PLCopen
for efficienc
y in automation
TC2 Task Force Motion Control
March 1
7
, 2011
© 1999
-
2011 copyright by PLCopen
Function Blocks for Motion Control
Version 2.0, Published
page
1
/
141
Technical Specification
PLCopen
-
Technical Committee 2
–
Task Force
Function blocks for motion control
(Formerly Part 1 and Part 2)
Version
2.0
, Published
DISCLAIMER OF WARANTIES
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ECT TO FUTURE ADDITIONS,
MODIFICATIONS, OR CORRECTIONS. PLCOPEN HEREBY DISCLAIMS ALL WARRANTIES
OR
CONDITIONS
OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
, WITHOUT LIMITATION,
ANY
WARRANT
IES,
OR CONDITIONS OF TITLE, NON
-
INFRINGEMENT,
MERCHANTABILITY OR FITNE
SS FOR
A PARTICULAR PURPOSE, FOR THIS DOCUMENT. IN NO EVENT WILL PLCOPEN BE RESPONSIBLE FOR
ANY LOSS OR DAMAGE ARISING OUT OR RESULTING FROM ANY DEFECT, ERROR OR OMISSION IN
THIS DOCUMENT OR FROM ANYONE’S USE OF OR RELIANCE ON THIS DOCUMENT.
Copyright
© 2009
–
20
11
by PLCopen. All rights reserved.
March 1
7
, 201
1
.
PLCopen
for efficienc
y in automation
TC2 Task Force Motion Control
March 1
7
, 2011
© 1999
-
2011 copyright by PLCopen
Function Blocks for Motion Control
Version 2.0, Published
page
2
/
141
Function blocks for motion control
The following specification has been developed within the PLCopen Motion Control Task Force.
This specification was written by the following members of
the Motion Control Task Force:
Nils Gotha
Baumüller
Klaus Be
r
nzen
Beckhoff
Wilfried Pla
ß
Beckhoff
Joachim Unfried
B&R
Martin Sch
r
ott
B&R
Roland Schaumburg
Danfoss
Jan Braun
Eckelmann
Alfred Möltner
Elau/Schneider Electric
Ryszard Bochniak
2MC
-
Sof
tware (Eckelmann)
Djafar Hadiouche
GE
Juergen Hipp
ISG
Hara
l
d Buchgeher
Keba
Candido Ferrio
Omron
Josep
Lario
Omron
Yoshikazu Tachibana
Omron
Klas Hellmann
Phoenix Contact
Jan Kosa
Phoenix Contact
Burkhard Werner
Phoenix Contact
Wolfgang Fien
Sc
hneider Motion (former Berger Lahr)
Willi Gagsteiger
Siemens
AG
Hilmar Panzer
3S
-
Smart Software Solutions
Edwin Schwellinger
3S
-
Smart Software Solutions
Lutz Augenstein
Stöber Antriebstechnik
Heiko Berner
Stöber Antriebstechnik
Eelco van der Wal
PLCo
pen
Change Status List:
Version
number
Date
Change comment
V 0.1
September
2
6
,
2008
First working draft. Merging of part 1 and 2, and the corrigendum.
V 0.2
January
6
, 2010
As result of the meeting in Frankfurt
on November 9 & 10, 2009
V 0.3
February
4, 2010
As result of the meeting in Bad Pyrmont, Feb. 3&4, 2010
. Open issues
discussed
V 0.4
April 1
, 2010
As result of the meeting in Frankfurt, March 17 & 18, 2010. Feedback for
Version 1.99 included.
Basis for editorial corrections before release as V
.
1.99
. Doc
u
ment file errors cleaned via docx conversion.
V 1.99
May 21, 2010
Published as Release for Comments
V 1.99A
Dec
. 1
4
, 2010
As results of the feedback of several meetings
V 1.99B
Jan. 31
, 2011
As a result of the feedback and the Jan. webmeetin
g
V 1.99C
Feb. 27
, 2011
As a result of the Feb. webmeeting
V 1.99D
March 16, 2011
As result of the March webmeeting. Last version before release
V 2.0
March 1
7
, 2011
Official release
PLCopen
for efficienc
y in automation
TC2 Task Force Motion Control
March 1
7
, 2011
© 1999
-
2011 copyright by PLCopen
Function Blocks for Motion Control
Version 2.0, Published
page
3
/
141
Table of Contents
1.
GENERAL
................................
................................
................................
................................
................................
.
8
1.1.
O
BJECTIVES
................................
................................
................................
................................
.............................
9
1.1.1.
Language context goals
................................
................................
................................
................................
..
9
1.1.2.
Definition of a set of Function Blocks
................................
................................
................................
.............
9
1.1.3.
Overview of the defined Function Blocks
................................
................................
................................
.....
10
1.1.4.
Compliance and Portability
................................
................................
................................
..........................
10
1.1.5.
Length of names and ways to shorten them
................................
................................
................................
..
11
1.1.6.
History
................................
................................
................................
................................
..........................
11
2.
MODEL
................................
................................
................................
................................
................................
...
13
2.1.
T
HE
S
TATE
D
IAGRAM
................................
................................
................................
................................
............
13
2.2.
E
RROR HANDLING
................................
................................
................................
................................
..................
16
2.2.1.
Centralized versus Decentralized
................................
................................
................................
.................
16
2.2.2.
Buffered Commands
................................
................................
................................
................................
......
17
2.2.
3.
Timing example for the ‘Enable’ input
................................
................................
................................
.........
17
2.3.
D
EFINITIONS
................................
................................
................................
................................
..........................
19
2.4.
FB
INTERFACE
................................
................................
................................
................................
.......................
19
2.4.1.
General rules
................................
................................
................................
................................
................
19
2.4.2.
Aborting versus Buff
ered modes
................................
................................
................................
...................
22
2.4.3.
AXIS_REF Data type
................................
................................
................................
................................
....
24
2.4.4.
Technical Units
................................
................................
................................
................................
.............
24
2.4.5.
Why the command input is edge sensitive
................................
................................
................................
.....
25
2.4.6.
The input
‘ContinuousUpdate’
................................
................................
................................
.....................
25
2.5.
E
XAMPLE
1:
THE SAME
F
UNCTION
B
LOCK INSTANCE CONTRO
LS DIFFERENT MOTIONS
OF AN AXIS
........................
26
2.6.
E
XAMPLE
2:
DIFFERENT
F
UNCTION
B
LOCK INSTANCES CONTR
OL THE MOTIONS OF AN
AXIS
................................
..
27
3.
SINGLE
-
AXIS FUNCTION BLOCKS
................................
................................
................................
.................
29
3.1.
MC_P
OWER
................................
................................
................................
................................
.....................
29
3.2.
MC_H
OME
................................
................................
................................
................................
.......................
30
3.3.
MC_S
TOP
................................
................................
................................
................................
.........................
31
3.4.
MC_H
ALT
................................
................................
................................
................................
........................
33
3.5.
MC_M
OVE
A
BSOLUTE
................................
................................
................................
................................
......
35
3.6.
MC_M
OVE
R
ELATIVE
................................
................................
................................
................................
.......
37
3.7.
MC_M
OVE
A
DDITIVE
................................
................................
................................
................................
.......
39
3.8.
MC_M
OVE
S
UPERIMPOSED
................................
................................
................................
...............................
41
3.9.
MC_H
ALT
S
UPERIMPOSED
................................
................................
................................
................................
44
3.10.
MC_M
OVE
V
ELOCITY
................................
................................
................................
................................
.......
45
3.11.
MC_M
OVE
C
ONTINUOUS
A
BSOLUTE
................................
................................
................................
.................
47
3.12.
MC_M
OVE
C
ONTINUOUS
R
ELATIVE
................................
................................
................................
..................
50
3.13.
MC_T
ORQUE
C
ONTROL
................................
................................
................................
................................
....
53
3.14.
MC_P
OSITION
P
ROFILE
................................
................................
................................
................................
.....
56
3.15.
MC_V
ELOCITY
P
ROFILE
................................
................................
................................
................................
....
58
3.16.
MC_A
CCELERATION
P
ROFILE
................................
................................
................................
...........................
60
3.17.
MC_S
ET
P
OSITION
................................
................................
................................
................................
............
63
3.18.
MC_S
ET
O
VERRIDE
................................
................................
................................
................................
..........
64
3.19.
MC_R
EAD
P
ARAMETER
&
MC_R
EAD
B
OOL
P
ARAMETER
................................
................................
..................
66
3.20.
MC_W
RITE
P
ARAMETER
&
MC_W
RITE
B
OOL
P
ARAMETER
................................
................................
..............
68
3.21.
MC_R
EAD
D
IGITAL
I
NPUT
................................
................................
................................
................................
.
7
0
3.22.
MC_R
EAD
D
IGITAL
O
UTPUT
................................
................................
................................
..............................
71
3.23.
MC_W
RITE
D
IGITAL
O
UTPUT
................................
................................
................................
............................
72
3.24.
MC_R
EAD
A
CTUAL
P
OSITION
................................
................................
................................
............................
73
3.25.
MC_R
EAD
A
CTUAL
V
ELOCITY
................................
................................
................................
..........................
74
3.26.
MC_R
EAD
A
CTUAL
T
ORQUE
................................
................................
................................
.............................
75
3.27.
MC_R
EAD
S
TATUS
................................
................................
................................
................................
............
76
3.28.
MC_R
EAD
M
OTION
S
TATE
................................
................................
................................
................................
77
PLCopen
for efficienc
y in automation
TC2 Task Force Motion Control
March 1
7
, 2011
© 1999
-
2011 copyright by PLCopen
Function Blocks for Motion Control
Version 2.0, Published
page
4
/
141
3.29.
MC_R
EAD
A
XIS
I
NFO
................................
................................
................................
................................
........
78
3.30.
MC_R
EAD
A
XIS
E
RR
OR
................................
................................
................................
................................
.....
79
3.31.
MC_R
ESET
................................
................................
................................
................................
.......................
80
3.32.
MC_D
IGITAL
C
AM
S
WITCH
................................
................................
................................
................................
81
3.33.
MC_T
OUCH
P
ROBE
................................
................................
................................
................................
...........
85
3.34.
MC_A
BORT
T
RIGGER
................................
................................
................................
................................
........
87
4.
MU
LTI
-
AXIS FUNCTION BLOCKS
................................
................................
................................
..................
88
4.1.
R
EMARKS TO
C
AMMING
................................
................................
................................
................................
...
88
4.2.
MC_C
AM
T
ABLE
S
ELECT
................................
................................
................................
................................
...
90
4.3.
MC_C
AM
I
N
................................
................................
................................
................................
......................
91
4.4.
MC_C
AM
O
UT
................................
................................
................................
................................
..................
93
4.5.
MC_G
EAR
I
N
................................
................................
................................
................................
....................
94
4.6.
MC_G
EAR
O
UT
................................
................................
................................
................................
.................
96
4.7.
MC_G
EAR
I
N
P
OS
................................
................................
................................
................................
..............
97
4.8.
MC_P
HASING
A
BSOLUTE
................................
................................
................................
................................
101
4.9.
MC_P
HASING
R
ELATIVE
................................
................................
................................
................................
.
104
4.10.
MC_C
OMBINE
A
XES
................................
................................
................................
................................
.......
105
5.
APPLICATION OF MC FB
–
A DRILLING EXAMPLE
WITH ‘ABORTING’ VERS
US ‘BLENDING’
.
109
5.1.
S
OLUTION WITH
F
UNCTION
B
LOCK DIAGRAM
................................
................................
................................
.
110
5.2.
S
OLUTION WITH
S
EQUENTIAL
F
UNCTION
C
HART
................................
................................
............................
110
APPENDIX A.
EXAMPLES OF THE DIFF
ERENT BUFFER MODES
................................
............................
111
APPENDIX B.
COMPLIANCE PROCEDURE
AND COMPLIANCE LIST
................................
.....................
118
A
PPENDIX
B
1.
S
TATEMENT OF
S
UPPLIER
................................
................................
................................
....................
119
A
PPENDIX
B
2.
S
UPPORTED
D
ATA TYPES
................................
................................
................................
.....................
120
A
PPENDIX
B
3.
O
VERVIEW OF THE
F
UNCTION
B
LOCKS
................................
................................
................................
121
A
PPENDIX
B
4.
T
HE
PLC
OPEN
M
OTION
C
ON
TROL
L
OGO AND
I
TS
U
SAGE
................................
................................
...
141
PLCopen
for efficienc
y in automation
TC2 Task Force Motion Control
March 1
7
, 2011
© 1999
-
2011 copyright by PLCopen
Function Blocks for Motion Control
Version 2.0, Published
page
5
/
141
Table of Figures
FIGURE 1: THE TRIANG
LE WITH USER OPTIONS
................................
................................
..............................
8
FIGURE 2: FB STATE D
IAGRAM
................................
................................
................................
..............................
15
FIGURE 3: FUNCTION B
LOCK
S WITH CENTRALIZED E
RROR HANDLING
................................
...............
16
FIGURE 4: FUNCTION B
LOCKS WITH DECENTRAL
IZED ERROR HANDLING
................................
.........
16
FIGURE 5: EXAMPLE OF
ERROR HANDLING WITH
‘ENABLE’ INPUT
................................
........................
17
FIGURE
6: SECOND EXAMPLE OF
AN ERROR BEHAVIOR W
ITH AN ‘ENABLE’ INPU
T
.........................
18
FIGURE 7: THE BEHAVI
OR OF THE ‘EXECUTE’
/ ‘DONE’ IN RELEVANT
FBS
................................
..........
21
FIGURE 8: THE BEHAVI
OR OF THE ‘EXECUTE’
/ ‘INXXX’ IN RELEVAN
T F
BS
................................
.........
22
FIGURE 9: FUNCTION B
LOCKS TO PERFORM A C
OMPLEX MOVEMENT
................................
................
25
FIGURE 10: SINGLE FB
USAGE WITH A SFC
................................
................................
................................
.......
26
FIGURE 11: TIMING DI
AGRAM FOR A USAGE OF
A SINGLE FB
................................
................................
...
27
FIGURE 12: EXAMPLE O
F CASCADED FUNCTION
BLOCKS
................................
................................
..........
27
FIGURE 13: TIMING DI
AGRAM OF EXAMPLE CAS
CADED FUNCTION BLOCK
S
................................
.....
28
FIGURE 14: EXAMPLE O
F CASCADED FUNCTION
BLOCKS WITH LD
................................
........................
28
FIGURE 15: MC_STOP T
IMING DIAGRAM
................................
................................
................................
...........
31
FIGURE 16: BEHAVIOR
OF MC_STOP IN COMBIN
ATION WITH MC_MOVEVE
LOCITY
........................
32
FIGURE 17: EXAMPLE O
F MC_HALT
................................
................................
................................
....................
34
FIGURE 18: TIMING DI
AGRAM FOR MC_MOVEABS
OLUTE
................................
................................
..........
36
FIGURE 19: TIMING DI
AGRAM FOR MC_MOVEREL
ATIVE
................................
................................
...........
38
FIGURE 20: TIMING DI
AGRAM FOR MC_MOVEADD
ITIVE
................................
................................
............
40
FIGURE 21: T
IMING DIAGRAM FOR MC
_MOVESUPERIMPOSED
................................
................................
42
FIGURE 22: EXAMPLE O
F THE EFFECT OF MC_M
OVESUPERIMPOSED ON A
SLAVE AXIS
................
43
FIGURE 23: EXAMPLE O
F THE EFFECT OF MC_M
OVESUPERIMPOSED ON M
C_MOVEABSOLUTE
.
43
FIGURE 24: MC_MOVEVE
LOCITY TIMING DIAGRA
M
................................
................................
....................
46
FIGURE 25: EXAMPLE M
C_MOVECONTINUOUSABSO
LUTE
................................
................................
.........
49
FIGURE 26: MC_MOVECO
NTINUOUSABSOLUTE TIM
ING DIAGRAM FOR EXAM
PLE ABOVE
...........
49
FIGURE 27: MC_MOVECO
NTINUOUSRELATIVE TIM
ING DIAGRAM WITH POS
ITIVE DIRECTION
..
51
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