PLCopen Motion

Use PLCopen Motion when:

• you want the standard motion-model terminology
• you want the truST-supported subset and examples

Do not start here if you are still deciding whether a reusable library belongs in a package or a project; use Libraries first.

Library Guide

PLCopen Motion 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

1. Keep one shared AXIS_REF per axis and one shared AXES_GROUP_REF per group.
2. Instantiate each PLCopen function block once and call it every scan.
3. Drive commands with Execute/Enable; do not expect one-shot FB calls to retain behavior if you stop calling them.
4. Call MC_Constants() once during initialization before you use PN_* or mcERR_* members.
5. 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

Related

• Libraries overview
• Vendor Profiles
• Libraries and Motion examples