PLCopen function blocks
PLCopen specification Part1 subdivides the FBs defined there according to their usage into:
- administrative and
- motion-related FBs.
Within these two areas a further distinction is made depending on the application, i.e.:
- a single axis or
- multiple axes
The table below is organised accordingly and lists the function blocks according to the PLCopen specification Part1.
Notice
The FBs in italics and marked by an asterisk * are not implemented in the motion library Part1. However, the libraries may contain FBs which have a similar functionality but are specified by the controller manufacturer.
Subdivision of PLCopen FB Part1 into administrative and motion-related FBs
Administrative | Motion | ||
Single Axis | Multiple Axis | Single Axis | Multiple Axis |
MC_Power | MC_CamTableSelect | MC_MoveAbsolute | MC_CamIn |
MC_ReadStatus |
| MC_MoveRelative | MC_CamOut |
MC_ReadAxisError |
| MC_MoveAdditive | MC_GearIn |
MC_ReadParameter |
| MC_MoveSuperimposed | MC_GearOut |
MC_ReadBoolParameter* |
| MC_MoveVelocity | MC_Phasing |
MC_WriteParameter |
| MC_Home | MC_GearInPos* |
MC_WriteBoolParameter* |
| MC_Stop |
|
MC_ReadActualPosition |
| MC_PositionProfile* |
|
MC_Reset |
| MC_VelocityProfile* |
|
MC_TouchProbe |
| MC_AccelerationProfile* |
|
MC_AbortTrigger |
| MC_TorqueControl* |
|
MC_ReadDigitalInput* |
| MC_MoveContinuous* |
|
MC_ReadDigitalOutput* |
| MC_Halt |
|
MC_WriteDigitalOutput* |
|
|
|
MC_SetPosition |
|
|
|
MC_SetOverride |
|
|
|
MC_ReadActualVelocity* |
|
|
|
MC_ReadActualTorque* |
|
|
|
MC_DigitalCamSwitch* |
|
|
|