PLCopen Motion¶

PLCopen Motion support covers standard motion terminology, the truST-supported function-block subset, and the proof path from example axis to project validation.

Use Libraries first for package/project ownership. Use Libraries And Motion examples for the smallest runnable motion-shaped project.

Use PLCopen Motion OOP when the project should expose axis objects, command objects, and PLCopen OOP properties instead of only the classic function-block call surface.

Library Guide¶

This guide is the user-facing reference manual for the PLCopen Motion packages shipped with truST. It follows the same documentation intent users expect from library manuals such as OSCAT: each public type and each public function block is documented as a named API surface, not just listed in a coverage table.

If you want a worked project first, start with the reference example in examples/plcopen_motion_single_axis_demo. That project explains how the single-axis demo is wired and why the scan loop is written the way it is.

Package Layout¶

libraries/plcopen_motion/single_axis_core: single-axis motion, readbacks, and parameter access
libraries/plcopen_motion/synchronization: cam and gear synchronization blocks
libraries/plcopen_motion/coordinated_motion: group handles, transforms, and coordinated-motion blocks
libraries/plcopen_motion/homing: advanced homing-step blocks

Dependency Setup¶

Add the package you need to your project trust-lsp.toml. A minimal single-axis project typically starts with:

[project]
vendor_profile = "codesys"
include_paths = ["src"]
stdlib = "iec"

[dependencies]
PLCopenMotionSingleAxis = { path = "../../libraries/plcopen_motion/single_axis_core", version = "0.1.0" }

Library Usage Rules¶

Keep one shared AXIS_REF per axis and one shared AXES_GROUP_REF per group.
Instantiate each PLCopen function block once and call it every scan.
Drive commands with Execute/Enable; do not expect one-shot FB calls to retain behavior if you stop calling them.
Call MC_Constants() once during initialization before you use PN_* or mcERR_* members.
Use the readback blocks continuously when your state machine depends on live status, position, or error state.

How To Read The Function Block Interfaces¶

VAR_IN_OUT: caller-owned handles or payloads passed by reference, such as Axis, Master, Slave, AxesGroup, or CamTable.
VAR_INPUT: ordinary input parameters copied into the function block each scan, such as Execute, Enable, Position, Velocity, or BufferMode.
VAR_OUTPUT: status and result values produced by the function block, such as Done, Busy, Active, Error, ErrorID, and readback values.

Single-axis core¶

Classic PLCopen Part 1 axis-control blocks. These are the normal starting point for one axis with power, homing, moves, stops, readbacks, and parameter access.

Public Data Types¶

`AXIS_REF`¶

Public handle for one motion axis. You keep one of these per axis and pass it by VAR_IN_OUT into the axis-related function blocks. Fields:

AxisId : UDINT: Stable public identifier for the axis in your application.
InternalIndex : UINT: Runtime registry slot used by the library implementation.

`MC_BUFFER_MODE`¶

Controls whether a command aborts the current motion, waits in a queue, or blends with adjacent motion commands. Values:

mcAborting: Abort the currently active command and start the new command immediately.
mcBuffered: Queue the new command behind the active command.
mcBlendingLow: Blend using the lower transition velocity policy.
mcBlendingPrevious: Blend using the previous command velocity.
mcBlendingNext: Blend using the next command velocity.
mcBlendingHigh: Blend using the higher transition velocity policy.

`MC_DIRECTION`¶

Selects how directional motion commands choose travel direction. Values:

mcPositiveDirection: Travel in the positive direction.
mcShortestWay: Choose the shortest path supported by the axis model.
mcNegativeDirection: Travel in the negative direction.
mcCurrentDirection: Continue using the current motion direction.

`MC_EXECUTION_MODE`¶

Controls how parameter, transform, and set-position style commands are applied. Values:

mcImmediately: Apply immediately when accepted.
mcDelayed: Delayed execution mode. The current shipped profile rejects unsupported delayed paths.
mcQueued: Queue behind already active/accepted work where supported.

`MC_SOURCE`¶

Chooses whether a readback or synchronization calculation uses commanded, set, or actual values. Values:

mcCommandedValue: Use the commanded/planned value.
mcSetValue: Use the setpoint value.
mcActualValue: Use the measured/actual value.

`MC_AXIS_STATUS`¶

Public axis-state enum used by the library state machine and exposed by status FBs. Values:

mcErrorStop: Axis is in error stop.
mcDisabled: Axis is disabled.
mcStandstill: Axis is powered and not moving.
mcHoming: Axis is performing a homing action.
mcStopping: Axis is stopping.
mcDiscreteMotion: Axis is in discrete point-to-point motion.
mcContinuousMotion: Axis is in continuous/velocity motion.
mcSynchronizedMotion: Axis is currently synchronized to another motion source.

Function Block Reference¶

`MC_Power`¶

Enable or remove power-stage permission for one axis. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Status : BOOL: Current achieved power/enabled state.
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Call every scan. Enable is level-sensitive; the block is not a one-shot command.

`MC_Home`¶

Run the basic PLCopen homing command and declare the homed position when the sequence completes. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Position : REAL: Target or reference position value.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Typical sequence is MC_Power -> MC_Home -> wait for Done -> move commands.

`MC_Stop`¶

Force an immediate stop sequence for one axis. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use for emergency or immediate stop handling. It does not rely on buffered blending behavior.

`MC_Halt`¶

Request a halt while preserving buffered-motion semantics. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use when you want a controlled halt that still participates in the PLCopen buffering model.

`MC_MoveAbsolute`¶

Move one axis to an absolute target position. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ContinuousUpdate : BOOL: Allows the command parameters to be refreshed while the command is active where the profile supports it.
Position : REAL: Target or reference position value.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
Direction : MC_DIRECTION: Requested travel direction policy.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Keep calling the block every scan after the rising edge; monitor Busy, Active, and Done.

`MC_MoveRelative`¶

Move one axis by a relative distance. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ContinuousUpdate : BOOL: Allows the command parameters to be refreshed while the command is active where the profile supports it.
Distance : REAL: Relative distance value.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use buffered mode when you want this command to queue behind another motion command.

`MC_MoveAdditive`¶

Add a relative distance onto the current commanded target. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ContinuousUpdate : BOOL: Allows the command parameters to be refreshed while the command is active where the profile supports it.
Distance : REAL: Relative distance value.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use when the next target should be relative to the current commanded path rather than the actual position.

`MC_MoveVelocity`¶

Run one axis in velocity mode. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ContinuousUpdate : BOOL: Allows the command parameters to be refreshed while the command is active where the profile supports it.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
Direction : MC_DIRECTION: Requested travel direction policy.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
InVelocity : BOOL: TRUE when the commanded velocity is reached.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use InVelocity plus readback FBs when your state machine needs confirmation that the commanded velocity has been reached.

`MC_MoveContinuousAbsolute`¶

Run an absolute move that aims to leave the segment with a requested end velocity. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ContinuousUpdate : BOOL: Allows the command parameters to be refreshed while the command is active where the profile supports it.
Position : REAL: Target or reference position value.
EndVelocity : REAL: Requested velocity at the end of the move segment.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
Direction : MC_DIRECTION: Requested travel direction policy.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
InEndVelocity : BOOL: TRUE when the commanded end-velocity condition is reached.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use when segment-to-segment transitions need a non-zero end velocity.

`MC_MoveContinuousRelative`¶

Run a relative move that aims to leave the segment with a requested end velocity. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ContinuousUpdate : BOOL: Allows the command parameters to be refreshed while the command is active where the profile supports it.
Distance : REAL: Relative distance value.
EndVelocity : REAL: Requested velocity at the end of the move segment.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
InEndVelocity : BOOL: TRUE when the commanded end-velocity condition is reached.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use for relative segments that should leave the segment with a specific end velocity.

`MC_SetPosition`¶

Overwrite the current position reference without commanding a move. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Position : REAL: Target or reference position value.
Relative : BOOL: If TRUE, interpret the position as a relative offset.
ExecutionMode : MC_EXECUTION_MODE: Execution policy for the write/set operation. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use carefully; this changes the reference position rather than commanding a travel path.

`MC_SetOverride`¶

Apply velocity, acceleration, and jerk scaling factors. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
VelFactor : REAL: Velocity override factor.
AccFactor : REAL: Acceleration override factor.
JerkFactor : REAL: Jerk override factor. VAR_OUTPUT:
Enabled : BOOL: TRUE while the override function is active.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Keep the block enabled while you want the override factors applied.

`MC_ReadActualPosition`¶

Read the actual position from the library axis state. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Position : REAL: Target or reference position value.

`MC_ReadActualVelocity`¶

Read the actual velocity from the library axis state. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Velocity : REAL: Requested velocity.

`MC_ReadActualTorque`¶

Read the actual torque from the library axis state. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Torque : REAL: Reported torque value.

`MC_ReadStatus`¶

Read the high-level PLCopen axis-state bits. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
ErrorStop : BOOL: TRUE when the axis is in error stop.
Disabled : BOOL: TRUE when the axis or group is disabled.
Stopping : BOOL: TRUE when the axis or group is stopping.
Homing : BOOL: TRUE when the axis or group is homing.
Standstill : BOOL: TRUE when the axis or group is standing still.
DiscreteMotion : BOOL: TRUE during discrete point-to-point motion.
ContinuousMotion : BOOL: TRUE during continuous/velocity motion.
SynchronizedMotion : BOOL: TRUE during synchronized motion.

`MC_ReadMotionState`¶

Read motion-phase flags such as accelerating or constant velocity. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
Source : MC_SOURCE: Requested value source. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
ConstantVelocity : BOOL: TRUE while velocity is constant.
Accelerating : BOOL: TRUE while the object is accelerating.
Decelerating : BOOL: TRUE while the object is decelerating.
DirectionPositive : BOOL: TRUE when motion is in the positive direction.
DirectionNegative : BOOL: TRUE when motion is in the negative direction.

`MC_ReadAxisInfo`¶

Read axis readiness, switch states, homed state, and warnings. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
HomeAbsSwitch : BOOL: Current absolute-home/reference switch state.
LimitSwitchPos : BOOL: Current positive limit switch state.
LimitSwitchNeg : BOOL: Current negative limit switch state.
Simulation : BOOL: TRUE when the axis is in simulated mode.
CommunicationReady : BOOL: TRUE when the backend communication path is ready.
ReadyForPowerOn : BOOL: TRUE when the axis is ready to be powered.
PowerOn : BOOL: TRUE when the axis power stage is on.
IsHomed : BOOL: TRUE when the axis is homed.
AxisWarning : BOOL: TRUE when the axis reports a warning state.

`MC_ReadAxisError`¶

Read the current axis error code. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
AxisErrorID : WORD: Current axis-level error code.

`MC_Reset`¶

Clear axis errors and leave error stop. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_ReadParameter`¶

Read one numeric parameter from the axis parameter surface. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
ParameterNumber : INT: Parameter identifier to read or write. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Value : REAL: Value being read or written.

`MC_ReadBoolParameter`¶

Read one boolean parameter from the axis parameter surface. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
ParameterNumber : INT: Parameter identifier to read or write. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Value : BOOL: Value being read or written.

`MC_WriteParameter`¶

Write one numeric axis parameter. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ParameterNumber : INT: Parameter identifier to read or write.
Value : REAL: Value being read or written.
ExecutionMode : MC_EXECUTION_MODE: Execution policy for the write/set operation. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_WriteBoolParameter`¶

Write one boolean axis parameter. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ParameterNumber : INT: Parameter identifier to read or write.
Value : BOOL: Value being read or written.
ExecutionMode : MC_EXECUTION_MODE: Execution policy for the write/set operation. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_Constants`¶

Publish standardized parameter numbers and shipped motion error constants. Type: FUNCTION_BLOCK VAR_IN_OUT:

none VAR_INPUT:
none VAR_OUTPUT:
PN_CommandedPosition : INT: PN_CommandedPosition value of type INT.
PN_SWLimitPos : INT: PN_SWLimitPos value of type INT.
PN_SWLimitNeg : INT: PN_SWLimitNeg value of type INT.
PN_EnableLimitPos : INT: PN_EnableLimitPos value of type INT.
PN_EnableLimitNeg : INT: PN_EnableLimitNeg value of type INT.
PN_EnablePosLagMonitoring : INT: PN_EnablePosLagMonitoring value of type INT.
PN_MaxPositionLag : INT: PN_MaxPositionLag value of type INT.
PN_MaxVelocitySystem : INT: PN_MaxVelocitySystem value of type INT.
PN_MaxVelocityAppl : INT: PN_MaxVelocityAppl value of type INT.
PN_ActualVelocity : INT: PN_ActualVelocity value of type INT.
PN_CommandedVelocity : INT: PN_CommandedVelocity value of type INT.
PN_MaxAccelerationSystem : INT: PN_MaxAccelerationSystem value of type INT.
PN_MaxAccelerationAppl : INT: PN_MaxAccelerationAppl value of type INT.
PN_MaxDecelerationSystem : INT: PN_MaxDecelerationSystem value of type INT.
PN_MaxDecelerationAppl : INT: PN_MaxDecelerationAppl value of type INT.
PN_MaxJerkSystem : INT: PN_MaxJerkSystem value of type INT.
PN_MaxJerkAppl : INT: PN_MaxJerkAppl value of type INT.
mcERR_None : WORD: mcERR_None value of type WORD.
mcERR_InvalidParameter : WORD: mcERR_InvalidParameter value of type WORD.
mcERR_InvalidState : WORD: mcERR_InvalidState value of type WORD.
mcERR_AxisGrouped : WORD: mcERR_AxisGrouped value of type WORD.
mcERR_GroupDisabled : WORD: mcERR_GroupDisabled value of type WORD.
mcERR_GroupNotReady : WORD: mcERR_GroupNotReady value of type WORD.
mcERR_NotHomed : WORD: mcERR_NotHomed value of type WORD.
mcERR_NotPowered : WORD: mcERR_NotPowered value of type WORD.
mcERR_BackendFault : WORD: mcERR_BackendFault value of type WORD.
mcERR_KinematicNoSolution : WORD: mcERR_KinematicNoSolution value of type WORD.
mcERR_KinematicSingularity : WORD: mcERR_KinematicSingularity value of type WORD.
mcERR_QueueFull : WORD: mcERR_QueueFull value of type WORD.
mcERR_NotSupported : WORD: mcERR_NotSupported value of type WORD. Usage notes: Call once during initialization and then reuse the published PN_* and mcERR_* members.

Synchronization¶

Master/slave cam and gear blocks built on top of the single-axis handle types.

Public Data Types¶

`MC_START_MODE`¶

Defines how a synchronization command starts relative to the master axis. Values:

mcAbsolute: Synchronize using absolute master positioning.
mcRelative: Synchronize using relative positioning.
mcRampIn: Ramp into synchronization.

`MC_SYNC_MODE`¶

Defines how MC_GearInPos reaches synchronization. Values:

mcShortest: Reach sync with the shortest path policy.
mcCatchUp: Catch up to the master.
mcSlowDown: Slow down to reach synchronization.

`MC_CAM_ID`¶

Identifier for a selected cam table. Underlying type: UINT

`MC_CAM_REF`¶

Inline cam-table payload containing master/slave point pairs and table metadata. Fields:

CamId : MC_CAM_ID: Identifier of the cam table.
NumberOfPairs : UINT: Number of valid master/slave point pairs in the table.
IsAbsolute : BOOL: Whether the cam positions are absolute values.
MasterPosition0 : REAL: Master-axis position for pair 0.
MasterPosition1 : REAL: Master-axis position for pair 1.
MasterPosition2 : REAL: Master-axis position for pair 2.
MasterPosition3 : REAL: Master-axis position for pair 3.
MasterPosition4 : REAL: Master-axis position for pair 4.
MasterPosition5 : REAL: Master-axis position for pair 5.
MasterPosition6 : REAL: Master-axis position for pair 6.
MasterPosition7 : REAL: Master-axis position for pair 7.
SlavePosition0 : REAL: Slave-axis position for pair 0.
SlavePosition1 : REAL: Slave-axis position for pair 1.
SlavePosition2 : REAL: Slave-axis position for pair 2.
SlavePosition3 : REAL: Slave-axis position for pair 3.
SlavePosition4 : REAL: Slave-axis position for pair 4.
SlavePosition5 : REAL: Slave-axis position for pair 5.
SlavePosition6 : REAL: Slave-axis position for pair 6.
SlavePosition7 : REAL: Slave-axis position for pair 7.

Function Block Reference¶

`MC_CamTableSelect`¶

Select the cam profile a slave axis will use. Type: FUNCTION_BLOCK VAR_IN_OUT:

Master : AXIS_REF: Master axis handle.
Slave : AXIS_REF: Slave axis handle.
CamTable : MC_CAM_REF: Cam table payload passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Periodic : BOOL: TRUE when the cam table should wrap periodically.
MasterAbsolute : BOOL: Treat master positions as absolute values.
SlaveAbsolute : BOOL: Treat slave positions as absolute values.
ExecutionMode : MC_EXECUTION_MODE: Execution policy for the write/set operation. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
CamTableID : MC_CAM_ID: Identifier of the selected cam table. Usage notes: Select the cam table before triggering MC_CamIn.

`MC_CamIn`¶

Enter cam synchronization between master and slave. Type: FUNCTION_BLOCK VAR_IN_OUT:

Master : AXIS_REF: Master axis handle.
Slave : AXIS_REF: Slave axis handle. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ContinuousUpdate : BOOL: Allows the command parameters to be refreshed while the command is active where the profile supports it.
MasterOffset : REAL: Offset applied to the master value.
SlaveOffset : REAL: Offset applied to the slave value.
MasterScaling : REAL: Scaling factor applied to the master value.
SlaveScaling : REAL: Scaling factor applied to the slave value.
MasterStartDistance : REAL: Distance before the sync point where synchronization begins.
MasterSyncPosition : REAL: Master position used as the sync reference.
StartMode : MC_START_MODE: Synchronization start mode.
MasterValueSource : MC_SOURCE: Source used for the master axis value.
CamTableID : MC_CAM_ID: Identifier of the selected cam table.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
InSync : BOOL: TRUE when synchronization is reached.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
EndOfProfile : BOOL: TRUE when the selected cam profile reached its end. Usage notes: A typical flow is MC_CamTableSelect -> MC_CamIn -> wait for InSync.

`MC_CamOut`¶

Leave cam synchronization. Type: FUNCTION_BLOCK VAR_IN_OUT:

Slave : AXIS_REF: Slave axis handle. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GearIn`¶

Start geared motion between master and slave. Type: FUNCTION_BLOCK VAR_IN_OUT:

Master : AXIS_REF: Master axis handle.
Slave : AXIS_REF: Slave axis handle. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ContinuousUpdate : BOOL: Allows the command parameters to be refreshed while the command is active where the profile supports it.
RatioNumerator : INT: Gear ratio numerator.
RatioDenominator : UINT: Gear ratio denominator.
MasterValueSource : MC_SOURCE: Source used for the master axis value.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
InGear : BOOL: TRUE when gearing is established.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use with one master and one slave that already share valid axis handles.

`MC_GearOut`¶

Leave geared motion. Type: FUNCTION_BLOCK VAR_IN_OUT:

Slave : AXIS_REF: Slave axis handle. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GearInPos`¶

Synchronize a slave to a master at specified sync positions. Type: FUNCTION_BLOCK VAR_IN_OUT:

Master : AXIS_REF: Master axis handle.
Slave : AXIS_REF: Slave axis handle. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
RatioNumerator : INT: Gear ratio numerator.
RatioDenominator : UINT: Gear ratio denominator.
MasterValueSource : MC_SOURCE: Source used for the master axis value.
MasterSyncPosition : REAL: Master position used as the sync reference.
SlaveSyncPosition : REAL: Slave position used as the sync reference.
SyncMode : MC_SYNC_MODE: Synchronization approach policy.
MasterStartDistance : REAL: Distance before the sync point where synchronization begins.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
StartSync : BOOL: TRUE when the sync approach has started.
InSync : BOOL: TRUE when synchronization is reached.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use when synchronization must happen at explicit master/slave positions rather than immediately.

Coordinated motion¶

Group-level handles, position payloads, transforms, and coordinated move blocks.

Public Data Types¶

`AXIS_REF`¶

Public handle for one motion axis. You keep one of these per axis and pass it by VAR_IN_OUT into the axis-related function blocks. Fields:

AxisId : UDINT: Stable public identifier for the axis in your application.
InternalIndex : UINT: Runtime registry slot used by the library implementation.

`MC_BUFFER_MODE`¶

Controls whether a command aborts the current motion, waits in a queue, or blends with adjacent motion commands. Values:

mcAborting: Abort the currently active command and start the new command immediately.
mcBuffered: Queue the new command behind the active command.
mcBlendingLow: Blend using the lower transition velocity policy.
mcBlendingPrevious: Blend using the previous command velocity.
mcBlendingNext: Blend using the next command velocity.
mcBlendingHigh: Blend using the higher transition velocity policy.

`MC_EXECUTION_MODE`¶

Controls how parameter, transform, and set-position style commands are applied. Values:

mcImmediately: Apply immediately when accepted.
mcDelayed: Delayed execution mode. The current shipped profile rejects unsupported delayed paths.
mcQueued: Queue behind already active/accepted work where supported.

`MC_SOURCE`¶

Chooses whether a readback or synchronization calculation uses commanded, set, or actual values. Values:

mcCommandedValue: Use the commanded/planned value.
mcSetValue: Use the setpoint value.
mcActualValue: Use the measured/actual value.

`AXES_GROUP_REF`¶

Public handle for one coordinated-motion group. Fields:

GroupId : UDINT: Stable public identifier for the group.
InternalIndex : UINT: Runtime registry slot used by the library implementation.

`AXIS_ID`¶

Public axis identifier used by group readback blocks. Underlying type: UDINT

`AXES_GROUP_ID`¶

Public group identifier used by group readback blocks. Underlying type: UDINT

`IDENT_IN_GROUP_REF`¶

Stable member name used when adding an axis to a group and reading group configuration. Underlying type: STRING[63]

`MC_COMMAND_ID`¶

Identifier for a queued or active coordinated-motion command. Underlying type: UINT

`MC_GROUP_PARAMETER`¶

Supported group parameter names for group parameter read/write blocks. Values:

mcDynamicsMode: Group dynamics mode parameter.
mcTransitionReferencePoint: Transition reference-point parameter.

`MC_TRANSITION_PARAMETER`¶

Additional numeric parameter used by transition/blending modes. Underlying type: REAL

`MC_KIN_REF`¶

Handle for a kinematic transform profile. Underlying type: UINT

`MC_COORD_SYSTEM`¶

Coordinate-space selector for group readback, transforms, and moves. Values:

mcACS: Axis coordinate system.
mcMCS: Machine coordinate system.
mcWCS: World coordinate system.
mcPCS: Product coordinate system.
mcFCS: Fixture coordinate system.
mcTCS: Tool coordinate system.

`MC_DYNAMICS_MODE`¶

Defines whether dynamics values are interpreted as absolute values or percentages. Values:

mcAbsolute: Interpret dynamics as absolute values.
mcPercentage: Interpret dynamics as percentages of reference/default dynamics.

`MC_TRANSITION_MODE`¶

Defines the transition/blending model between coordinated moves. Values:

mcTMNone: No transition blending.
mcTMStartVelocity: Blend using start velocity.
mcTMConstantVelocity: Blend using constant velocity.
mcTMCornerDistance: Blend using a corner-distance rule.
mcTMMaxCornerDeviation: Blend using a max-corner-deviation rule.

`MC_TRANSITION_VELOCITY`¶

Defines the velocity policy at a coordinated-motion transition. Values:

mcTVZero: Use zero transition velocity.
mcTVLow: Use the lower velocity.
mcTVPrevious: Use the previous segment velocity.
mcTVNext: Use the next segment velocity.
mcTVHigh: Use the higher velocity.

`MC_TRANSITION_REFERENCE`¶

Defines whether a transition references the start or end of a segment. Values:

mcStartPoint: Reference the segment start point.
mcEndPoint: Reference the segment end point.

`MC_ORIENTATION_MODE`¶

Defines how orientation is handled during coordinated motion. Values:

mcLinear: Linearly interpolate orientation.
mcJointInterpolated: Interpolate in joint space.
mcFixed: Hold orientation fixed.
mcPathBased: Derive orientation from the path.

`MC_COMMAND_STATE`¶

Readback state for one coordinated-motion command. Values:

mcAccepted: Command has been accepted but may not be active yet.
mcActive: Command is the active motion command.

`MC_GROUP_STATUS`¶

Public group-state enum used by coordinated-motion readback blocks. Values:

mcGroupErrorStop: Group is in error stop.
mcGroupDisabled: Group is disabled.
mcGroupStandby: Group is enabled and waiting.
mcGroupHoming: Group is homing.
mcGroupStopping: Group is stopping.
mcGroupMoving: Group is moving.

`MC_CART_REF`¶

Cartesian position/orientation payload. Fields:

X : REAL: Translational X component.
Y : REAL: Translational Y component.
Z : REAL: Translational Z component.
RX : REAL: Rotational component around X.
RY : REAL: Rotational component around Y.
RZ : REAL: Rotational component around Z.

`MC_COORD_REF`¶

Coordinate-transform payload with the same field shape as MC_CART_REF. Fields:

X : REAL: Translational X component.
Y : REAL: Translational Y component.
Z : REAL: Translational Z component.
RX : REAL: Rotational component around X.
RY : REAL: Rotational component around Y.
RZ : REAL: Rotational component around Z.

`MC_CONFIG_DATA`¶

Configuration flags that accompany Cartesian positions. Fields:

ConfigValid : BOOL: TRUE when the configuration flags are valid.
Shoulder : BOOL: Configuration flag for the shoulder branch.
Elbow : BOOL: Configuration flag for the elbow branch.
Wrist : BOOL: Configuration flag for the wrist branch.

`MC_TURN_INFO`¶

Auxiliary turn information for articulated systems. Fields:

ATurns : ARRAY[1..4] OF SINT: Auxiliary turn counters for additional axes.

`MC_CART_POS_REF`¶

Cartesian position payload including pose, configuration, turn info, and auxiliary axes. Fields:

Tcp : MC_CART_REF: Cartesian TCP pose.
Cfg : MC_CONFIG_DATA: Configuration flags.
TurnInfo : MC_TURN_INFO: Turn information for articulated systems.
AuxiliaryAxes : ARRAY[1..4] OF REAL: Auxiliary-axis positions.

`MC_AXES_POS_REF`¶

Axis-space position payload. Fields:

Axes : ARRAY[1..4] OF REAL: Axis-space position array.

`MC_POS_REF`¶

Combined Cartesian and axis-space position payload. Fields:

C : MC_CART_POS_REF: Cartesian representation.
A : MC_AXES_POS_REF: Axis-space representation.

`MC_DISTANCE_REF`¶

Relative-distance payload for group relative moves. Underlying type: MC_POS_REF

`MC_SWLIMIT`¶

Positive and negative software limits for one group member. Fields:

SWLimitPos : REAL: Positive software limit.
SWLimitNeg : REAL: Negative software limit.

`MC_GROUP_SWLIMITS`¶

Array of software-limit pairs for the group. Underlying type: ARRAY[1..4] OF MC_SWLIMIT

Function Block Reference¶

`MC_AddAxisToGroup`¶

Attach an axis to a coordinated-motion group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference.
Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
IdentInGroup : IDENT_IN_GROUP_REF: Stable group-member identifier. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Call once per member during group setup before enabling or moving the group.

`MC_RemoveAxisFromGroup`¶

Detach one named axis from a group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
IdentInGroup : IDENT_IN_GROUP_REF: Stable group-member identifier. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_UngroupAllAxes`¶

Remove every axis from a group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GroupReadConfiguration`¶

Read one configured member of a group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
IdentInGroup : IDENT_IN_GROUP_REF: Stable group-member identifier.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Axis : AXIS_REF: Shared axis handle passed by reference.
AxisID : AXIS_ID: Returned public axis identifier.

`MC_ReadAxisGroupInfo`¶

Read the group membership information for one axis. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference.
AxesGroupID : AXES_GROUP_ID: Returned public group identifier.
IdentInGroup : IDENT_IN_GROUP_REF: Stable group-member identifier.

`MC_GroupEnable`¶

Enable the coordinated-motion group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Enable the group after all required members and transforms are configured.

`MC_GroupDisable`¶

Disable the coordinated-motion group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GroupPower`¶

Apply power permission to the whole group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Status : BOOL: Current achieved power/enabled state.
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use this like MC_Power, but for the whole group handle.

`MC_GroupReadStatus`¶

Read the high-level coordinated-motion group state. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
GroupMoving : BOOL: TRUE while the group is moving.
GroupHoming : BOOL: TRUE while the group is homing.
GroupErrorStop : BOOL: TRUE while the group is in error stop.
GroupStandby : BOOL: TRUE while the group is ready and idle.
GroupStopping : BOOL: TRUE while the group is stopping.
GroupDisabled : BOOL: TRUE while the group is disabled.

`MC_GroupReadError`¶

Read the current group error code. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
GroupErrorID : WORD: Current group error code.

`MC_GroupReset`¶

Clear group errors. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GroupReadPosition`¶

Read current group position in the requested coordinate system. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
Source : MC_SOURCE: Requested value source. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Position : MC_POS_REF: Target or reference position value.

`MC_GroupReadVelocity`¶

Read current group velocity in the requested coordinate system. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
Source : MC_SOURCE: Requested value source. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Velocity : ARRAY[1..4] OF REAL: Requested velocity.
PathVelocity : REAL: Resulting path velocity.

`MC_GroupReadAcceleration`¶

Read current group acceleration in the requested coordinate system. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
Source : MC_SOURCE: Requested value source. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Acceleration : ARRAY[1..4] OF REAL: Requested acceleration.
PathAcceleration : REAL: Resulting path acceleration.

`MC_GroupReadMotionState`¶

Read detailed motion flags and the active command ID for the group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Tracking : BOOL: TRUE when the group is in a tracking state.
InSync : BOOL: TRUE when synchronization is reached.
InPosition : BOOL: TRUE when the group is in position.
Standstill : BOOL: TRUE when the axis or group is standing still.
ConstantVelocity : BOOL: TRUE while velocity is constant.
Accelerating : BOOL: TRUE while the object is accelerating.
Decelerating : BOOL: TRUE while the object is decelerating.
ActiveCommandID : MC_COMMAND_ID: Identifier of the current active command.

`MC_GroupReadParameter`¶

Read one group parameter. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
ParameterNumber : MC_GROUP_PARAMETER: Parameter identifier to read or write. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Value : REAL: Value being read or written.

`MC_GroupWriteParameter`¶

Write one group parameter. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
ParameterNumber : MC_GROUP_PARAMETER: Parameter identifier to read or write.
Value : REAL: Value being read or written.
ExecutionMode : MC_EXECUTION_MODE: Execution policy for the write/set operation. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GroupReadSWLimits`¶

Read the configured software limits for the group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
LimitValues : MC_GROUP_SWLIMITS: Software-limit payload.

`MC_GroupWriteSWLimits`¶

Write the configured software limits for the group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
LimitValues : MC_GROUP_SWLIMITS: Software-limit payload.
ExecutionMode : MC_EXECUTION_MODE: Execution policy for the write/set operation. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_SetKinTransform`¶

Select a kinematic transform profile for the group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
KinTransform : MC_KIN_REF: Kinematic transform handle.
ExecutionMode : MC_EXECUTION_MODE: Execution policy for the write/set operation. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_SetCartesianTransform`¶

Set a Cartesian transform by explicit translation and rotation fields. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
TransX : REAL: Translation in X.
TransY : REAL: Translation in Y.
TransZ : REAL: Translation in Z.
RotAngle1 : REAL: First rotation angle.
RotAngle2 : REAL: Second rotation angle.
RotAngle3 : REAL: Third rotation angle.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
ExecutionMode : MC_EXECUTION_MODE: Execution policy for the write/set operation. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_SetCoordinateTransform`¶

Set a Cartesian transform by a MC_COORD_REF payload. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
CoordTransform : MC_COORD_REF: Coordinate-transform payload.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
ExecutionMode : MC_EXECUTION_MODE: Execution policy for the write/set operation. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_ReadKinTransform`¶

Read the currently selected kinematic transform. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
KinTransform : MC_KIN_REF: Kinematic transform handle.

`MC_ReadCartesianTransform`¶

Read the current Cartesian transform fields. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
TransX : REAL: Translation in X.
TransY : REAL: Translation in Y.
TransZ : REAL: Translation in Z.
RotAngle1 : REAL: First rotation angle.
RotAngle2 : REAL: Second rotation angle.
RotAngle3 : REAL: Third rotation angle.

`MC_ReadCoordinateTransform`¶

Read the current coordinate transform payload. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
CoordTransform : MC_COORD_REF: Coordinate-transform payload.

`MC_GroupSetPosition`¶

Overwrite the group position reference. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Position : MC_POS_REF: Target or reference position value.
Relative : BOOL: If TRUE, interpret the position as a relative offset.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
ExecutionMode : MC_EXECUTION_MODE: Execution policy for the write/set operation. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_MoveLinearAbsolute`¶

Run a linear absolute coordinated move. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Position : MC_POS_REF: Target or reference position value.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command.
TransitionVelocity : MC_TRANSITION_VELOCITY: Transition velocity policy.
TransitionMode : MC_TRANSITION_MODE: Transition/blending mode.
TransitionParameter : MC_TRANSITION_PARAMETER: Additional transition parameter.
OrientationMode : MC_ORIENTATION_MODE: Orientation interpolation mode. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command. Usage notes: Use when path following matters and the move should be linear in the selected coordinate system.

`MC_MoveLinearRelative`¶

Run a linear relative coordinated move. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Distance : MC_DISTANCE_REF: Relative distance value.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command.
TransitionVelocity : MC_TRANSITION_VELOCITY: Transition velocity policy.
TransitionMode : MC_TRANSITION_MODE: Transition/blending mode.
TransitionParameter : MC_TRANSITION_PARAMETER: Additional transition parameter.
OrientationMode : MC_ORIENTATION_MODE: Orientation interpolation mode. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command. Usage notes: Use when the target is expressed as a relative delta rather than an absolute point.

`MC_MoveDirectAbsolute`¶

Run a direct absolute coordinated move. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Position : MC_POS_REF: Target or reference position value.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command.
TransitionVelocity : MC_TRANSITION_VELOCITY: Transition velocity policy.
TransitionMode : MC_TRANSITION_MODE: Transition/blending mode.
TransitionParameter : MC_TRANSITION_PARAMETER: Additional transition parameter.
OrientationMode : MC_ORIENTATION_MODE: Orientation interpolation mode. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command. Usage notes: Use when a direct move is acceptable and path linearity is not required.

`MC_MoveDirectRelative`¶

Run a direct relative coordinated move. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Distance : MC_DISTANCE_REF: Relative distance value.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command.
TransitionVelocity : MC_TRANSITION_VELOCITY: Transition velocity policy.
TransitionMode : MC_TRANSITION_MODE: Transition/blending mode.
TransitionParameter : MC_TRANSITION_PARAMETER: Additional transition parameter.
OrientationMode : MC_ORIENTATION_MODE: Orientation interpolation mode. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command. Usage notes: Relative version of the direct coordinated move.

`MC_GroupHome`¶

Home a coordinated-motion group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Position : MC_POS_REF: Target or reference position value.
CoordSystem : MC_COORD_SYSTEM: Coordinate system used by the command or readback.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GroupStop`¶

Stop the whole group immediately. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GroupHalt`¶

Halt the group while preserving buffered semantics. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAccepted : BOOL: TRUE when the command has been accepted.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GroupWaitTime`¶

Insert a timed wait command into the group command stream. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Duration : TIME: Requested dwell time.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command. Usage notes: Useful for inserting dwell periods into a buffered group-motion sequence.

`MC_GroupSetOverride`¶

Apply group-wide override scaling factors. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
VelFactor : REAL: Velocity override factor.
AccFactor : REAL: Acceleration override factor.
JerkFactor : REAL: Jerk override factor. VAR_OUTPUT:
Enabled : BOOL: TRUE while the override function is active.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_TransformPosition`¶

Transform one position payload between coordinate systems. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
InputPosition : MC_POS_REF: Position to transform.
InputCoordSystem : MC_COORD_SYSTEM: Coordinate system of the input position.
OutputCoordSystem : MC_COORD_SYSTEM: Coordinate system requested for the output position. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command.
OutputPosition : MC_POS_REF: Transformed position payload.
SingularPosition : BOOL: TRUE when the position is singular or near-singular. Usage notes: Use for coordinate conversion or preflight checks before issuing a group move.

`MC_GroupReadCommandInfo`¶

Read tracking/progress information for one coordinated-motion command. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid.
CommandID : MC_COMMAND_ID: Identifier assigned to the accepted command. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
CommandState : MC_COMMAND_STATE: Returned state of the tracked command.
ElapsedDuration : TIME: Elapsed command time.
RemainingDuration : TIME: Estimated remaining command time.
RemainingDistance : REAL: Estimated remaining path distance.
Progress : REAL: Normalized command progress value.
InfoID : WORD: Additional informational code.
WarningID : WORD: Additional warning code. Usage notes: Use when you need progress or timing feedback for long-running group commands.

`MC_GroupWriteReferenceDynamics`¶

Write the reference dynamics used by the group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GroupReadReferenceDynamics`¶

Read the reference dynamics used by the group. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.

`MC_GroupWriteDefaultDynamics`¶

Write the default group dynamics values. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_GroupReadDefaultDynamics`¶

Read the default group dynamics values. Type: FUNCTION_BLOCK VAR_IN_OUT:

AxesGroup : AXES_GROUP_REF: Shared group handle passed by reference. VAR_INPUT:
Enable : BOOL: Level-sensitive enable input. Keep it TRUE while you want the block active or the readback valid. VAR_OUTPUT:
Valid : BOOL: TRUE when the readback outputs are valid this scan.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.

Homing¶

Part 5 homing toolkit blocks for step-by-step homing procedures beyond the basic MC_Home block.

Public Data Types¶

`MC_HOME_DIRECTION`¶

Direction selector used by the advanced homing step blocks. Values:

mcPositiveDirection: Travel in the positive direction.
mcNegativeDirection: Travel in the negative direction.
mcSwitchPositive: Determine direction from a positive switch interpretation.
mcSwitchNegative: Determine direction from a negative switch interpretation.

`MC_SWITCH_MODE`¶

Defines how a switch or reference signal is interpreted during homing. Values:

mcOn: Trigger when the signal is ON.
mcOff: Trigger when the signal is OFF.
mcRisingEdge: Trigger on a rising edge.
mcFallingEdge: Trigger on a falling edge.
mcEdgeSwitchPositive: Trigger on the positive-direction edge rule.
mcEdgeSwitchNegative: Trigger on the negative-direction edge rule.

`MC_REF_SIGNAL_REF`¶

Reference-signal payload containing the signal state and optional metadata. Fields:

Signal : BOOL: Current signal state.
PositionStamp : REAL: Position sampled with the signal.
MarkerCode : UINT: Optional marker/reference code.

Function Block Reference¶

`MC_StepAbsoluteSwitch`¶

Run a homing step that finishes when an absolute reference signal matches the requested switch mode. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Direction : MC_HOME_DIRECTION: Requested travel direction policy.
SwitchMode : MC_SWITCH_MODE: Reference-switch evaluation mode.
ReferenceSignal : MC_REF_SIGNAL_REF: Reference signal payload.
Velocity : REAL: Requested velocity.
SetPosition : REAL: Position to stamp into the axis when the homing step finishes.
TorqueLimit : REAL: Torque limit used during the homing step.
TimeLimit : TIME: Maximum allowed homing-step time.
DistanceLimit : REAL: Maximum allowed homing-step travel distance.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Usually one part of a larger homing recipe.

`MC_StepLimitSwitch`¶

Run a homing step that finishes when the selected limit switch matches the requested mode. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Direction : MC_HOME_DIRECTION: Requested travel direction policy.
LimitSwitchMode : MC_SWITCH_MODE: Limit-switch evaluation mode.
Velocity : REAL: Requested velocity.
SetPosition : REAL: Position to stamp into the axis when the homing step finishes.
TorqueLimit : REAL: Torque limit used during the homing step.
TimeLimit : TIME: Maximum allowed homing-step time.
DistanceLimit : REAL: Maximum allowed homing-step travel distance.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Choose the direction and switch mode so the step matches your machine hardware.

`MC_StepBlock`¶

Run a homing step that detects a block/hard-stop condition. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Direction : MC_HOME_DIRECTION: Requested travel direction policy.
Velocity : REAL: Requested velocity.
SetPosition : REAL: Position to stamp into the axis when the homing step finishes.
DetectionVelocityLimit : REAL: Velocity threshold used to detect a block condition.
DetectionVelocityTime : TIME: Time window for the block-detection velocity threshold.
TorqueLimit : REAL: Torque limit used during the homing step.
TimeLimit : TIME: Maximum allowed homing-step time.
DistanceLimit : REAL: Maximum allowed homing-step travel distance.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use when a hard-stop or torque-detection style homing step is required.

`MC_StepReferencePulse`¶

Run a homing step that finishes on a reference pulse. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Direction : MC_HOME_DIRECTION: Requested travel direction policy.
ReferenceSignal : MC_REF_SIGNAL_REF: Reference signal payload.
Velocity : REAL: Requested velocity.
SetPosition : REAL: Position to stamp into the axis when the homing step finishes.
TorqueLimit : REAL: Torque limit used during the homing step.
TimeLimit : TIME: Maximum allowed homing-step time.
DistanceLimit : REAL: Maximum allowed homing-step travel distance.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use when your axis hardware provides a dedicated reference pulse.

`MC_StepDistanceCoded`¶

Run a homing step that relies on distance-coded movement. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Direction : MC_HOME_DIRECTION: Requested travel direction policy.
Velocity : REAL: Requested velocity.
TorqueLimit : REAL: Torque limit used during the homing step.
TimeLimit : TIME: Maximum allowed homing-step time.
DistanceLimit : REAL: Maximum allowed homing-step travel distance.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_HomeDirect`¶

Directly mark an axis as homed at a chosen position. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
SetPosition : REAL: Position to stamp into the axis when the homing step finishes.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use when an external mechanism has already established the absolute position.

`MC_HomeAbsolute`¶

Finish homing by using the current absolute reference. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code.

`MC_FinishHoming`¶

Complete the final move after the earlier homing steps have found the reference. Type: FUNCTION_BLOCK VAR_IN_OUT:

Axis : AXIS_REF: Shared axis handle passed by reference. VAR_INPUT:
Execute : BOOL: Command trigger input. Use a rising edge to request a new command, then keep calling the FB every scan.
Distance : REAL: Relative distance value.
Velocity : REAL: Requested velocity.
Acceleration : REAL: Requested acceleration.
Deceleration : REAL: Requested deceleration.
Jerk : REAL: Requested jerk.
BufferMode : MC_BUFFER_MODE: PLCopen buffering/blending mode for the command. VAR_OUTPUT:
Done : BOOL: TRUE when the requested command has completed successfully.
Busy : BOOL: TRUE while the command is accepted and still in progress.
Active : BOOL: TRUE while this FB owns the currently active motion command.
CommandAborted : BOOL: TRUE when the command was aborted by another accepted command or stop condition.
Error : BOOL: TRUE when the FB reports an error.
ErrorID : WORD: Current FB error code. Usage notes: Use as the closing step after earlier homing steps locate the reference.

Example And Further Reading¶

Example walkthrough: examples/plcopen_motion_single_axis_demo/README.md
Coverage matrix: docs/specs/coverage/plcopen-motion-coverage.md
Performance-only material: examples/plcopen_motion_single_axis_benchmarks/README.md

PLCopen Motion¶

Library Guide¶

Package Layout¶

Dependency Setup¶

Library Usage Rules¶

How To Read The Function Block Interfaces¶

Single-axis core¶

Public Data Types¶

AXIS_REF¶

MC_BUFFER_MODE¶

MC_DIRECTION¶

MC_EXECUTION_MODE¶

MC_SOURCE¶

MC_AXIS_STATUS¶

Function Block Reference¶

MC_Power¶

MC_Home¶

MC_Stop¶

MC_Halt¶

MC_MoveAbsolute¶

MC_MoveRelative¶

MC_MoveAdditive¶

MC_MoveVelocity¶

MC_MoveContinuousAbsolute¶

MC_MoveContinuousRelative¶

MC_SetPosition¶

MC_SetOverride¶

MC_ReadActualPosition¶

MC_ReadActualVelocity¶

MC_ReadActualTorque¶

MC_ReadStatus¶

MC_ReadMotionState¶

MC_ReadAxisInfo¶

MC_ReadAxisError¶

MC_Reset¶

MC_ReadParameter¶

MC_ReadBoolParameter¶

MC_WriteParameter¶

MC_WriteBoolParameter¶

MC_Constants¶

Synchronization¶

Public Data Types¶

MC_START_MODE¶

MC_SYNC_MODE¶

MC_CAM_ID¶

MC_CAM_REF¶

Function Block Reference¶

MC_CamTableSelect¶

MC_CamIn¶

MC_CamOut¶

MC_GearIn¶

MC_GearOut¶

MC_GearInPos¶

Coordinated motion¶

Public Data Types¶

AXIS_REF¶

MC_BUFFER_MODE¶

MC_EXECUTION_MODE¶

MC_SOURCE¶

AXES_GROUP_REF¶

AXIS_ID¶

AXES_GROUP_ID¶

IDENT_IN_GROUP_REF¶

MC_COMMAND_ID¶

MC_GROUP_PARAMETER¶

MC_TRANSITION_PARAMETER¶

MC_KIN_REF¶

MC_COORD_SYSTEM¶

MC_DYNAMICS_MODE¶

MC_TRANSITION_MODE¶

MC_TRANSITION_VELOCITY¶

MC_TRANSITION_REFERENCE¶

MC_ORIENTATION_MODE¶

MC_COMMAND_STATE¶

MC_GROUP_STATUS¶

MC_CART_REF¶

MC_COORD_REF¶

MC_CONFIG_DATA¶

MC_TURN_INFO¶

MC_CART_POS_REF¶

`AXIS_REF`¶

`MC_BUFFER_MODE`¶

`MC_DIRECTION`¶

`MC_EXECUTION_MODE`¶

`MC_SOURCE`¶

`MC_AXIS_STATUS`¶

`MC_Power`¶

`MC_Home`¶

`MC_Stop`¶

`MC_Halt`¶

`MC_MoveAbsolute`¶

`MC_MoveRelative`¶

`MC_MoveAdditive`¶

`MC_MoveVelocity`¶

`MC_MoveContinuousAbsolute`¶

`MC_MoveContinuousRelative`¶

`MC_SetPosition`¶

`MC_SetOverride`¶

`MC_ReadActualPosition`¶

`MC_ReadActualVelocity`¶

`MC_ReadActualTorque`¶

`MC_ReadStatus`¶

`MC_ReadMotionState`¶

`MC_ReadAxisInfo`¶

`MC_ReadAxisError`¶

`MC_Reset`¶

`MC_ReadParameter`¶

`MC_ReadBoolParameter`¶

`MC_WriteParameter`¶

`MC_WriteBoolParameter`¶

`MC_Constants`¶

`MC_START_MODE`¶

`MC_SYNC_MODE`¶

`MC_CAM_ID`¶

`MC_CAM_REF`¶

`MC_CamTableSelect`¶

`MC_CamIn`¶

`MC_CamOut`¶

`MC_GearIn`¶

`MC_GearOut`¶

`MC_GearInPos`¶

`AXIS_REF`¶

`MC_BUFFER_MODE`¶

`MC_EXECUTION_MODE`¶

`MC_SOURCE`¶

`AXES_GROUP_REF`¶

`AXIS_ID`¶

`AXES_GROUP_ID`¶

`IDENT_IN_GROUP_REF`¶

`MC_COMMAND_ID`¶

`MC_GROUP_PARAMETER`¶

`MC_TRANSITION_PARAMETER`¶

`MC_KIN_REF`¶

`MC_COORD_SYSTEM`¶

`MC_DYNAMICS_MODE`¶

`MC_TRANSITION_MODE`¶

`MC_TRANSITION_VELOCITY`¶

`MC_TRANSITION_REFERENCE`¶

`MC_ORIENTATION_MODE`¶

`MC_COMMAND_STATE`¶

`MC_GROUP_STATUS`¶

`MC_CART_REF`¶

`MC_COORD_REF`¶

`MC_CONFIG_DATA`¶

`MC_TURN_INFO`¶

`MC_CART_POS_REF`¶

`MC_AXES_POS_REF`¶

`MC_POS_REF`¶

`MC_DISTANCE_REF`¶

`MC_SWLIMIT`¶

`MC_GROUP_SWLIMITS`¶

`MC_AddAxisToGroup`¶

`MC_RemoveAxisFromGroup`¶

`MC_UngroupAllAxes`¶

`MC_GroupReadConfiguration`¶

`MC_ReadAxisGroupInfo`¶

`MC_GroupEnable`¶

`MC_GroupDisable`¶

`MC_GroupPower`¶

`MC_GroupReadStatus`¶