The Function Blocks Used with FM562

The following Function Blocks are used for realizing positioning and speed control with PTO FM562.

Note

The Function Blocks mentioned below are part of PS552-MC-E Libraries. These libraries are not part of Automation Builder and must be ordered separately.

Classification	Name	Description
PTO Function Blocks	PTO_FM562_ACCESS	This Function Block is used to adapt specific PLCopen blocks to FM562 module and also adds other specialized function for FM562.
PLCopen Function Blocks	MC_Power	This Function Block controls the power stage (on or off).
	MC_Stop	This Function Block aborts any ongoing Function Block execution.
	MC_Reset	This Function Block resets the current axis position to 0.
	MC_MoveAbsolute	This Function Block commands a controlled motion to a specified absolute position
	MC_MoveRelative	This Function Block commands a controlled motion of a specified distance relative to the actual position at the time of the execution.
	MCA_MoveVelocityContinuous	This Function Block commands a never ending controlled motion at a specified velocity and changes velocity on fly.

Latency of Function Block PTO_FM562_ACCESS

When the command for a movement is given, the Function Block transmits the parameters in several I/O-bus cycles. Then the movement is started. The maximum reaction time can be calculated with the following formula:

Max reaction time = 3 x (T + 3.32 ms)

T = Application program cycle time in ms (set in the configuration)

Example:

• Application program cycle time = 1ms.

  Max. reaction time = 3 x (1 ms + 3.32 ms) = 13 ms

• Application program cycle time = 10 ms.

  Max. reaction time = 3 x (10 ms + 3.32 ms) = 40 ms