= 48 char.) Function locks for Motion Control Version 2.0, Appendix page 5/ 26
Table 3: Short overview of the Function locks Function locks for Motion Control Version 2.0, Appendix page 6/ 26
Appendix 3.1 MC_Power If Supported MC_Power Sup. Y/ Comments Y Reference to the axis. nable Y nablepositive nableegative Status Y Valid rror Y rrorid Y Appendix 3.2 MCv_Home If Supported MCv_Home Sup. Y/ Comments Y Reference to the axis. xecute Y Position It will be interpreted in accordance with the unit setting of the servo amplifier. uffermode Y usy Y rror Y rrorid Y Appendix 3.3 MC_Stop If Supported MC_Stop Sup. Y/ Comments Y Reference to the axis. xecute Y Deceleration Set the time to stop from the rated speed of the servo motor. Jerk Y usy Y rror Y rrorid Y Function locks for Motion Control Version 2.0, Appendix page 7/ 26
Appendix 3.4 MC_Halt If Supported MC_Halt Sup. Y/ Reference to the axis. xecute Deceleration Jerk uffermode usy rror rrorid Appendix 3.5 MC_MoveAbsolute If Supported MC_MoveAbsolute Sup.Y/ Comments Y Reference to the axis. xecute Y ContinuousUpdate Position Y It will be interpreted in accordance with the unit setting of the servo amplifier. Velocity Y Set the command rotational speed of the servo motor. Acceleration Y Set the time to reach the rated speed of the servo motor. Deceleration Y Set the time to stop from the rated speed of the servo motor. Jerk Direction Y Ignored regardless of the setting. uffermode Y usy Y Y rror Y rrorid Y Function locks for Motion Control Version 2.0, Appendix page 8/ 26
Appendix 3.6 MC_MoveRelative If Supported MC_MoveRelative Sup. Y/ Comments Y Reference to the axis. xecute Y ContinuousUpdate Distance Y It will be interpreted in accordance with the unit setting of the servo amplifier. Velocity Y Set the command rotational speed of the servo motor. Acceleration Y Set the time to reach the rated speed of the servo motor. Deceleration Y Set the time to stop from the rated speed of the servo motor. Jerk uffermode Y usy Y Y rror Y rrorid Y Appendix 3.7 MC_MoveAdditive If Supported MC_MoveAdditive Sup. Y/ Comments Reference to the axis. xecute ContinuousUpdate Distance Velocity Acceleration Deceleration Jerk uffermode usy rror rrorid Function locks for Motion Control Version 2.0, Appendix page 9/ 26
Appendix 3.8 MC_MoveSuperimposed If Supported MC_MoveSuperimposed Sup. Y/ Comments xecute ContinuousUpdate Distance VelocityDiff Acceleration Deceleration Jerk usy rror rrorid CoveredDistance Appendix 3.9 MC_HaltSuperimposed If Supported MC_HaltSuperimposed Sup. Y/ Comments xecute Deceleration Jerk usy rror rrorid Appendix 3.10 MC_MoveVelocity If Supported MC_MoveVelocity Sup. Y/ Comments Reference to the axis. xecute ContinuousUpdate Velocity Acceleration Deceleration Jerk Direction uffermode InVelocity usy rror rrorid Function locks for Motion Control Version 2.0, Appendix page 10/ 26
Appendix 3.11 MC_MoveContinuousAbsolute If Supported MC_MoveContinuousAbsolute Sup. Y/ Comments xecute ContinuousUpdate Position ndvelocity Velocity Acceleration Deceleration Jerk Direction uffermode InndVelocity usy rror rrorid Appendix 3.12 MC_MoveContinuousRelative If Supported MC_MoveContinuousRelative Sup. Y/ Comments xecute ContinuousUpdate Distance ndvelocity Velocity Acceleration Deceleration Jerk uffermode InndVelocity usy rror rrorid Function locks for Motion Control Version 2.0, Appendix page 11/ 26
Appendix 3.13 MC_TorqueControl If Supported MC_TorqueControl Sup.Y/ Comments V V xecute ContinuousUpdate Torque TorqueRamp TorqueRampFwd TorqueRampRev Velocity Acceleration Deceleration Jerk Direction uffermode InTorque usy rror rrorid Appendix 3.14 MC_PositionProfile If Supported MC_PositionProfile Sup. Y/ Comments TimePosition xecute ContinuousUpdate TimeScale PositionScale Offset uffermode usy rror rrorid Function locks for Motion Control Version 2.0, Appendix page 12/ 26
Appendix 3.15 MC_VelocityProfile If Supported MC_VelocityProfile Sup. Y/ Comments TimeVelocity xecute ContinuousUpdate TimeScale VelocityScale Offset uffermode ProfileCompleted usy rror rrorid Appendix 3.16 MC_AccelerationProfile If Supported MC_AccelerationProfile Sup. Y/ Comments TimeAcceleration xecute ContinuousUpdate TimeScale AccelerationScale Offset uffermode ProfileCompleted usy rror rrorid Appendix 3.17 MC_SetPosition If Supported MC_SetPosition Sup.Y/ Comments xecute Position Relative xecutionmode usy rror rrorid Function locks for Motion Control Version 2.0, Appendix page 13/ 26
Appendix 3.18 MC_SetOverride If Supported MC_SetOverride Sup.Y/ Comments nable VelFactor AccFactor JerkFactor nabled usy rror rrorid Function locks for Motion Control Version 2.0, Appendix page 14/ 26
Appendix 3.19 MC_ReadParameter & MC_ReadoolParameter If Supported MC_ReadParameter Sup. Y/ Comments nable Parameterumber Valid usy rror rrorid Value If Supported MC_ReadoolParameter Sup. Y/ Comments nable Parameterumber Valid usy rror rrorid Value ame / R/W Supp. Y/ CommandedPosition R SWLimitPos R/W SWLimiteg R/W nablelimitpos R/W nablelimiteg R/W nableposlagmonitoring R/W MaxPositionLag R/W MaxVelocitySystem R MaxVelocityAppl R/W ActualVelocity R CommandedVelocity R MaxAccelerationSystem R MaxAccelerationAppl R/W MaxDecelerationSystem R MaxDecelerationAppl R/W MaxJerkSystem R MarkJerkAppl R/W SWLimitValid V R/W Comments Table 4: Parameters for MC_Read(ool)Parameter and MC_Write(ool)Parameter Function locks for Motion Control Version 2.0, Appendix page 15/ 26
Appendix 3.20 MC_WriteParameter & MC_WriteoolParameter If Supported MC_WriteParameter Sup. Y/ Comments Reference to the axis. xecute Parameterumber Value xecutionmode usy rror rrorid If Supported MC_WriteoolParameter Sup. Y/ Comments Reference to the axis. xecute Parameterumber Value xecutionmode usy rror rrorid 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 16/ 26
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 usy rror rrorid Appendix 3.24 MC_ReadActualPosition If Supported MC_ReadActualPosition Sup. Y/ Comments Y Reference to the axis. nable Y Valid Y usy rror Y rrorid Y Position Y Stores the command position of the axis. V RealPosition Y Stores the actual position of the axis. Appendix 3.25 MC_ReadActualVelocity If Supported MC_ReadActualVelocity Sup.Y/ Comments nable Valid usy rror rrorid Velocity Function locks for Motion Control Version 2.0, Appendix page 17/ 26
Appendix 3.26 MC_ReadActualTorque If Supported MC_ReadActualTorque Sup.Y/ Comments nable Valid usy rror rrorid Torque Appendix 3.27 MC_ReadStatus If Supported MC_ReadStatus Sup. Y/ Comments Y Reference to the axis. nable Y Valid Y usy 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 18/ 26
Appendix 3.28 MC_ReadMotionState If Supported MC_ReadMotionState Sup. Y/ Comments Reference to the axis. nable Source Valid usy rror rrorid ConstantVelocity Accelerating Decelerating DirectionPositive Directionegative Appendix 3.29 MC_ReadInfo If Supported MC_ReadInfo Sup. Y/ Comments Y Reference to the axis. nable Y Valid Y usy rror Y rrorid Y HomeAbsSwitch Y LimitSwitchPos Y LimitSwitcheg Y Simulation CommunicationReady Y ReadyForPowerOn Y PowerOn Y IsHomed Y V Warning Y Appendix 3.30 MC_Readrror If Supported MC_Readrror Sup. Y/ Comments Y Reference to the axis. nable Y Valid Y usy rror Y rrorid Y rrorid Y Code (rror o.) of the error on the axis. V WarningID Y Code (Warning o.) of the warning on the axis. Function locks for Motion Control Version 2.0, Appendix page 19/ 26
Appendix 3.31 MC_Reset If Supported MC_Reset Sup. Y/ Comments Y Reference to the axis. xecute Y Y usy Y rror Y rrorid Y Appendix 3.32 MC_DigitalCamSwitch If Supported MC_DigitalCamSwitch Sup.Y/ Comments Switches Outputs TrackOptions nable nablemask ValueSource InOperation usy rror rrorid asic elements within the array structure of MC_CAMSWITCH_RF / Parameter Sup.Y/ Comments Trackumber FirstOnPosition [u] LastOnPosition [u] Direction CamSwitchMode Duration asic elements within the array structure of MC_TRACK_RF / Parameter Sup.Y/ Comments OnCompensation OffCompensation Hysteresis [u] Function locks for Motion Control Version 2.0, Appendix page 20/ 26
Appendix 3.33 MC_TouchProbe If Supported MC_TouchProbe Sup.Y/ Comments Reference to the axis. TriggerInput Reference to the trigger. xecute WindowOnly FirstPosition LastPosition usy rror rrorid RecordedPosition Appendix 3.34 MC_AbortTrigger If Supported MC_AbortTrigger Sup.Y/ Comments Reference to the axis. TriggerInput Reference to the trigger. xecute usy rror rrorid Appendix 3.35 MC_CamTableSelect If Supported MC_CamTableSelect Sup. Y/ Comments Master Reference to the axis. Slave Reference to the axis. CamTable Reference to the CAM table. xecute Periodic MasterAbsolute SlaveAbsolute xecutionmode usy rror rrorid CamTableID CAM Table ID is stored as a simple base type IT - Word[Signed]. Function locks for Motion Control Version 2.0, Appendix page 21/ 26
Appendix 3.36 MC_CamIn If Supported MC_CamIn Sup. Y/ Comments Master Reference to the axis. Slave Reference to the axis. xecute ContinuousUpdate MasterOffset SlaveOffset MasterScaling SlaveScaling MasterStartDistance MasterSyncPosition StartMode V GearRatioumerator Set the numerator for the main shaft gear to convert the input value (travel). V GearRatioDenominator Set the denominator for the main shaft gear to convert the input value (travel). MasterValueSource (Values: 1 to 2): mcsetvalue, mcactualvalue) CamTableID uffermode InSync usy rror rrorid ndofprofile VAR_GLOAL_COSTAT MC_SOURC data Appendix 3.37 MC_CamOut If Supported MC_CamOut Sup. Y/ Comments Slave Reference to the axis. xecute usy rror rrorid Function locks for Motion Control Version 2.0, Appendix page 22/ 26
Appendix 3.38 MC_GearIn If Supported MC_GearIn Sup. Y/ Comments Master Reference to the axis. Slave Reference to the axis. xecute ContinuousUpdate Ratioumerator RatioDenominator MasterValueSource (Values: 1 to 2): mcsetvalue, mcactualvalue) VAR_GLOAL_COSTAT data MC_SOURC Acceleration Deceleration Jerk uffermode InGear usy rror rrorid Appendix 3.39 MC_GearOut If Supported MC_GearOut Sup. Y/ Comments Slave Reference to the axis. xecute usy rror rrorid Function locks for Motion Control Version 2.0, Appendix page 23/ 26
Appendix 3.40 MC_GearInPos If Supported MC_GearInPos Sup.Y/ Comments Master Slave xecute Ratioumerator RatioDenominator MasterValueSource MasterSyncPosition SlaveSyncPosition SyncMode MasterStartDistance Velocity Acceleration Deceleration Jerk uffermode StartSync InSync usy rror rrorid Appendix 3.41 MC_PhasingAbsolute If Supported MC_PhasingAbsolute Sup. Y/ Comments Master Slave xecute PhaseShift Velocity Acceleration Deceleration Jerk uffermode usy rror rrorid AbsolutePhaseShift Function locks for Motion Control Version 2.0, Appendix page 24/ 26
Appendix 3.42 MC_PhasingRelative If Supported MC_PhasingRelative Sup. Y/ Comments Master Slave xecute PhaseShift Velocity Acceleration Deceleration Jerk uffermode usy rror rrorid CoveredPhaseShift Appendix 3.43 CombineAxes If Supported MC_CombineAxes Sup. Y/ Comments Master1 Reference to the axis. Master2 Reference to the axis. Slave Reference to the axis. xecute ContinuousUpdate CombineMode GearRationumeratorM1 GearRatioDenominatorM1 GearRatioumeratorM2 GearRatioDenominatorM2 MasterValueSourceM1 (Values: 1 to 2): mcsetvalue, mcactualvalue) VAR_GLOAL_COSTAT data MC_SOURC MasterValueSourceM2 uffermode InSync usy rror rrorid Function locks for Motion Control Version 2.0, Appendix page 25/ 26
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 26/ 26