PLCopen Function Blocks (Coordinated Motion Control)

• Standard Function Blocks
  • MC_GroupEnable
  • MC_GroupDisable
  • MC_GroupReadActualPosition
  • MC_GroupReadActualVelocity
  • MC_GroupStop
  • MC_GroupHalt
  • MC_GroupInterrupt
  • MC_GroupContinue
  • MC_GroupReadStatus
  • MC_MoveLinearAbsolute
  • MC_MoveLinearRelative
  • MC_MoveCircularAbsolute
  • MC_MoveCircularRelative
  • MC_MoveDirectAbsolute
  • MC_MoveDirectRelative
  • MC_PathSelect
  • MC_MovePath
  • MC_SyncGroupToAxis
  • MC_SyncAxisToGroup
  • COMC_GROUP_CARTESIAN
  • COMC_TeachCartesianTransformation
• Transformation Function Blocks
  • MC_SetCartesianTransform MCS to PCS
  • MC_SetCoordinateTransform MCS to PCS
  • MC_ReadCartesianTransform MCS to PCS
  • MC_ReadCoordinateTransform MCS to PCS
• ABB Specific Function Blocks
  • MCA_MoveHelixRelative
  • MCA_PathEvent
  • MCA_SetCoordinateTransformation
  • MCA_SetDynamicFollower
  • MCA_MovePathPos
  • MCA_SyncInfeedToPath
  • MCA_SyncCamToPath
  • MCA_CreateBuffer
  • MCA_MoveBuffered