OverviewΒΆ
This chapter describes the usage of PLCopen Function Blocks for Motion-Control with ABB-PLC AC500. These Function Blocks are based on Part4_CoordinatenMotion_V10.pdf,\ V. 1.1.
The features could be used from the PLC program according to PLCopen standard. Different drives could be used and could be combined with each other as well as different fieldbusses. The following table gives an overview about the available features.
PLCopen Coordinated Motion and Principles of Coordinated Motion
Some information in this chapter require knowledge from the following chapters:
The library is not restricted to the use with a specific fieldbus, but it is recommended to use a synchronized bus.
| Library | Version | Drive | Fieldbus | Description |
|---|---|---|---|---|
| MC_Base_AC500 | 1.1 | Any | Any | Data types |
| MC_Blocks_AC500 | 1.1 | Any | Any | PLCopen Function Blocks for single and multi axis |
| MC_CoBlocks_AC500 | 2.1 | Any | Any | PLCopen Function Blocks for coordinated motion |
| CompactMotion_AC500 | 1.2 | Any | Any | Motion control for single and multi axis |
| CoordinatedMotion_AC500 | 2.1 | Any | Any | Motion control for coordinated motion |
| CMC_Ext_AC500 | 2.1 | Any | Any | External libray, just used by other libraries |
| CMC_Transformationen_AC500_APPL | 2.1 | Any | Any | Exemplary implementation for transformations |
| MathFunctions_AC500 | 2.1 | Any | Any | Vector and matrix mathematic used by other libraries |
The CMC_Transformation_AC500_APPL_V21.lib holds some kinematical transformations which are used to connect the MCS and ACS axes. This library is open, the integrated transformations might be copied and modified to match the specific requirements.