Overview of PLCopen Function Blocks

The following tables give an overview of the defined Function Blocks, divided into administrative (not driving motion) and motion related sets. They give as well an overview which Function Block could be used for the different possible configurations.

The Function Blocks are part of the library MC_Block_AC500_V11.

Note

Function blocks for PLCopen Coordinated Motion are compabible with PLC-based central Motion Control only. Central Motion Control (PLC-Based)

If there are restrictions concerning a certain drive (“XXX”) which lead to a different or limited behaviour compared to the standard the respective chapter is supplemented with an additional paragraph “Notes for XXX”.

Administrative Function Blocks

Function Block	Central Motion Control (PLC-based)		Decentralized Motion Control (drive-based)
	CMC_MOTION_KERNEL_REAL	CMC_MOTION_KERNEL_INT	ACS35x	ACS800	ACSM1	FM562
MC_Power MC_Power	X	X	X	X	X	X
MC_ReadStatus MC_ReadStatus	X	X	X	X	X	X
MC_ReadAxisError MC_ReadAxisError	-	-	X	X	X	-
MC_ReadParameter MC_ReadParameter	X	X	X	X	X	-
MC_ReadBoolParameter MC_ReadBoolParameter	X	X	X	X	X	-
MC_WriteParameter MC_WriteParameter	X	X	X	X	X	-
MC_WriteBoolParameter MC_WriteBoolParameter	X	X	X	X	X	-
MC_Reset MC_Reset	X	X	X	X	X	X
MC_ReadActualPosition MC_ReadActualPosition	X	X	X	X	X	X
MC_ReadActualVelocity MC_ReadActualVelocity	X	X	X	X	X	-
MC_SetOverride MC_SetOverride	X	X	X	X	X	-
MC_SetPosition MC_SetPosition	X	X	-	-	-	X
MC_CamTableSelect MC_CamTableSelect	X	-	-	-	-	-

Single-Axis Function Blocks

Function Block	Central Motion Control (PLC-based)		Decentralized Motion Control (drive-based)
	CMC_MOTION_KERNEL_REAL	CMC_MOTION_KERNEL_INT	ACS35x	ACS800	ACSM1	FM562
MC_MoveAbsolute MC_MoveAbsolute	X	X	-	X	X	X
MC_MoveRelative MC_MoveRelative	X	X	-	X	X	X
MC_MoveAdditive MC_MoveAdditive	-	-	-	X	X	-
MC_MoveSuperimposed MC_MoveSuperImposed	X	X	-	-	-	-
MC_HaltSuperimposed MC_HaltSuperimposed	X	X	-	-	-	-
MC_MoveVelocity MC_MoveVelocity	X	X	X	X	X	X
MC_MoveContinuousAbsolute MC_MoveContinuousAbsolute	X	-	-	-	-	-
MC_MoveContinuousRelative MC_MoveContinuousRelative	X	-	-	-	-	-
MC_Stop MC_Stop	X	X	X	X	X	X
MC_PositionProfile MC_PositionProfile	X	-	-	-	-	-
MC_VelocityProfile MC_VelocityProfile	X	-	-	-	-	-
MC_AccelerationProfile MC_AccelerationProfile	X	-	-	-	-	-
MC_Halt MC_Halt	X	X	X	X	X	-

Multi-Axis Function Blocks

Function Block	Central Motion Control (PLC-based)
	CMC_MOTION_KERNEL_REAL	CMC_MOTION_KERNEL_INT
MC_CamIn MC_CamIn	X	-
MC_CamOut MC_CamOut	X	-
MC_GearIn MC_GearIn	X	X
MC_GearInPos MC_GearInPos	X	X
MC_GearOut MC_GearOut	X	X
MC_PhasingAbsolute MC_PhasingAbsolute	X	-
MC_PhasingRelative MC_PhasingRelative	X	-
MC_CombineAxes MC_CombineAxes	X	X

Homing Function Blocks

Function Block	Central Motion Control (PLC-based)		Decentralized Motion Control (drive-based)
	CMC_MOTION_KERNEL_REAL	CMC_MOTION_KERNEL_INT	ACS35x	ACS800	ACSM1	FM562
MC_Home MC_Home	-	-	-	X	X	X
MC_StepAbsSwitch MC_StepAbsSwitch	X	X	-	-	-	-
MC_StepLimitSwitch MC_StepLimitSwitch	X	X	-	-	-	-
MC_StepRefPulse MC_StepRefPulse	X	X	-	-	-	-
MC_StepDirect MC_StepDirect	X	X	-	-	-	-

Note

Homing with FM562 can be realized by the application program. An example is provided in http://www.abb.com/plc

ABB specific Function Blocks

Function Block	Central Motion Control (PLC-based)		Decentralized Motion Control (drive-based)
	CMC_MOTION_KERNEL_REAL	CMC_MOTION_KERNEL_INT	ACS35x	ACS800	ACSM1	FM562
MCA_CAM_EXTRA MCA_CAM_EXTRA	X	-	-	-	-	-
MCA_Home MCA_Home	-	-	-	X	X	-
MCA_Indexing MCA_Indexing	X	X	-	X	X	-
MCA_JogAxis MCA_JogAxis	X	X	X	X	X	-
MCA_MoveByExternalReference MCA_MoveByExternalReference	X	X	-	-	-	-
MCA_MoveVelocityContinuous MCA_MoveVelocityContinuous	X	X	-	-	-	X
MCA_Parameter MCA_Parameter	X	X	X	X	X	-
MCA_Power MCA_Power	X	X	X	X	X	-
MCA_ReadParameterList MCA_ReadParameterList	X	X	X	X	X	-
MCA_WriteParameterList MCA_WriteParameterList	X	X	X	X	X	-
MCA_SetPositionContinuous MCA_SetPositionContinuous	X	-	-	-	-	-
MCA_GearInDirect MCA_GearInDirect	X	-	-	-	-	-
MCA_CamInDirect MCA_CamInDirect	X	-	-	-	-	-
MCA_SetOperatingMode MCA_SetOperatingMode	X	-	-	-	-	-