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Unity Pro

Motion Function Blocks

Block Library
07/2008 eng
35010605.04

www.schneider-electric.com
2
Document Set

Document Set

Chapter 1 Block types and their applications . . . . . . . . . . . . . . . . . . . . . . 13

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Block Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
FFB Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
EN and ENO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Chapter 2 Availability of the blocks on the various hardware platforms 23

Availability of Blocks on the Various Servodrives . . . . . . . . . . . . . . . . . . . . . . . . 23

Part II MFB blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Chapter 3 The RefAxis parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
The Axis_Ref. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
The status chart of the axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Chapter 4 Motion Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
MFB blocks and basic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
CAN_HANDLER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
MC_READPARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
MC_WRITEPARAMETER. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
MC_READACTUALPOSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
MC_READACTUALVELOCITY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
MC_READACTUALTORQUE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
MC_TORQUECONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
MC_RESET. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

35010605.04 07/2008 5
MC_STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
MC_POWER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
MC_MOVEABSOLUTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
MC_MOVERELATIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
MC_MOVEADDITIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
MC_MOVEVELOCITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
MC_JOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
MC_READAXISERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
MC_READSTATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
MC_HOME. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
LXM_GEARPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
TE_UPLOADDRIVEPARAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
TE_DOWNLOADDRIVEPARAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
LXM_UPLOADMTASK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
LXM_DOWNLOADMTASK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
LXM_STARTMTASK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Units and Servodrives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Messaging Service. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Memory size. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Appendix A Error Codes and Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Tables of Error Codes for the Motion Function Block Library . . . . . . . . . . . . . . 107

Appendix B MFB performances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

MFB Performance Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

6 35010605.04 07/2008
Safety Information
§

Important Information

NOTICE Read these instructions carefully, and look at the equipment to become familiar with the
device before trying to install, operate, or maintain it. The following special messages
may appear throughout this documentation or on the equipment to warn of potential
hazards or to call attention to information that clarifies or simplifies a procedure.

The addition of this symbol to a Danger or Warning safety label indicates

that an electrical hazard exists, which will result in personal injury if the
instructions are not followed.

This is the safety alert symbol. It is used to alert you to potential personal
injury hazards. Obey all safety messages that follow this symbol to avoid
possible injury or death.

DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will
result in death or serious injury.

WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can result
in death, serious injury, or equipment damage.

CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can result
in injury or equipment damage.

35010605.04 07/2008 7
Safety Information

PLEASE NOTE Electrical equipment should be installed, operated, serviced, and maintained only by
qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material.
© 2008 Schneider Electric. All Rights Reserved.

8 35010605.04 07/2008
About the Book

At a Glance

Document Scope This manual presents the Motion Function Block (MFB) library using Unity Pro.

Validity Note The data and illustrations found in this documentation are not contractually binding.
We reserve the right to modify our products in line with our policy of continuous
product development.
The information in this document is subject to change without notice and should not
be construed as a commitment by Schneider Electric.

Product Related Schneider Electric assumes no responsibility for any errors that may appear in this
Warnings document. If you have any suggestions for improvements or amendments or have
found errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic
or mechanical, including photocopying, without the express written permission of
Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when
installing and using this product.
For reasons of safety and to ensure compliance with documented system data, only
the manufacturer should perform repairs to components.
When controllers are used for applications with technical safety requirements,
please follow the relevant instructions.
Failure to observe this product related warning can result in injury or equipment
damage.

User Comments We welcome your comments about this document. You can reach us by e-mail at
[email protected]

35010605.04 07/2008 9
About the Book

10 35010605.04 07/2008
General

I
Introduction

Overview This section contains general information about the Motion Function Blocks (MFB).

What's in this This part contains the following chapters:

Part?
Chapter Chapter Name Page
1 Block types and their applications 13
2 Availability of the blocks on the various hardware platforms 23

35010605.04 07/2008 11
General

12 35010605.04 07/2008
Block types and their applications

1
Introduction

Overview This chapter describes the different block types and their applications.

What's in this This chapter contains the following topics:

Chapter?
Topic Page
Block Types 14
FFB Structure 16
EN and ENO 19

35010605.04 07/2008 13
Block types and their applications

Block Types

Block Types Different block types are used in Unity Pro. The general term for all block types is
FFB.
There are the following types of block:
z Elementary Function (EF)
z Elementary Function Block (EFB)
z Derived Function Block (DFB)
z Procedure

Note: Motion Function Blocks are not available on the Quantum plateform.

Elementary Elementary functions (EF) have no internal status and one output only. If the input
Function values are the same, the output value is the same for all executions of the function,
e.g. the addition of two values gives the same result at every execution.
An elementary function is represented in the graphical languages (FBD and LD) as
a block frame with inputs and an output. The inputs are always represented on the
left and the outputs always on the right of the frame The name of the function, i.e.
the function type, is shown in the center of the frame.
The number of inputs can be increased with some elementary functions.

Note: The deactivation of an EF (EN=0) causes links connected to its Input/Output

to be reset. To transfer the state of the signal do not use a link. A variable must be
connected to the EF’s output and must be used to connect the input of the element.

Elementary Elementary function blocks (EFB) have an internal status. If the inputs have the
Function Block same values, the value on the outputs can have another value during the individual
executions. For example, with a counter, the value on the output is incremented.
An elementary function block is represented in the graphical languages (FBD and
LD) as a block frame with inputs and outputs. The inputs are always represented on
the left and the outputs always on the right of the frame The name of the function
block, i.e. the function block type, is shown in the center of the frame. The instance
name is displayed above the frame.

Derived Function Derived function blocks (DFBs) have the same properties as elementary function
Block blocks. They are created by the user in the programming languages FBD, LD, IL
and/or ST.

14 35010605.04 07/2008
Block types and their applications

Procedure Procedures are functions with several outputs. They have no internal state.
The only difference from elementary functions is that procedures can have more
than one output and they support variables of the VAR_IN_OUT data type.
Procedures do not return a value.
Procedures are a supplement to IEC 61131-3 and must be enabled explicitly.
There is no visual difference between procedures and elementary functions.

35010605.04 07/2008 15
Block types and their applications

FFB Structure

Structure Each FFB is made up of an operation (name of the FFB), the operands required for
the operation (formal and actual parameters) and an instance name for elementary/
derived function blocks.
Call of a function block in the FBD programming language:
Instance Name Operation Operand
(FFB name)

Formal Actual
parameter parameter

MY_TON
TON
ENABLE EN ENO ERROR
EXAMP IN Q OUT
TIME1 PT ET TIME2

CAUTION
UNEXPECTED BEHAVIOUR OF THE EQUIPMENT
Do not call several times the same block instance within a PLC cycle
Failure to follow these instructions can result in injury or equipment damage.

16 35010605.04 07/2008
Block types and their applications

Formal call of a function block in the ST programming language:

Operands
Instance Name
Formal parameters (inputs) Formal parameters (outputs)

MY_TON (EN:=ENABLE, IN:=EXAMP, PT:=TIME1, ENO=>ERROR, Q=>OUT, ET=>TIME2);

Actual parameters (inputs) Actual parameters (outputs)

Operands

Operation The operation determines which function is to be executed with the FFB, e.g. shift
register, conversion operations.

Operand The operand specifies what the operation is to be executed with. With FFBs, this
consists of formal and actual parameters.

Formal/actual Inputs and outputs are required to transfer values to or from an FFB. These are
parameters called formal parameters.
Objects are linked to formal parameters; these objects contain the current process
states. They are called actual parameters.
At program runtime, the values from the process are transferred to the FFB via the
actual parameters and then output again after processing.
The data type of the actual parameters must match the data type of the input/output
(formal parameters). The only exceptions are generic inputs/outputs whose data
type is determined by the actual parameter. If all actual parameters consist of
literals, a suitable data type is selected for the function block.

FFB Call in IL/ST In text languages IL and ST, FFBs can be called in formal and in informal form.
Details can be found in the Reference manual.
Example of a formal function call:
out:=LIMIT (MN:=0, IN:=var1, MX:=5);
Example of an informal function call:
out:=LIMIT (0, var1, 5);

Note: Take note that the use of EN and ENO is only possible for formal calls.

35010605.04 07/2008 17
Block types and their applications

VAR_IN_OUT FFBs are often used to read a variable at an input (input variables), to process it and
variable to output the altered values of the same variable (output variables).
This special type of input/output variable is also called a VAR_IN_OUT variable.
The input and output variable are linked in the graphic languages (FBD and LD)
using a line showing that they belong together.
Function block with VAR_IN_OUT variable in FBD:
MY_EXAMP1
EXAMP1
Input1 IN1 OUT1 Output1
Input2 IN2 OUT2 Output2
Comb_IN_OUT IO1 IO1 Comb_IN_OUT

Function block with VAR_IN_OUT variable in ST:

MY_EXAMP1 (IN1:=Input1, IN2:=Input2, IO1:=Comb_IN_OUT,
OUT1=>Output1, OUT2=>Output2);
The following points must be considered when using FFBs with VAR_IN_OUT
variables:
z All VAR_IN_OUT inputs must be assigned a variable.
z Literals or constants cannot be assigned to VAR_IN_OUT inputs/outputs.

The following additional limitations apply to the graphic languages (FBD and LD):
z When using graphic connections, VAR_IN_OUT outputs can only be connected
with VAR_IN_OUT inputs.
z Only one graphical link can be connected to a VAR_IN_OUT input/output.
z Different variables/variable components can be connected to the VAR_IN_OUT
input and the VAR_IN_OUT output. In this case the value of the variables/variable
component on the input is copied to the at the output variables/variable
component.
z No negations can be used on VAR_IN_OUT inputs/outputs.
z A combination of variable/address and graphic connections is not possible for
VAR_IN_OUT outputs.

18 35010605.04 07/2008
Block types and their applications

EN and ENO

Description An EN input and an ENO output can be configured for all FFBs.
If the value of EN is "0" when the FFB is called up, the algorithms defined by the FFB
are not executed and ENO is set to "0".
If the value of EN is "1" when the FFB is called up, the algorithms defined by the FFB
are executed. After the algorithms have been executed successfully, the value of
ENO is set to "1". If an error occurs when executing these algorithms, ENO is set to
"0".
If ENO is set to "0" (caused by EN=0 or an error during execution):
z Function blocks
z EN/ENO handling with function blocks that (only) have one link as an output
parameter:
Function_block_1 Function_block_2
EN ENO EN ENO
IN1 OUT IN1 OUT
IN2 IN2

If EN from FunctionBlock_1 is set to "0", the output connection OUT from

FunctionBlock_1 retains the status it had in the last correctly executed
cycle.
z EN/ENO handling with function blocks that have one variable and one link as
output parameters:
Function_block_1 Function_block_2
EN ENO EN ENO
IN1 OUT OUT1 IN1 OUT
IN2 IN2

If EN from FunctionBlock_1 is set to "0", the output connection OUT from

FunctionBlock_1 retains the status it had in the last correctly executed
cycle. The variable OUT1 on the same pin, either retains its previous status or
can be changed externally without influencing the connection. The variable
and the link are saved independently of each other.

35010605.04 07/2008 19
Block types and their applications

z Functions/Procedures
As defined in IEC61131-3, the outputs from deactivated functions (EN-input set
to "0") is undefined. (The same applies to procedures.)
Here nevertheless an explanation of the output status in this case:
z EN/ENO handling with functions/procedures that (only) have one link as an
output parameter:
Function/Procedure_1 Function/Procedure_2
EN ENO EN ENO
IN1 OUT IN1 OUT
IN2 IN2

If EN from Function/Procedure_1 is set to "0", the output connection OUT

from Function/Procedure_1 retains the status it had in the last correctly
executed cycle.
z EN/ENO handling with function blocks that have one variable and one link as
output parameters:
Function/Procedure_1 Function/Procedure_2
EN ENO EN ENO
IN1 OUT OUT1 IN1 OUT
IN2 IN2

If EN from Function/Procedure_1 is set to "0", the output connection OUT

from Function/Procedure_1 retains the status it had in the last correctly
executed cycle. The variable OUT1 on the same pin, either retains its previous
status or can be changed externally without influencing the connection. The
variable and the link are saved independently of each other.
The output behavior of the FFBs does not depend on whether the FFBs are called
up without EN/ENO or with EN=1.

Conditional/ "Unconditional" or "conditional" calls are possible with each FFB. The condition is
Unconditional realized by pre-linking the input EN.
FFB Call z EN connected
conditional calls (the FFB is only processed if EN = 1)
z EN shown, hidden, and marked TRUE, or shown and not occupied
unconditional calls (FFB is always processed)

Note: For disabled function blocks (EN = 0) with an internal time function (e.g.
DELAY), time seems to keep running, since it is calculated with the help of a
system clock and is therefore independent of the program cycle and the release of
the block

20 35010605.04 07/2008
Block types and their applications

Note for IL and The use of EN and ENO is only possible in the text languages for a formal FFB call,
ST e.g.
MY_BLOCK (EN:=enable, IN1:=var1, IN2:=var2,
ENO=>error, OUT1=>result1, OUT2=>result2);
Assigning the variables to ENO must be done with the operator =>.
With an informal call, EN and ENO cannot be used.

35010605.04 07/2008 21
Block types and their applications

22 35010605.04 07/2008
Availability of the blocks on the
various hardware platforms
2
Availability of Blocks on the Various Servodrives

Introduction Not all blocks are available on all hardware platforms. The blocks available on your
Premium and Modicon M340 platform with CANopen fieldbus can be found in the
following tables. Please note that the Lexium17 is not available for the Modicon
M340 plateform.

35010605.04 07/2008 23
Availability of the blocks

Motion Function With the Premium and Modicon M340 platforms, not all blocks are available for all
Block for servodrives.
Premium and The table below presents the availability of blocks according to the devices:
Modicon M340
Type Block name ATV31 ATV71 Lexium17 Lexium05 Lexium15 IclA
(for HP, MP, LP IFA,
Premium IFE,
only) IFS
PLCopen MC_ReadParameter X X X X X X
motioncontrol MC_WriteParameter X X X X X X
V1.1
MC_ReadActualPosition X X X X
MC_ReadActualVelocity (1.) X X X X X X
MC_Reset X X X X X X
MC_Stop X X X X X X
MC_Power X X X X X X
MC_MoveAbsolute X X X X
MC_MoveRelative X X X
MC_MoveAdditive X X X
MC_Home X X X X
MC_MoveVelocity X X X X X X
MC_ReadAxisError X X X X X X
MC_ReadStatus X X X X X X
MC_TorqueControl (1.) X X X (3.)
MC_ReadActualTorque (1.) X X X X
MC_Jog (2.) X X,except 15 X
LP
Parameter set TE_UploadDriveParam X X X X X X
save and TE_DownloadDriveParam X X X X X X
restore
functions for
management
of recipes or
replacement
of faulty
servodrives

24 35010605.04 07/2008
Availability of the blocks

Type Block name ATV31 ATV71 Lexium17 Lexium05 Lexium15 IclA

(for HP, MP, LP IFA,
Premium IFE,
only) IFS
Advanced Lxm_GearPos X X 4. X 5.
functions for Lxm_UploadMTask X X
the Lexium
Lxm_DownloadMTask X X
Lxm_StartMTask X X
System CAN_Handler X X X X X X
function
1. PLCopen V0.99 extension part 2
2. Not PLCopen standard
3. Only for firmware version >= 6.73
4. Only for firmware version >= 1.403
5. Only for firmware version >= 2.36

Note: These blocks are not available for the Quantum Platform.

35010605.04 07/2008 25
Availability of the blocks

26 35010605.04 07/2008
MFB blocks

II
At a Glance

Subject of this This section describes the MotionFunctionBlock library's functions and elementary
Section function blocks.

What's in this This part contains the following chapters:

Part?
Chapter Chapter Name Page
3 The RefAxis parameter 29
4 Motion Function Block 33

35010605.04 07/2008 27
MotionFunctionBlock

28 35010605.04 07/2008
The RefAxis parameter

3
At a Glance

Subject of this This chapter describes in detail the RefAxis parameter.

Chapter

What's in this This chapter contains the following topics:

Chapter?
Topic Page
The Axis_Ref 30
The status chart of the axis 31

35010605.04 07/2008 29
Abbreviated title of Chapter

The Axis_Ref

Description An axis is defined using an AXIS_REF type object.

From the user's viewpoint, an AXIS_REF object is:
z A structured variable with all the data needed by the MFBs to work with an axis
(logical status, mapping, messaging status, etc.).
z A variable created automatically during the creation (see Manual AMT using
Unity Pro, Start-up Guide, Axis Creation and Configuration) of the axis in the
Unity Pro browser Movement (see Manual AMT using Unity Pro, Start-up Guide,
Motion Directory) directory.
z A variable to be addressed to MFB blocks.

The AXIS_REF object is represented by a DDT type structure that contains public
data, which can therefore be modified by the axis configuration, as well as data that
is not visible and that cannot be modified.
The visible data in AXIS_REF is:
Data Type Description
AxisReady BOOL Provides information on the initialization of Axis_Ref,
as well as the availability of the device on the network.
AxisType UINT Servodrive type 1=Lexium, 2=Ifx, 3=ATV31, etc.
Axis_Reference UINT Device reference 1=MHDA1004, 2=MHDA1008, etc.
Used to check data when using UploadParam and
DownloadParam functions.
PlcTask UINT Task identification (1=MAST, 2=FAST).
NetworkType UINT Reserved
AxisMajorVersion UINT Integer part of the minimum version that the servodrive
must have (e.g. the digit 6 in the number 6.43).
AxisMinorVersion UINT Decimal part of the minimum version that the
configured servodrive must have (e.g. the number 43 in
6.43).
AxisMajorVersion UINT Integer part of the minimum version of the present
Read servodrive (e.g. the number 6 in the number 6.5).
AxisMinorVersion UINT Decimal part of the minimum version that the
Read servodrive has (e.g. the number 5 in the number 6.5).

30 35010605.04 07/2008
Abbreviated title of Chapter

The status chart of the axis

At a Glance The inverters and servodrives are managed by the standard DRIVECOM state
diagram. The Motion Function Blocks defines the behavior of the axis at a high level
by a standard PLCopen state diagram. The MFB commands act on the axis’ state
diagram. The axis is always in one of the defined states. Any motion command is a
transition that changes the states of the axis and, as a consequence, the way the
current motion is computed.
There are four main status values in this chart:
z disabled
z standstill
z errorstop
z stopping
Other status values are described below.

The Chart The Axis_Ref state chart is shown below:

DISCRETEMOTION, CONTINOUOUSMOTION, SYNCHRONIZEDMOTION,

MOTIONTASKMOTION, HOMING

MC_MOVE... MC_STOP
MC_HOME
LXM_STARTMTASK
MC_JOG STOPPING
MC_TORQUECONTROL
Done Error Error Done MC_STOP

ERRORSTOP

MC_RESET Error

STANDSTILL

MC_POWER

DISABLED

TE_DOWNLOAD
Done
TE_UPLOAD

DOWNLOADING

35010605.04 07/2008 31
Abbreviated title of Chapter

Status Values The following table describes the status values:

Status Corresponds to
Disabled Idle or initial status of the axis.
Standstill Waiting status of the axis, it is powered up and is error-free.
Discrete Motion Discrete motion in progress.
Continuous Motion Continuous motion in progress.
Synchronized Synchronized motion in progress.
Motion
MotionTask Motion Current motion task program.
Downloading Parameters or motion tasks currently being transferred between the
PLC and the servodrive memory.
Homing The axis is executing a homing.
Stopping Valid during the execution of the axis’ MC_STOP, the Done and the
non-execution of MC_STOP brings the Axis_Ref to the Standstill
status.
Errorstop Valid during the axis stop due to an error, before the error has been
acknowledged.

32 35010605.04 07/2008
Motion Function Block

4
Introduction

Overview This chapters presents the various blocks in the Motion Function Blocks library.

What's in this This chapter contains the following topics:

Chapter?
Topic Page
MFB blocks and basic parameters 35
CAN_HANDLER 40
MC_READPARAMETER 42
MC_WRITEPARAMETER 44
MC_READACTUALPOSITION 46
MC_READACTUALVELOCITY 48
MC_READACTUALTORQUE 50
MC_TORQUECONTROL 52
MC_RESET 54
MC_STOP 56
MC_POWER 59
MC_MOVEABSOLUTE 60
MC_MOVERELATIVE 62
MC_MOVEADDITIVE 64
MC_MOVEVELOCITY 68
MC_JOG 70
MC_READAXISERROR 73
MC_READSTATUS 77
MC_HOME 80
LXM_GEARPOS 82
TE_UPLOADDRIVEPARAM 85

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Motion Function Block

Topic Page
TE_DOWNLOADDRIVEPARAM 88
LXM_UPLOADMTASK 91
LXM_DOWNLOADMTASK 94
LXM_STARTMTASK 96
Units and Servodrives 98
Messaging Service 100
Memory size 101

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Motion Function Block

MFB blocks and basic parameters

General The majority of blocks use the same input and output parameters, deemed basic.
The operating principle of the basic input and output parameters is explained below.

Representation Representation:
in FBD
MC_xxx
AxisRef Error
Enable Done
Execute Valid
Busy
ErrorId
Command Aborted

Description of The following table describes the input parameters:

the Standard
Parameter Type Comment
Input Parameters
Axis AXIS_REF Axis_Ref (see p. 30) type object, which defines the device
Enable BOOL When Enable is TRUE, the parameters are taken into
account and the function is executed.
As soon as Enable is FALSE, the output parameters,
Error, Done and CommandAborted, are immediately set
to FALSE.
Execute BOOL On an Execute rising edge, the parameters are taken into
account and the function is executed.
When Execute is TRUE, the output parameters, Error,
Done, CommandAborted and Busy are controlled by the
block.
When Execute is FALSE, the Busy output parameter is
TRUE until the end of the block execution. As soon as one of
the Error, Done, or CommandAborted output parameters
changes to TRUE, they all become FALSE.

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Motion Function Block

Description of The following table describes the output parameters:

the Standard
Parameter Type Comment
Output
Parameters Error BOOL Error is TRUE when an execution error is detected by the
function block.
Done BOOL Done is TRUE when the execution of the function is
completed.
Valid BOOL Valid is TRUE when the others are enabled.
Busy BOOL Busy is TRUE to indicate that the execution of the function
block is in progress.
Busy is set to TRUE when Execute switches to TRUE (on a
rising edge), and is set to FALSE when one of the following
status values, Done, Error, or CommandAborted switches
to TRUE.
ErrorId INT Error identifier.
CommandAbo BOOL CommandAborted is TRUE when the execution of the block
rted is cancelled. This cancellation is due to the execution of
another command.

Note: The type of the output parameter ErrorId (Error Identifier (see p. 107)) is
UDINT for the blocks that use messaging (MC_READ...,
MC_WriteParameter and CAN_HANDLER).

All blocks have the propriety of recording the last ERRID error in the Unity DIAG
BUFFER.

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Motion Function Block

Block operation The figure below shows the time diagram of a block including an Execute input
with an Execute parameter set to 1 until the block execution has completed (DONE=0 and BUSY=0),
input parameter. the block executes without any errors:
Execute

Error
Block executed
Done without error

CommandAborted

Busy

The figure below shows the time diagram of a block including an Execute input
parameter set to 1 until the block execution has completed (ERROR=0 and BUSY=0),
the block executes with errors:

Execute

Done
Block executed
with error
Error
CommandAborted

Busy

The figure below shows the time diagram of a block including an Execute input
parameter set to 1 until the block execution has completed (COMMANDABBORTED=0
and BUSY=0), the block execution was cancelled:

Execute

Done & Error

Execution cancelled
CommandAborted by another block

Busy

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Motion Function Block

The figure below shows the time diagram of a block including an Execute input
parameter set to 1 on a PLC cycle, the block executes without any errors:

Execute
CommandAborted
Block executed
without error
Error

Done

Busy

The figure below shows the time diagram of a block including an Execute input
parameter set to 1 on a PLC cycle, the block executes with any errors:

Execute
CommandAborted
Block executed
with error
Error

Done

Busy

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Motion Function Block

Block operation The figure below shows the time diagram of a block including an Enable input
with an Enable parameter, execution is fast:
input parameter

Enable

Done or Error
Normal execution
Busy of the block

The figure below shows the time diagram of a block including an Enable input
parameter, execution is normal (more than one PLC cycle):

Enable

Done or Error
Fast execution
Busy of the block

35010605.04 07/2008 39
Motion Function Block

CAN_HANDLER

Function The CAN_HANDLER function is used to check the CANopen communication and that
Description the software and physical configurations are consistent.
This function must be called before any call to any MFB, because it determines the
correct operation of all other MFBs.

Note: This block must not be instantiated manually.It is automatically created when
an axis is created in the Motion directory (See Manual AMT using Unity Pro, Start-
up Guide, Axis Creation and Configuration).

Note: The axis parameter must be the corresponding AxisRef defined when the
axis is created in the Motion directory.

Representation Representation:
in FBD
CAN_HANDLER

NETOP NetworkOperational AxisReady AXISRD

AXIS Axis ErrorId ERRID

Representation Representation:
in LD
CAN_HANDLER
EN ENO

NETOP NetworkOperational AxisReady AXISRD

AXIS Axis ErrorId ERRID

Representation Representation:
in IL CAL CAN_HANDLER(NETOP:=NetworkOperational, AXIS:=Axis,
AXISRD=>AxisReady, ERRID=>ErrorId)

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Motion Function Block

Representation Representation:
in ST CAN_HANDLER(AXIS:=Axis, NETOP:=NetworkOperational,
AXISRD=>AxisReady, ERRID=>ErrorId);

Description of The following table describes the input parameter that is in addition to the basic
the Input parameters (see p. 35):
Parameters
Parameter Type Comment
NetworkOperational BOOL Correct operation of the CANopen bus’
equation result.

Note: Assignment of this parameter is left to the discretion of the developer. It

depends on the CANopen bus management philosophy.
It is recommended to use an object (or an equation) taken from the IODDT of the
TSX CPP110 card (type T_COM_CPP110) for Premium and of the Modicon M340
CANopen port (type T_COM_CO_BMX). For example, it is possible to assign the
SLAVE_ACTIV_X bit taken from the IODDT T_COM_CPP110 (where X is the
device's CANopen address).

Description of The following table describes the output parameter that is in addition to the basic
the Output parameters (see p. 35):
Parameters
Parameter Type Comment
AxisReady BOOL The software configuration is consistent with the
current hardware configuration and the CANopen bus
is OK.

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Motion Function Block

MC_READPARAMETER

Function The MC_READPARAMETER function is used to read, via Service Data Object (SDO)
Description messaging, a variable in the servodrive defined by the Axis parameter.

Representation Representation:
in FBD
MC_READPARAMETER
AXIS Axis Error ERR
EXEC Execute Done DO
PN ParameterNumber Busy B
SI SubIndex ErrorId ERRID
Value X
Length L

Representation Representation:
in LD
MC_READPARAMETER
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

PN ParameterNumber Busy B

SI SubIndex ErrorId ERRID

Value X

Length L

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Motion Function Block

Representation Representation:
in IL LD Axis
CAL MC_READPARAMETER (AXIS:=Axis, EXEC:=Execute,
PN:=ParameterNumber, SI:=SubIndex, ERR=>Error, DO=>Done,
B=>Busy, ERRID=>ErrorId, X=>Value, L=>Length)

Representation Representation:
in ST MC_ReadParameter(AXIS:=Axis, EXEC:=Execute, PN:=Parameter-
Number, SI:=SubIndex, ERR=>Error, DO=>Done, B=>Busy,
ERRID=>ErrorId, X=>Value, L=>Length);

Description of The following table describes the output parameters that are in addition to the basic
the Output (see p. 35) parameters:
Parameters
Parameter Type Comment
Value DINT Value read.
Length UINT Length in bytes of the value
read.

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Motion Function Block

MC_WRITEPARAMETER

Function The MC_WRITEPARAMETER function is used to write, via System Data Object (SCO)
Description messaging, a variable in the servodrive defined by the Axis parameter.

Representation Representation:
in FBD
MC_WRITEPARAMETER
AXIS AxisRef Error ERR
EXEC Execute Done DO
PN ParameterNumber Busy B
SI SubIndex ErrorId ERRID
X Value
L Length

Representation Representation:
in LD
MC_WRITEPARAMETER
EN
ENO
AXIS AxisRef
Error ERR
EXEC Execute
Done DO
PN ParameterNumber
Busy B
SI SubIndex
ErrorId ERRID
X Value

L Length

Representation Representation:
in IL LD Axis
CAL MC_WRITEPARAMETER(AXIS:=Axis, EXEC:=Execute,
PN:=ParameterNumber, SI:=SubIndex, X:=Value, L:=Length,
ERR=>Error, DO=>Done, B=>Busy, ERRID=>ErrorId)

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Motion Function Block

Representation Representation:
in ST MC_WRITEPARAMETER(AXIS:=Axis, EXEC:=Execute, PN:=Parameter-
Number, SI:=SubIndex, X:=Value, L:=Length, ERR=>Error,
DO=>Done, B=>Busy, ERRID=>ErrorId);

Description of The following table describes the input parameters that are in addition to the basic
the Input (see p. 35) parameters:
Parameters
Parameter Type Comment
ParameterNumber UINT CANopen index number to be written.
SubIndex UINT CANopen sub-index number.
Value DINT Value to write.
Length UINT Length in bytes of the value to write.

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Motion Function Block

MC_READACTUALPOSITION

Function The MC_READACTUALPOSITION function is used to read the axis position.

Description

Representation Representation:
in FBD
MC_READACTUALPOSITION
AXIS Axis Error ERR
ENB Enable Valid VA
Busy B
ErrorId ERRID
Position POS

Representation Representation:
in LD
MC_READACTUALPOSITION
EN ENO

AXIS Axis Error ERR

ENB Enable Valid VA

Busy B

ErrorId ERRID

Position POS

Representation Representation:
in IL LD Axis
CAL MC_READACTUALPOSITION(AXIS:=Axis, ENB:=Enable,
ERR=>Error, VA=>Valid, B=>Busy, ERRID=>ErrorId,
POS=>Position)

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Motion Function Block

Representation Representation:
in ST MC_READACTUALPOSITION(AXIS:=Axis, ENB:=Enable, ERR=>Error,
VA=>Valid, B=>Busy, ERRID=>ErrorId, POS=>Position);

Description of The following table describes the output parameter that is in addition to the basic
the Output (see p. 35) parameters:
Parameters
Parameter Type Comment
Position DINT Position of the axis, if Valid is TRUE.

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Motion Function Block

MC_READACTUALVELOCITY

Function The MC_READACTUALVELOCITY function is used to determine the current speed of

Description the axis.

Representation Representation:
in FBD
MC_READACTUALVELOCITY
AXIS Axis
ENB Enable Error ERR
Valid VA
Busy B
ErrorId ERRID
Velocity V

Representation Representation:
in LD
MC_READACTUALVELOCITY
EN ENO

AXIS Axis Error ERR

ENB Enable Valid VA

Busy B

ErrorId ERRID

Velocity V

Representation Representation:
in IL LD Axis
CAL MC_READACTUALVELOCITY(AXIS:=Axis, ENB:=Enable,
ERR=>Error, VA=>Valid, B=>Busy, ERRID=>ErrorId, V=>Velocity)

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Motion Function Block

Representation Representation:
in ST MC_READACTUALVELOCITY(AXIS:=Axis, ENB:=Enable, ERR=>Error,
VA=>Valid, B=>Busy, ERRID=>ErrorId, V=>Velocity);

Description of The following table describes the output parameter that is in addition to the basic
the Output (see p. 35) parameters:
Parameters
Parameter Type Comment
Velocity DINT Speed of the axis, when Valid is TRUE.

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Motion Function Block

MC_READACTUALTORQUE

Function The MC_ReadActualTorque function is used to return the current torque.

Description

Representation Representation
in FBD
MC_READACTUALTORQUE

AXIS Axis Error ERR

ENB Enable Valid DO
Busy B
ErrorId ERRID
Torque TORQ

Representation Representation
in LD
MC_READACTUALTORQUE

EN ENO
AXIS Axis Error ERR
ENB Enable Valid DO
Busy B
ErrorId ERRID
Torque TORQ

Representation Representation:
in IL LD Slave
CAL MC_READACTUALTORQUE(AXIS:=Axis, ENB:=Enable, ERR=>Error,
DO=>Valid, B=>Busy, ERRID=>ErrorId), TORQ=>Torque

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Motion Function Block

Representation Representation:
in ST MC_READACTUALTORQUE(AXIS:=Axis, EXEC:=Execute, ERR=>Error,
DO=>Valid, B=>Busy, ERRID=>ErrorId), TORQ=>Torque;

Description of The following table describes the output parameters that are in addition to the basic
the Output parameters (see p. 35):
Parameters
Parameter Type Comment
Torque INT Updated every 200ms.

The following table describes the units for each drive

Drive 15MP/HP 15LP Lex05 Icla ATV31 ATV71

Unit 1/1000 rated 1/100 Amp 0.01 Nominal - 0.01 Nominal 0.01 Nominal
torque Motor Torque Torque Torque

Note: The returned value for the Lexium05 is a current.

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Motion Function Block

MC_TORQUECONTROL

Function The MC_TORQUECONTROL function is used to set the drive in TORQUECONTROL

Description mode if it is not already the case, and provide a torque command value.This function
block continuously applies a torque or force, and sets the InTorque output if the
torqur level is reached. This function block is applicable for force and torque. When
no external load is applicable, positive torque is in the positive direction of velocity.

Representation Representation
in FBD
MC_TORQUECONTROL
AXIS Axis Error ERR
EXEC Execute InTorque INTORQ
TORQ Torque Busy B
CommandeAborted AB
ErrorId ERRID

Representation Representation
in LD
MC_TORQUECONTROL
EN ENO
AXIS Axis Error ERR
EXEC Execute InTorque INTORQ
TORQ Torque Busy B
CommandeAborted AB
ErrorId ERRID

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Motion Function Block

Representation Representation:
in IL LD Slave
CAL MC_TORQUECONTROL(AXIS:=Axis, EXEC:=Execute, TORQ:=Torque,
ERR=>Error, INTORQ=>InTorque, B=>Busy, AB=>CommandeAborted,
ERRID=>ErrorId)

Representation Representation:
in ST MC_TORQUECONTROL(AXIS:=Axis, EXEC:=Execute, TORQ:=Torque,
ERR=>Error, INTORQ=>InTorque, B=>Busy, AB=>CommandeAborted,
ERRID=>ErrorId);

Description of The following table describes the input parameters that are in addition to the basic
the Input parameters (see p. 35):
Parameters
Parameter Type Comment
Torque INT Torque value.

The following table describes units for each drive.

Drive Lexium 15MM/ Lexium 15LP Lexium 05 ATV 71

HP
Unit 1/1000 rated 1/1000 rated 0.01 Amp 1/1000 nominal
torque torque motor torque

Description of The following table describes the output parameters that are in addition to the basic
the Output parameters (see p. 35):
Parameters
Parameter Type Comment
InTorque BOOL InTorque is TRUE when the axis reaches the Torque in
TorqueControl mode, otherwise it remains set to FALSE.(not
significant for Lexium05).

Note: The ATV71 allows two ways to manage the torque mode: torque or speed
regulation. Switching beetween these two modes is possible either by LI or by
frequency level. LI is a digital or virtual input composed of the three MSB of the
ControlWord (Bit15 to 13). When activated, this MFB will always set the bit 15 to 1.
Depending on the drive configuration, both ways of switching will then be available.

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Motion Function Block

MC_RESET

Function The MC_RESET function is used to acknowledge the internal defaults (AxisFault)
Description or internal alerts (AxisWarning) resulting of an execution of a MFB for the axis
(Axis_ref). The function resets the contents of the ReadAxisError block, which
contains the diagnostic information.
In the chart status, the function allows to change from the Errorstop state to the
Standstill (see p. 31) state.
The input and output parameters (see p. 35) are basic parameters.

Representation Representation:
in FBD
MC_RESET
AXIS Axis Error ERR
EXEC Execute Done DO
Busy B
ErrorId ERRID

Representation Representation:
in LD
MC_RESET
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

Busy B

ErrorId ERRID

Representation Representation:
in IL LD Axis
CAL MC_RESET(AXIS:=Axis, EXEC:=Execute, ERR=>Error, DO=>Done,
B=>Busy, ERRID=>ErrorId)

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Motion Function Block

Representation Representation:
in ST MC_RESET(AXIS:=Axis, EXEC:=Execute, ERR=>Error, DO=>Done,
B=>Busy, ERRID=>ErrorId);

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Motion Function Block

MC_STOP

Function The MC_STOP function is used to stop any motion in progress and place the
Description Axis_Ref in Stopping status (see p. 31).
As soon as the axis is at zero speed, the output parameter DONE is set to TRUE, and
the axis is therefore in stopping status. The Axis_Ref moves into Standby status if
the input parameter returns to FALSE.
The input and output parameters of the block are basic parameters (see p. 35).

Representation Representation:
in FBD
MC_STOP
AXIS Axis Error ERR
EXEC Execute Done DO
Busy B
CommandAborted Abort
ErrorId ERRID

Representation Representation:
in LD
MC_STOP
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

Busy B

CommandAborted Abort

ErrorId ERRID

Representation Representation:
in IL LD Axis
CAL MC_STOP(AXIS:=Axis, EXEC:=Execute, ERR=>Error, DO=>Done,
B=>Busy, Abort=>CommandAborted, ERRID=>ErrorId)

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Motion Function Block

Representation Representation:
in ST MC_STOP(AXIS:=Axis, EXEC:=Execute, ERR=>Error, DO=>Done,
B=>Busy, Abort=>CommandAborted, ERRID=>ErrorId);

Stop on Z Axis The example below shows how the MC_STOP behaves in combination with
MC_MOVEVELOCITY.
The graph below shows the timing chart for the example with:
a) A rotating axis stopped with an MC_Stop MFB.
b) The axis rejects the move command when the Execute parameter of the
MC_STOP block equals 1. The MC_MOVEVELOCITY MFB raises an error indicating
that the MC_STOP command is active.

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Motion Function Block

The graph below shows the timing chart for stopping the axis:
Velocity_Z
MC_MOVEVELOCITY
AXIS_Z Axis Error Z_VELOCITY_ERR
CMD_VELOCITY_Z Execute InVelocity Z_IN_VELOCITY
500 Velocity Busy
Command... Z_VELOCITY_AB
ErrorId

Stop_Z
MC_STOP
AXIS_Z Axis Error
CMD_STOP_Z Execute Done Z_STOPPED
Busy
CommandAborted
ErrorId

Velocity_Z a b

CMD_VELOCITY_Z

Z_IN_VELOCITY

Z_VELOCITY_AB

Z_VELOCITY_ERR

Stop_Z

CMD_STOP_Z

Z_STOPPED

Velocity

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Motion Function Block

MC_POWER

Function The MC_POWER function is used to move the Axis_Ref status from Disabled
Description (see p. 31) to Standstill.

Representation Representation:
in FBD
MC_POWER
AXIS Axis Error ERR
ENB Enable Status ST
ErrorId ERRID

Representation Representation:
in LD
MC_POWER
EN ENO

AXIS Axis Error ERR

ENB Enable Status ST

ErrorId ERRID

Representation Representation:
in IL LD Axis
CAL MC_POWER(AXIS:=Axis, ENB:=Enable, ERR=>Error, ST=>Status,
ERRID=>ErrorId)

Representation Representation:
in ST MC_POWER(AXIS:=Axis, ENB:=Enable, ERR=>Error, ST=>Status,
ERRID=>ErrorId);

Description of The following table describes the output parameter that is in addition to the basic
the Output (see p. 35) parameters:
Parameters
Parameter Type Comment
Status BOOL If Status is set to TRUE, the status is Standstill (see p. 31).
If Status is set to FALSE, the status is Disabled (see p. 31).

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Motion Function Block

MC_MOVEABSOLUTE

Function The MC_MOVEABSOLUTE function is used to execute a move to absolute position

Description command.
Done equals TRUE if the position is reached and the speed equals zero.

Representation Representation:
in FBD
MC_MOVEABSOLUTE
AXIS Axis Error ERR
EXEC Execute Done DO
POS Position Busy B
V Velocity Comma.. AB
ACC Acceleration ErrorId ERRID
DEC Deceleration

Representation Representation:
in LD
MC_MOVEABSOLUTE
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

POS Position Busy B

V Velocity Comma.. AB

ACC Acceleration ErrorId ERRID

DEC Deceleration

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Motion Function Block

Representation Representation:
in IL LD Axis
CAL MC_MOVEABSOLUTE(AXIS:=Axis, EXEC:=Execute, POS:=Position,
V:=Velocity, ACC:=Acceleration, DEC:=Deceleration,
ERR=>Error, DO=>Done, B=>Busy, AB=>CommandAborted,
ERRID=>ErrorId)

Representation Representation:
in ST MC_MOVEABSOLUTE(AXIS:=Axis, EXEC:=Execute, POS:=Position,
V:=Velocity, ACC:=Acceleration, DEC:=Deceleration,
ERR=>Error, DO=>Done, B=>Busy, AB=>CommandAborted,
ERRID=>ErrorId);

Description of The following table describes the input parameters that are in addition to the basic
the Input (see p. 35) parameters:
Parameters
Parameter Type Comment
Position DINT Value specifying the position of the servodrive.
Velocity UDINT Speed value.
Acceleration UDINT Acceleration value.
Deceleration UDINT Deceleration value.

Note: The value 0 for the acceleration and deceleration parameters allows you to
use the value configured in the servodrive. If the value is other than 0, the
servodrive takes this value into account.

Note: For the Icla, the acceleration value is the same for acceleration and
deceleration. The type is UINT. The deceleration parameter is not active.

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Motion Function Block

MC_MOVERELATIVE

Function The MC_MOVERELATIVE function is used to execute a move to relative position

Description command (in relation to the current position of the servodrive).

Representation Representation:
in FBD
MC_MOVERELATIVE
AXIS Axis Error ERR
EXEC Execute Done DO
DIS Distance Busy B
V Velocity Command.. AB
ACC Acceleration ErrorId ERRID
DEC Deceleration

Representation Representation:
in LD
MC_MOVERELATIVE
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

DIS Distance Busy B

V Velocity Command- AB
Aborted
ACC Acceleration ErrorId ERRID

DEC Deceleration

Representation Representation:
in IL LD Axis
CAL MC_MOVERELATIVE(AXIS:=Axis, EXEC:=Execute, DIS:=Distance,
V:=Velocity, ACC:=Acceleration, DEC:=Deceleration,
ERR=>Error, DO=>Done, B=>Busy, AB=>CommandAborted,
ERRID=>ErrorId)

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Motion Function Block

Representation Representation:
in ST MC_MOVERELATIVE(AXIS:=Axis, EXEC:=Execute, DIS:=Distance,
V:=Velocity, ACC:=Acceleration, DEC:=Deceleration,
ERR=>Error, DO=>Done, B=>Busy, AB=>CommandAborted,
ERRID=>ErrorId);

Description of The following table describes the input parameters that are in addition to the basic
the Input (see p. 35) parameters:
Parameters
Parameter Type Comment
Distance DINT Value specifying the distance that the servodrive must
cover.
Velocity UDINT Speed value.
Acceleration UDINT Acceleration value.
Deceleration UDINT Deceleration value.

Note: For the Icla, the acceleration value is the same for acceleration and
deceleration. The type is UINT. The deceleration parameter is not active.

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Motion Function Block

MC_MOVEADDITIVE

Function The MC_MOVEADDITIVE function is used to apply an additional move command to

Description a servodrive that is already in motion.
As soon as the block’s input parameter Execute is active:
z the MC_MOVEADDITIVE block takes control over the currently moving block
(MC_MOVERELATIVE or MC_MOVE_ABSOLUTE),
z the value entered in the Distance parameter is added to the target value of the
current movement,
z the Velocity, Acceleration and Deceleration input parameters are taken
into account immediately.

Representation Representation:
in FBD
MC_MOVEADDITIVE
AXIS Axis Error ERR
EXEC Execute Done DO
DIS Distance Busy B
V Velocity Command... AB
ACC Acceleration ErrorId ERRID
DEC Deceleration

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Motion Function Block

Representation Representation:
in LD
MC_MOVEADDITIVE
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

DIS Distance Busy B

V Velocity Command... AB

ACC Acceleration ErrorId ERRID

DEC Deceleration

Representation Representation:
in IL LD Axis
CAL MC_MOVEADDITIVE(AXIS:=Axis, EXEC:=Execute, DIS:=Distance,
V:=Velocity, ACC:=Acceleration, DEC:=Deceleration,
ERR=>Error, DO=>Done, B=>Busy, AB=>CommandAborted,
ERRID=>ErrorId)

Representation Representation:
in ST MC_MOVEADDITIVE(AXIS:=Axis, EXEC:=Execute, DIS:=Distance,
V:=Velocity, ACC:=Acceleration, DEC:=Deceleration,
ERR=>Error, DO=>Done, B=>Busy, AB=>CommandAborted,
ERRID=>ErrorId);

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Motion Function Block

Description of The following table describes the input parameters that are in addition to the basic
the Input (see p. 35) parameters:
Parameters
Parameter Type Comment
Distance DINT Value specifying the additional distance to cover.
Velocity UDINT Speed value.
Acceleration UDINT Acceleration value.
Deceleration UDINT Deceleration value.

Note: For the Icla, the acceleration value is the same for acceleration and
deceleration. The type is UINT. The deceleration parameter is not active.

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Motion Function Block

Example The graph below illustrates the operation of the MC_MOVEADDITIVE block in
combination with a MC_MOVE_ABSOLUTE movement block.
ABSOLUTE_Z POSITION_Z
MC_MOVEABSOLUTE MC_READACTUALPOSITION
AXIS_Ref_Z Axis Error AXIS_Ref_Z Axis Error
Cmd_Mvt_Z Execute Done TRUE Enable Valid
50000 Position Busy Busy
1000 Velocity Command... ErrorId
0 Acceleration ErrorId Position
0 Deceleration

ADDITIVE_Z VELOCITY_Z
MC_MOVEADDITIVE MC_READACTUALVELOCITY
AXIS_Ref_Z Axis Error AXIS_Ref_Z Axis Error
Cmd_Add_Z Execute Done TRUE Enable Valid
20000 Position Busy Busy
500 Velocity Command... ErrorId
10 Acceleration ErrorId Velocity
10 Deceleration

Cmd_Mvt_Z

Cmd_Add_Z

70000=50000+20000
50000

POSITION_Z.Position
0

1000
500
VELOCITY_Z.Velocity
0

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Motion Function Block

MC_MOVEVELOCITY

Function The MC_MOVEVELOCITY function is used to execute an endless move command at

Description a given speed. To use this function, the current axis state must be continuous or
StandStill.
This block, in combination with the MC_STOP block (see p. 56) can be used in
manual mode.

Representation Representation:
in FBD
MC_MOVEVELOCITY
AXIS Axis Error ERR
EXEC Execute InVelocity IV
V Velocity Busy B
I Invert Command... AB
ErrorId ERRID

Representation Representation:
in LD
MC_MOVEVELOCITY
EN ENO

AXIS Axis Error ERR

EXEC Execute InVelocity IV

V Velocity Busy B

I Invert Command... AB

ErrorId ERRID

Representation Representation:
in IL LD Axis
CAL MC_MOVEVELOCITY(AXIS:=Axis, EXEC:=Execute, V:=Velocity,
I:=Invert, ERR=>Error, IV=>InVelocity, B=>Busy,
AB=>CommandAborted, ERRID=>ErrorId)

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Motion Function Block

Representation Representation:
in ST MC_MOVEVELOCITY(AXIS:=Axis, EXEC:=Execute, V:=Velocity,
I:=Invert, ERR=>Error, IV=>InVelocity, B=>Busy,
AB=>CommandAborted, ERRID=>ErrorId);

Description of The following table describes the input parameters that are in addition to the basic
the Input parameters (see p. 35):
Parameters
Parameter Type Comment
Velocity DINT Speed value.
For ICLA or ATV31 servodrives, the Velocity
parameter is used as INT type.
Invert Bool Direction of rotation.
If Invert is set to TRUE, the direction is the inverse of
the Velocity sign. When Invert is set to FALSE, the
direction is that of the Velocity.

Description of The following table describes the output parameters that are in addition to the basic
the Output parameters (see p. 35):
Parameters
Parameter Type Comment
InVelocity BOOL InVelocity is TRUE when the Velocity speed is
reached, otherwise it remains set to FALSE.

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Motion Function Block

MC_JOG

Function The MC_JOG function is used to set the drive in Position mode if it is not already the
Description case, and provide a direction and a speed command value.
This function also allows:
z Moving by position step or continuously (for Lexium05 and Icla).

Representation Representation
in FBD
MC_JOG
AXIS Axisref Error ERR
FWRD Forward Busy B
BWRD Backward
FST Fast
CommandAborted AB
STEPPOS StepPos
WAITTIME WaitTime
VSLW VelocitySlow
VFST VelocityFast ErrorId ERRID

Representation Representation
in LD
MC_JOG

EN ENO
AXIS Axisref Error ERR
FWRD Forward Busy B
BWRD Backward
FST Fast
CommandAborted AB
STEPPOS StepPos
WAITTIME WaitTime
VSLW VelocitySlow
VFST VelocityFast ErrorId ERRID

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Motion Function Block

Representation Representation:
in IL LD Slave
CAL MC_JOG(AXIS:=Axis, FWRD:=Forward, BWRD:=Backward,
FST:=Fast, STEPPOS:=StepPos, WAITTIME:=WaitTime,
VSLW:=VelocitySlow, VFST:=VelocityFast, ERR=>Error, B=>Busy,
AB=>CommandAborted, ERRID=>ErrorId)

Representation Representation:
in ST MC_JOG(AXIS:=Axis, FWRD:=Forward, BWRD:=Backward, FST:=Fast,
STEPPOS:=StepPos, WAITTIME:=WaitTime, VSLW:=VelocitySlow,
VFST:=VelocityFast, ERR=>Error, B=>Busy, AB=>CommandAborted,
ERRID=>ErrorId);

Description of The following table describes the input parameters that are in addition to the basic
the Input parameters (see p. 35):
Parameters
Parameter Type Comment
Forward BOOL Forward operating direction.
Backward BOOL Backward operating direction.
Fast BOOL Jog speed selection.
StepPos INT Jogging path until continuous running.
WaitTime INT Waiting period until continuous running.
VelocitySlow UDINT Speed for slow movement. Must always be connected.
VelocityFast UDINT Speed for fast movement. Must always be connected.

For Lexium15MP and Lexium 15HP, StepPos and WaitTime inputs are not
significant.
When both inputs are active, the block detects the mismatch and sets the value 10
as error code: Bad condition for Jog Direction (see p. 107).
For Lexium05 StepPos and WaitTime inputs:
z Must be set.
z Are sent by SDO.
z Are not sent if the value is equal to -1, it signifies that update of this parameter is
not required, and the MFB will work with the actual valueof these parameter
already inside the drive.
The input Fast allows selecting between VelocitySlow and VelocityFast.

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Motion Function Block

Function Both inputs Forward/Backward are edge active:

Behavior z Rising edge makes the movement start.
z Falling edge makes the movement stop.

Parameter
Description for
Group.Name Meaning Units
the Lexium 05
Index:Subindex Bit assignment Range
dec. (hex.) ?
FastSpeed Speed for fast manual movement(8-16) tr/min
NFST The adjustment value is limited in internal on the actual 1
parameters adjustment in RAMPn_max. 180
13200
JOG-

SlowSpeed Speed for slow manual movement(8-16) tr/min

NSLW The adjustment value is limited in internal on the actual 1
parameters adjustment in RAMPn_max. 60
13200
JOG-

StepPos Jogging path with manual start before the continuous usr
running 0
0: direct activation of continuous running 20
>0: distance positining by manual cycle
WaitTime Waiting period until continuous running(8-16) ms
Only effective if jogging path is set not equal to 0 1
500
32767

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Motion Function Block

MC_READAXISERROR

Function The MC_READAXISERROR function is used to recover system errors.

Description

Representation Representation:
in FBD
MC_READAXISERROR
AXIS Axis Error ERR
ENB Enable Valid DO
Busy B
ErrorId ERRID
AxisFault AXFLT
AxisFaultId AXFLTID
AxisDiag AXDIAG
AxisDiagId AXDIAGID
AxisWarning AXWARN
AxisWarningId AXWARNID
AxisErrorId AXERRID
MSGErrorId MSGERRORID

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Motion Function Block

Representation Representation:
in LD
MC_READAXISERROR
EN ENO

AXIS Axis Error ERR

EXEC Execute Valid DO

Busy B

ErrorId ERRID

AxisFault AXERR

AxisFaultId AXERRID

AxisDiag AXDIAG

AxisDiagId AXDIAGID

AxisWarning AXWARN

AxisWarningId AXWARNID

AxisErrorId AXERRID

MSGErrorId MSGERRRID

Representation Representation:
in IL LD Axis
CAL MC_READAXISERROR(AXIS:=Axis, ENB:=Enable, ERR=>Error,
DO=>Valid, B=>Busy, ERRID=>ErrorId, AXFLT=>AxisFault,
AXFLTID=>AxisFaultId, AXDIAG=>AxisDiag, AXDIAGID=>AxisDiagId,
AXWARN=>AxisWarning, AXWARNID=>AxisWarningId,
AXERRID=>AxisErrorId, MSGERRORID=>MSGErrorId)

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Motion Function Block

Representation Representation:
in ST MC_READAXISERROR(AXIS:=Axis, ENB:=Enable, ERR=>Error,
DO=>Valid, B=>Busy, ERRID=>ErrorId, AXFLT=>AxisFault,
AXFLTID=>AxisFaultId, AXDIAG=>AxisDiag, AXDIAGID=>AxisDiagId,
AXWARN=>AxisWarning, AXWARNID=>AxisWarningId,
AXERRID=>AxisErrorId, MSGERRORID=>MSGErrorId);

Description of The following table describes the output parameters that are in addition to the basic
the Output (see p. 35) parameters:
Parameters
Parameter Type Comment
AxisFault BOOL Drive error.
AxisFaultId UDINT Drive error value.
AxisDiag BOOL Copy of the CPP110 diagnostic bit for the slave.
AxisDiagId UINT AxisDiag value.
AxisWarning BOOL Drive warning.
AxisWarningId UINT Drive warning value.
AxisErrorId WORD MFB error number latching.
MSGErrorId UINT Error latching by messaging.

Error Codes The following table shows the list of diagnostic objects and the corresponding values
according to the drive types:
ATV31 ATV71 Lexium Lexium 05 Icla Lexium
15MP/HP 15LP
AxisFaultId LFT 2029:16 LFT 2029:16 ERRCODE SignLatched FaulSig_SR ERRCODE
2070:16 301C:8 301C:12 385:01
AxisWarningId - LRS6 2002:38 1002:00 WarnLatched WarnSig 1002:00
301C:0C 301C:A
AxisDiagId ERRD 603F:0 ERRD 603F:0 1003:01 StopFault StopFault 1003:01
603F:0 3020:7

Note: Refer to the CANopen device documentation to identify themeaning of the

code.
Special feature: The Lexium 15MP ERRCODE refers to the ASCII object
documentation of the Lexium.

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Motion Function Block

Diagnostic The table below describes a procedure to diagnose the behavior following the
execution of a MFB. The Lexium 15MP is the device used in this example.
Step Action
1 The AxisFault output parameter equals 1.
The AxisFaultId output parameter displays an error code value.
The graph below shows how the diagnostic is given in this example through the
code values:

MC_ReadAxisError
Axis_Ref Axis Error
VELOCITY_Z.ERROR Enable Valid
Busy
ErrorId 0
AxisFault
AxisFaultId 128
AxisDiag
AxisDiagId 0
AxisWarning
AxisWarningId 0
AxisErrorId 0
MSGErrorId 0

2 Refer to the ASCII object documentation of the Lexium 15MP, and look for the
ASCII ERRCODE 2070:16.
3 In the ASCII documentation, the value 16#0080 (128 in decimal) for ERRCODE
designates an overspeed.
4 Correct the speed constants.
5 Execute the MC_Reset block

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Motion Function Block

MC_READSTATUS

Function The MC_READSTATUS function is used to determine the logical status of the
Description servodrive (see p. 31).

Representation Representation:
in FBD
MC_READSTATUS
AXIS Axis Error ERR
EXEC Execute Valid DO
Busy B
ErrorId ERRID
ErrorStop ERRSTOP
Stopping STOP
StandStill ST
DiscretMotion DM
ContinuousMotion CM
SynchronizedMotion SM
MotionTaskMotion MTM
Referenced REF
Downloading DWNLD
Disabled DIS
Homing HOM

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Motion Function Block

Representation Representation:
in LD
MC_READSTATUS
EN ENO

AXIS Axis Error ERR

EXEC Execute Valid DO

Busy B

ErrorId ERRID

ErrorStop ERRSTOP

Stopping STOP

StandStill ST

DiscretMotion DM

ContinuousMotion CM

SynchronizedMotion SM

MotionTaskMotion MTM

Referenced REF

Downloading DWNLD

Disabled DIS

Homing HOM

Representation Representation:
in IL LD Axis
CAL MC_READSTATUS(AXIS:=Axis, EXEC:=Execute, ERR=>Error,
DO=>Valid, B=>Busy, ERRID=>ErrorId, ERRSTOP=>ErrorStop,
STOP=>Stopping, ST=>StandStill, DM=>DiscretMotion,
CM=>ContinuousMotion, SM=>SynchronizedMotion,
MTM=>MotionTaskMotion, REF=>Referenced, DWNLD=>Downloading,
DIS=>Disabled, HOM=>Homing)

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Representation Representation:
in ST MC_READSTATUS(AXIS:=Axis, EXEC:=Execute, ERR=>Error,
DO=>Valid, B=>Busy, ERRID=>ErrorId, ERRSTOP=>ErrorStop,
STOP=>Stopping, ST=>StandStill, DM=>DiscretMotion,
CM=>ContinuousMotion, SM=>SynchronizedMotion,
MTM=>MotionTaskMotion, REF=>Referenced, DWNLD=>Downloading,
DIS=>Disabled, HOM=>Homing);

Description of The following table describes the output parameters that are in addition to the basic
the Output (see p. 35) parameters:
Parameters
Parameter Type Comment
ErrorStop BOOL When ErrorStop is TRUE, stop with an error.
Stopping BOOL When Stopping is TRUE, MC_Stop is in progress.
StandStill BOOL When StandStill is TRUE, the servodrive is in
StandStill status.
DiscretMotion BOOL When DiscretMotion is TRUE, a move in absolute
or relative mode is in progress, or Jog.
ContinuousMotion BOOL When ContinuousMotion is TRUE, a move in
speed mode is in progress, or Torque.
SynchronizedMotion BOOL A synchronization operation is in progress, via the
gearing operating mode.
MotionTaskMotion BOOL An MotionTask operation is in progress via the
Lxm_StartMtask block.
Referenced BOOL The servodrive is referenced (homing performed).
Note: This bit is not taken into account for ATVx type
servodrives.
Downloading BOOL When Downloading is TRUE, downloading is in
progress.
Disabled BOOL Axis is in disable status.
Homing BOOL When Homing is TRUE, MC_Home is in progress.

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Motion Function Block

MC_HOME

Function The MC_HOME function is used to execute a homing command.

Description

Representation Representation:
in FBD
MC_HOME
AXIS Axis Error ERR
EXEC Execute Done DO
HMT HType Busy B
HMS Speed Command... AB
POS ErrorId ERRID
Position

Representation Representation:
in LD
MC_HOME
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

HMT HType Busy B

HMS Speed Command... AB

POS Position ErrorId ERRID

Representation Representation:
in IL LD Axis
CAL MC_HOME(AXIS:=Axis, EXEC:=Execute, HMT:=HType,
POS:=Position, HMS:=Speed, ERR=>Error, DO=>Done, B=>Busy,
AB=>CommandAborted, ERRID=>ErrorId)

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Motion Function Block

Representation Representation:
in ST MC_HOME(AXIS:=Axis, EXEC:=Execute, HMT:=HType, POS:=Position,
HMS:=Speed, ERR=>Error, DO=>Done, B=>Busy,
AB=>CommandAborted, ERRID=>ErrorId);

Description of The following table describes the input parameters that are in addition to the basic
the Input (see p. 35) parameters:
Parameters
Parameter Type Comment
HType INT Homing type.
For Lexium 15MP. HType: if the value is set to -1, no
change, the parameter is not transmitted.
Position DINT Position at the end of the homing.
Speed DINT Homing speed.
If the value is of 0, no change.

Note: The value of the homing type is described in the manual of the device to be
implemented (for the Lexium 15, refer to the ‘Lexium CANopen communication’
and look for ‘Homing’).

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Motion Function Block

LXM_GEARPOS

Function The LXM_GEARPOS function is used to synchronize the position of a slave axis with
Description a master axis, according to a coefficient (ratio).

Note: A physical connection to the auxiliary encoder command interface connector

(X5) between the 2 servodrives must be present.

Representation Representation
in FBD
LXM_GEARPOS
AXIS Axis Error ERR
EXEC Execute InSynch IS
RN RatioNumerator Busy B
RD RatioDenominator ErrorId ERRID

Representation Representation
in LD
LXM_GEARPOS
EN ENO

AXIS Axis Error ERR

EXEC Execute InSynch IS

RN RatioNumerator Busy B

RD RatioDenominator ErrorId ERRID

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Motion Function Block

Representation Representation:
in IL LD Slave
CAL LXM_GEARPOS(AXIS:=Axis, EXEC:=Execute,
RN:=RatioNumerator, RD:=RatioDenominator, ERR=>Error,
IS=>InSynch, B=>Busy, ERRID=>ErrorId)

Representation Representation:
in ST LXM_GEARPOS(AXIS:=Axis, EXEC:=Execute, RN:=RatioNumerator,
RD:=RatioDenominator, ERR=>Error, IS=>InSynch, B=>Busy,
ERRID=>ErrorId);

Description of The following table describes the input parameters that are in addition to the basic
the Input (see p. 35) parameters:
Parameters
Parameter Type Comment
Axis AXIS_REF Axis_Ref (see p. 30) type object, which defines the
slave device.
RatioNumerator DINT Motion synchronization ratio numerator.
RatioDenominator DINT Motion synchronization ratio denominator.

Calcul of slave position for Lexium15MP

D position slave = D position master x ratio numerator/ratio denominator

Calcul of slave position for Lexium15LP

D position slave = D position master x 1024 x ratio numerator/ratio denominator

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Motion Function Block

Description of The following table describes the output parameters that is in addition to the basic
the Output (see p. 35) parameters:
Parameters
Parameter Type Comment
InSynch BOOL InSync is TRUE when the synchronization position, in
relation to the Master, is reached.
It remains TRUE as long as Execute is TRUE even if the axis
has stopped. (not significant for Lexium05).
SyncMode BOOL SyncMode is an additional parameter for the Lexium05.The
access to this parameter by MC_ReadParameter or
MC_WriteParameter before calling MFB_Gear, is possible
by using:
Index =0, Subindex=200 as object number for SyncMode.
FALSE: immediate synchronisation: the positionning
controller follows reference pulses from the time at which
the gear processing is activated. TRUE: synchronisation with
compensation movement. With activation of the gear
processing, the motor endeavours to retrieve the reference
pulses accumulated.

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Motion Function Block

TE_UPLOADDRIVEPARAM

Function The TE_UPLOADDRIVEPARAM function is used to save the parameters of one

Description servodrive to a memory zone of a PLC.

Note: Before executing this function, the servodrive status must be Disabled
(see p. 31).

Representation Representation:
in FBD
TE_UPLOADDRIVEPARAM
AXIS Axis Error ERR
EXEC Execute Done DO
Busy B
Command... AB
ErrorId ERRID
AxisParamDesc_xx ParameterList
ParameterSet PDS
Size S
ErrParamNumber ERRNB

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Motion Function Block

Representation Representation:
in LD
TE_UPLOADDRIVEPARAM
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

Busy B

Command... AB

ErrorId ERRID
AxisParamDesc_xx ParameterList
ParameterSet... PDS

Size... S

ErrParamNumber ERRNB

Representation Representation:
in IL LD Axis
CAL TE_UPLOADDRIVEPARAM(AXIS:=Axis, EXEC:=Execute,
AxisParamDesc_xx:=ParameterList, ERR=>Error, DO=>Done,
B=>Busy, AB=>CommandAborted, ERRID=>ErrorId,
PDS:=ParameterSet, S=>Size, ERRNB=>ErrParamNumber)

Representation Representation:
in ST CAL TE_UPLOADDRIVEPARAM(AXIS:=Axis, EXEC:=Execute,
AxisParamDesc_xx:=ParameterList, ERR=>Error, DO=>Done,
B=>Busy, AB=>CommandAborted, ERRID=>ErrorId,
PDS:=ParameterSet, S=>Size, ERRNB=>ErrParamNumber)

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Description of The following table describes the input parameter that is in addition to the basic
the Input (see p. 35) parameters:
Parameters
Parameter Type Comment
ParameterList ANY_ARRAY_UINT List of parameters: address and length.
ParameterList is to be assigned to the
corresponding array created by the MTM

Note: ParameterList is to be assigned to the ParamDesc variable taken from

the configuration of the axis recipe in the Movement directory.

Description of The following table describes the output parameters that are in addition to the basic
the Output (see p. 35) parameters:
Parameters
Parameter Type Comment
ParameterSet ANY_ARRAY_BYTE Parameter buffer. ParameterSet is to be assigned
to the corresponding array created by the MTM
Size UINT ParameterSet size in bytes.
ErrParamNumber UDINT Faulty index and sub-index numbers.

Note: ParameterSet can be assigned to the Recipe variable if there is only one
recipe declared for the axis.

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Motion Function Block

TE_DOWNLOADDRIVEPARAM

Function The TE_DOWNLOADDRIVEPARAM function is used to transfer the parameters of a

Description servodrive that have been saved previously in the servodrive's PLC memory zone
(for a change of production or for the replacement of a defective servodrive).

Note: Before executing this function, the servodrive status must be Disabled
(see p. 31).

Representation Representation:
in FBD
TE_DOWNLOADDRIVEPARAM
AXIS Axis Error ERR
EXEC Execute Done DO
Busy B
Command... AB
ErrorId ERRID
ErrParamNumber ERRNB
AxisParamDesc_xx ParameterList
Recipe_0 ParameterSet

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Motion Function Block

Representation Representation:
in LD
TE_DOWNLOADDRIVEPARAM
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

Busy B

Command... AB

ErrorId ERRID

ErrParamNumber ERRNB
AxisParamDesc_xx ParameterList

Recipe_0 ParameterSet

Representation Representation:
in IL LD Axis
CAL TE_DOWNLOADDRIVEPARAM(AXIS:=Axis, EXEC:=Execute,
AxisParamDesc_xx:=ParameterList, PS=>ParameterSet,
ERR=>Error, DO=>Done, B=>Busy, AB=>CommandAborted,
ERRID=>ErrorId, ERRNB=>ErrParamNumber)

Representation Representation:
in ST TE_DOWNLOADDRIVEPARAM(AXIS:=Axis, EXEC:=Execute,
AxisParamDesc_xx:=ParameterList, PS=>ParameterSet,
ERR=>Error, DO=>Done, B=>Busy, AB=>CommandAborted,
ERRID=>ErrorId, ERRNB=>ErrParamNumber);

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Motion Function Block

Description of The following table describes the input parameters that are in addition to the basic
the Input (see p. 35) parameters:
Parameters
Parameter Type Comment
ParameterList ANY_ARRAY_UINT List of parameters: address and length.
ParameterList is to be assigned to the
corresponding array created by the MTM.
ParameterSet ANY_ARRAY_BYTE Parameter buffer. ParameterSet is to be assigned
to the corresponding array created by the MTM

Description of The following table describes the output parameters that are in addition to the basic
the Output (see p. 35) parameters:
Parameters
Parameter Type Comment
ErrParamNumber UDINT Faulty index and sub-index numbers.

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Motion Function Block

LXM_UPLOADMTASK

Function MotionTasks are created by a UniLink (by GMT) and saved directly to the EEPROM
Description memory of the Lexium 15MP/LP/HP.
The LXM_UPLOADMTASK function is used to save the MotionTask parameters of the
servodrive to a PLC memory zone.
This function is applicable on the Lexium 15MP/LP/HP servodrive only.

Note: Before executing this function, the servodrive status must be Disabled
(see p. 31).

Representation Representation:
in FBD
LXM_UPLOADMTASK
AXIS Axis Error ERR
EXEC Execute Done DO
Busy B
Command... AB
ErrorId ERRID
ParameterSet PS
Size S

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Motion Function Block

Representation Representation:
in LD
LXM_UPLOADMTASK
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

Busy B

Command... AB

ErrorId ERRID

ParameterSet PS

Size S

Representation Representation:
in IL LD Axis
CAL LXM_UPLOADMTASK(AXIS:=Axis, EXEC:=Execute, ERR=>Error,
DO=>Done, B=>Busy, AB=>CommandAborted, ERRID=>ErrorId,
PS:=ParameterSet, S=>Size)

Representation Representation:
in ST LXM_UPLOADMTASK(AXIS:=Axis, EXEC:=Execute, ERR=>Error,
DO=>Done, B=>Busy, AB=>CommandAborted, ERRID=>ErrorId,
PS:=ParameterSet, S=>Size);

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Motion Function Block

Description of The following table describes the output parameters that are in addition to the basic
the Output (see p. 35) parameters:
Parameters
Parameter Type Comment
ParameterSet ANY_ARRAY_BYTE The byte table where the Motion Tasks are saved
(DDT structure). This table depends on the
number of Motion Function Block (used in the
project.
For Lexium 17/15MP the byte table is equal to:
12 + 27 MT number x bytes
For Lexium 15LP the byte table is equal to:
12 + 29 MT number x bytes
MT: Motion Task
Size UINT Size of the byte table corresponding to the
ParameterSet parameter.

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Motion Function Block

LXM_DOWNLOADMTASK

Function The LXM_DOWNLOADMTASK function is used to load a motion task from the memory
Description of the PLC to the servodrive.
This function is applicable on the Lexium 15 servodrive only.

Note: before executing this function, the servodrive status must be Disabled
(see p. 31).

Representation Representation:
in FBD
LXM_DOWNLOADMTASK
AXIS Axis Error ERR
EXEC Execute Done DO
PS ParameterSet Busy B
ERASE Eraseunused Command... AB
ErrorId ERRID

Representation Representation:
in LD
LXM_DOWNLOADMTASK
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

PS ParameterSet Busy B

Command... AB
ERASE Eraseunused
ErrorId ERRID

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Motion Function Block

Representation Representation:
in IL LD Axis
CAL LXM_DOWNLOADMTASK(AXIS:=Axis, EXEC:=Execute,
PS:=ParameterSet, ERASE:=Eraseunused, ERR=>Error, DO=>Done,
B=>Busy, AB=>CommandAborted, ERRID=>ErrorId)

Representation Representation:
in ST LXM_DOWNLOADMTASK(AXIS:=Axis, EXEC:=Execute,
PS:=ParameterSet, ERASE:=Eraseunused, ERR=>Error, DO=>Done,
B=>Busy, AB=>CommandAborted, ERRID=>ErrorId);

Description of The following table describes the input parameter that is in addition to the basic
the Input (see p. 35) parameters:
Parameters
Parameter Type Comment
ParameterSet ANY_ARRAY_BYTE Motion tasks value (DDT structure).
Eraseunused BOOL Erases unused tasks.

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Motion Function Block

LXM_STARTMTASK

Function The LXM_STARTMTASK function is used to launch the execution of the Motion Task
Description whose number matches the value entered in the MTNumber input parameter.

Representation Representation:
in FBD
LXM_STARTMTASK
AXIS Axis Error ERR
EXEC Execute Done DO
MTNUM MTNumber Command.. AB
Busy B
ErrorId ERRID

Representation Representation:
in LD
LXM_STARTMTASK
EN ENO

AXIS Axis Error ERR

EXEC Execute Done DO

MTNUM MTNumber Command... AB

Busy B

ErrorId ERRID

Representation Representation:
in IL LD Axis
CAL LXM_STARTMTASK(AXIS:=Axis, EXEC:=Execute,
MTNUM:=MTNumber, ERR=>Error, DO=>Done, AB=>CommandAborted,
B=>Busy, ERRID=>ErrorId)

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Representation Representation:
in ST LXM_STARTMTASK(AXIS:=Axis, EXEC:=Execute, MTNUM:=MTNumber,
ERR=>Error, DO=>Done, AB=>CommandAborted, B=>Busy,
ERRID=>ErrorId);

Description of The following table describes the input parameter that is in addition to the basic
the Input (see p. 35) parameters:
Parameters
Parameter Type Comment
MTNumber INT Motion Task number.

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Motion Function Block

Units and Servodrives

Units The following table shows you the speed, position and direction units by servodrive:
Units Lexium15MP/HP/LP Icla ATV31 ATV71 Lexium05
Position PUNIT inc - - USR
Speed VUNIT rpm rpm rpm rpm
Rotation rpm rpm rpm rpm rpm
Torque 1/1000 rated torque - 0.01 nominal 0.01 nominal 1/100 amp
torque torque

USR is a unit that the user defines in Powersuite (by default, it is 16,384 units per
rev).
PUNIT is a position unit that the user defines in Unilink.
VUNIT is a unit to be defined by Unilink (by default, this is PUNIT/sec).

Note: Rotation units only concern the MC_MOVEVELOCITY block.

Speed Equation The rotation speed of the motor controlled in speed mode by a Lexium 15MP is the
of the Lexium 15 setpoint speed multiplied by 0.5722 (0.5722=60*10000/220).
MP/HP in Speed
Example:
Mode
The value of the VELOCITY input parameter of the MC_MOVEVELOCITY block is
3000. The gearing rotation speed is therefore 1716.6 RPM (3000*0.5722).

Speed Equation The rotation speed of an axis controlled in position mode by a Lexium 15MP is the
of the Lexium 15 setpoint speed multiplied by a coefficient K.
MP/HP in K=PGearI/10000.
Position Mode
PGearI is the numerator of the resolution configured in the servodrive by Unilink.
Example:
The value of the VELOCITY input parameter of the MC_MOVEABSOLUTE block is
3000. PGearI is 5000. Punit is in µm format.
K=5000/10000=0.5
Thus the axis speed is 15000 µm/sec (30000*0.5).

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Speed Equation The new MFB library available on Unity Pro V3.0, accepts the new Lexium 15 drives
of the Lexium 15 range compatible on the M340 and PREMIUM PLC platform
LP in Position Parameter VELOCITY equation of the Lexium 15 LP in Position mode for
Mode and Speed MC_MOVEABSOLUTE and MC_MOVERELATIVE:
Mode
VELOCITY (rpm) = VELOCITY (inc/250 µs) * (60*4000) / 2 ^ 32
Parameter VELOCITY equation of the Lexium 15 LP in a Velocity mode for
MC_MOVEVELOCITY:
VELOCITY (rpm) = VELOCITY * 60 / P_GEARI
Unit of the status velocity of the Lexium 15 LP for MC_READACTUALVELOCITY:
PUNIT (Basic screen in Unilink) defines VELOCITY unit
Unit of the Position parameter and status of the Lexium 15 LP
VUNIT (Basic screen in Unilink) defines Position unit
We strongly advise the use of the speed units in rpm whatever the type of control is.
In the other cases of units (i.e. mm/min) the formulas are to be adapted to take into
account the linear dimension of the unit and no more the angular one, by integrating
the P_GEARI factor there.
Tab synthesys => VELOCITY unit in rpm position mode using MC_MOVEABSOLUTE
command for example:
VELOCITY Setpoint in rpm. Reading on Unilink in rpm
VELOCITY value returned by MC_READACTUALVELOCITY:
VELOCITY (inc/250 µs) = VELOCITY Setpoint (rpm) * 2 ^ 32 / (60 x 4000)
In velocity mode, using MC_MOVEVELOCITYcommand
VELOCITY Setpoint to be applied related to the velocity in rpm to be reached.
Reading on Unilink in rpm
VELOCITY Setpoint = VELOCITY (rpm) * P_GEARI / 60
VELOCITY value returned by MC_READACTUALVELOCITY:
VELOCITY = VELOCITY Setpoint * 2 ^ 32 / (P_GEARI x 4000)

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Messaging Service

Introduction The blocks that use messaging slow down the PLC’s cycle time because they make
READ_VAR and WRITE_VAR type requests to the servodrive.

Motion Function The below table shows you which blocks use the messaging service, by type of
Block servodrive:
Block name Lexium 15MP/ Icla ATV31 ATV71 Lexium05 Lexium15 LP
HP
MC Jog W2024sub7 W:3029sub4 NA NA W:3029sub4 NA
W:3029sub5 W:3029sub5
W:3029sub7 W:3029sub7
W:3029sub8 W:3029sub8
MC_ReadActualPosition - R position - - -
MC_ReadActualTorque - NA R:2002sub6 R:6077 R:301Esub3 R:6077
MC_ReadActualVelocity - R velocity - - -
MC_Stop R Stopstate - R Stopstate R Stopstate X
MC_TorqueControl W:2060 NA NA W:6071 no SDO W:6071
R:2002 sub39
MC_MoveAbsolute W ACC 6083:0 W ACC - - W ACC 6083:0
MC_MoveRelative W DEC 6084:0 301D:1A W DEC 6084:0
MC_MoveAdditive
MC_ReadAxisError R 2070:16 R 301C:12 R 2029:16 R 2029:16 R 301C:8
R 1002:0 R 301C:A R 603F:0 R 603F:0 R 301C:C
R 1003:1 R 3020:7 R 603F:0
MC_Home W Hposition W Hposition - - W Hposition
607C:0 3028:B 3028:B
W Hspeed W Hspeed W Hspeed
6099:1 3028:4 6099:1
W HType
6098:0
Lxm_GearPos W GearI 3540:1 NA NA NA no SDO W:3540sub1
W GearO W353Esub1
353E:1
Lxm_DownloadMTask Equationf(MT) - - - -
Lxm_UploadMTask Equationf(MT) - - - -
Lxm_StartMTask Task number - - - -
Notes R: Use of READ_VAR messaging service
W: Use of WRITE_VAR messaging service
R 2029:16: Read an SDO-type object with index 2029 and sub-index 16.

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Memory size

Memory size of The amount of memory used during one AXIS_REF axis declaration in the Motion
the axis directory without a recipe is 240 bytes.
declaration

Memory size of The table below shows the memory size (in word) used by one or more recipe.
the recipe
Device Size used by the Size used by the Size used by the
first recipe following recipe, following recipe,
with drive firmware with drive firmware
current version previous version
Lexium 15LP 1435 577 664
Lexium 15MP/HP 1268 510
ATV31 646 167 170
ATV71 1726 437 499
Lexium 05 314 96 133
Icla Ifa 303 99
Icla Ife 244 82
Icla Ifs 230 77

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Memory size of The table below shows on the Premium the memory size (in bytes) used by code,
MFB blocks for data by instance and by upload information in the MFB blocks.
Premium
MFB block type data by instance code Upload
platform
information
CAN_HANDLER 336 14544 2575
Lxm_DownloadMTask 112 3248 688
Lxm_GearPos 112 2416 624
Lxm_StartMTask 96 1936 240
Lxm_UploadMTask 96 2288 288
MC_TorqueControl
MC_Home 112 4834 320
MC_Jog
MC_MoveAbsolute 144 4400 352
MC_MoveAdditive 144 3024 288
MC_MoveRelative 144 3680 192
MC_MoveVelocity 128 2992 272
MC_Power 80 1200 256
MC_ReadActualPosition 80 864 272
MC_ReadActualTorque
MC_ReadActualVelocity 96 928 128
MC_ReadAxisError 96 2016 384
MC_ReadParameter 96 1104 288
MC_ReadStatus 80 832 400
MC_Reset 80 2496 208
MC_Stop 128 3200 272
MC_WriteParameter 96 1120 192
TE_DownloadDriveParam 176 5648 464
TE_UploadDriveParam 160 2288 272

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Memory size of The table below shows on the Modicon M340 the memory size (in bytes) used by
MFB blocks for code, data by instance and by upload information in the MFB blocks.
Modicon M340
MFB block type data by instance code Upload
platform
information
Axis_ref 240 0 2688
CAN_HANDLER 352 17408 2944
Lxm_DownloadMTask 128 3600 800
Lxm_GearPos 128 2757 624
Lxm_StartMTask 96 2240 256
Lxm_UploadMTask 96 2512 304
MC_TorqueControl
MC_Home 128 4544 272
MC_Jog
MC_MoveAbsolute 144 4800 288
MC_MoveAdditive 144 3536 192
MC_MoveRelative 144 3984 160
MC_MoveVelocity 144 3520 240
MC_Power 80 1344 288
MC_ReadActualPosition 96 912 272
MC_ReadActualTorque
MC_ReadActualVelocity 96 1216 176
MC_ReadAxisError 112 2208 368
MC_ReadParameter 96 1184 240
MC_ReadStatus 96 880 368
MC_Reset 80 2656 256
MC_Stop 144 3328 208
MC_WriteParameter 96 1168 192
TE_DownloadDriveParam 176 7504 352
TE_UploadDriveParam 176 2320 304

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Appendices

Introduction

Overview This section contains the appendicies.

What's in this The appendix contains the following chapters:

Appendix?
Chapter Chapter Name Page
A Error Codes and Values 107
B MFB performances 111

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Appendices

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Error Codes and Values

A
Tables of Error Codes for the Motion Function Block Library

Introduction The tables presented in this section list the error codes and values generated by the
blocks in the MotionFunctionBlock library.

Motion Function The following table contains the error codes and values generated in the ErrorId
Blocks output parameter of MFB blocks.
Error_Id (decimal Meaning
format)
0 Correct execution.
1 PLC messaging (see Unity Pro, Communication, Block Library
Management, Parameters: Communication and Operation Reports)
system deferred error, to see details use MC_ReadAxisError
(see p. 73) block with the MSGERRORID information.
2 -
3 The block was interrupted due to a power cut.
4 Cancelled block (Enable switched to 0 during execution).
5 -
6 Faulty axis or axis missing.
7 Axisref changed value during execution of block or the same
instance programmed with another Axis_Ref.
If the value belongs to the Can_Handler block, the Axis_Ref is not
intended for the CAN_Handler variable.
8 The servodrive has rejected the command (to see details, use
MC_ReadAxisError block).
9 This block cannot be executed in this axis mode (axis mode available
using MC_ReadStatus).
10 Bad condition for jog direction: Both forward and backward inputs are
active. If the axis was moving, it will be stopped.

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Error Codes and Values

Error_Id (decimal Meaning

format)
11 The block was interrupted by a MC_Stop.
12 The block was interrupted by another block (for example: one MC_MOVE
interrupting another).
13 The block has stopped because the servodrive has taken too long to
perform the command (e.g.: MC_POWER).
14 The servodrive should be enabled but it is not now.
15 -
16 -
17 During an implicit exchange with the servodrive, the block has either:
z lost the semaphore because a priority block took it,

z or the block has not been invoked for n cycles, the system has
therefore withdrawn the semaphore.
18 Unable to execute the MFB.
19 During an implicit exchange with the servodrive, the semaphore could
not be obtained in the time allowed (too many blocks waiting for the
servodrive, or servodrive too slow to react).
20 Internal error.
21 Parameter transfer error (corrupted data); TE_UpLoadDriveParam
and TE_DownLoadDriveParam blocks.
22 During an implicit messaging exchange with the servodrive, the block
has either:
z lost the semaphore because a priority block took it,

z or the block has not been invoked for n cycles, the system has
therefore withdrawn the semaphore.
23 Internal error.
24 During a messaging exchange with the servodrive, the PLC’s
messaging system was saturated for more than five PLC cycles.
25 Internal error.
26 The AMT has configured a servodrive that the MFB cannot program.
27 PLC messaging (see Unity Pro, Communication, Block Library
Management, Parameters: Communication and Operation Reports)
system immediate error, see details using MC_ReadAxisError
(see p. 73) block with the MSGERRORID information.
28 Axis programmed in two CAN_HANDLERs.
29 InitAxis: No network at the programmed network address.
30 -

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Error Codes and Values

Error_Id (decimal Meaning

format)
31 Internal error.
32 Temporary error sent back by MC_Readstatus during a warm restart.
33 SET variable is too small for the data to write.
34 SET variable is incompatible with this servodrive.
35 LIST variable is incompatible with this servodrive.
36 LIST variable corrupted (checksum error).
37 SET variable corrupted (checksum error).
38 Restarting of Can_handler
39 The TSX CPP 110 card does not see the device at the configured
address.
40 The family in the configuration does not match the one in the current
servodrive.
41 The reference in the configuration does not match the one in the current
servodrive.
42 Servodrive unknown.
43 The parameters List version does not match the Set version set of
parameters.
44 The servodrive is still faulty after a reset.
45 The device does not work correctly when the MFB command is
performed (only for Lexium 17).

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MFB performances

B
MFB Performance Table

At a glance The table below presents for the differents tests with Motion Function Block the
performances for each servodrive.

Conditions and CANopen baud rate configuration = 500kbds

rules PLC period task is:
z 5ms+ nb_axis_x1ms if nb_axis>3,
z 5ms if nb_axis<=3.

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MFB Performances

Test table The test are done for the following servodrives: Lexium 05, Lexium 15 MP/HP,
Lexium 15 LP, Icla, ATV31 and ATV71.

Performances (ms)
Test Type Lexium 05 Lexium Lexium Icla ATV31 ATV71
15 MP/HP 15 LP
MC_MOVEABSOLUTE Start (6 to 7)c (6 to 7)c (6 to 7)c (4 to 5)c X X
(change mode, modification of
acceleration and deceleration)
MC_MOVEABSOLUTE Start (no 1c 1c 1c 1c X X
changes)
Time between 2 2c 2c + 3ms + 2c + 1ms + 2c X X
MC_MOVEABSOLUTE (1) TcMH TcLP
Time between 2 1c + 0.5 ms 1c + 3ms + 1c + 1ms + 1c + 0.5 ms X X
MC_MOVEABSOLUTE (second TcMH TcLP
motion task just after the first
motion task)
Interruption delay 1c + 0.5 ms 1c + 5ms + 1c + 1ms + 1c + 0.5 ms X X
MC_MOVEABSOLUTE to the same TcMH TcLP
instance
Interruption delay 1c + 0.5 ms 1c + 5ms + 1c + 1ms + 1c + 0.5 ms X X
MC_MOVEABSOLUTE with TcMH TcLP
another instance
Start motion task X 1c + 5ms + 1c + 2ms + X X X
TcMH TcLP
Delay between two motion tasks X 1c + 5ms + 42 + TcLP X X X
(1) TcMH
Stop during Move 1c + 0.5 ms 1c + 1ms + 1c + 2ms + 1c + 0.5 ms X X
TcMH TcLP
Change speed in the same 1c + 0.5 ms 1c + 1ms + 1c + 1ms + 1c + 0.5 ms 1c + 10ms 1c + 5ms +
instance of MC_MOVEVELOCITY TcMH TcLP + TcATV31 TcATV71
Save servodrives parameters 212 760 851 197 473 1283
(TE_UPLOADDRIVEPARAM)
Transfer of servodrives 219 1239 1460 204 502 1329
parameters
(TE_DOWNLOADDRIVEPARAM)
Save 20 motion tasks X 1778 1739 X X X
(LXM_UPLOADMTASK)
Load 20 motion tasks X 1237 583 X X X
(LXM_DOWNLOADMTASK)

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MFB Performances

Performances (ms)
Test Type Lexium 05 Lexium Lexium Icla ATV31 ATV71
15 MP/HP 15 LP
Legend
(1): in the case of a program where the second comand comes before the first command, you have to add one PLC
period task on the equation.
c: PLC period task
TcMH: Lexium 15 MP/HP cycle time (0 to 3 ms)
TcLP: Lexium 15 LP cycle time (0 to 1 ms)
TcATV31: ATV31 cycle time (15 ms)
TcATV71: ATV71 cycle time (5 ms)

Examples Applications with 3 axis (Lexium 05):

c = 5 ms
Time start a MC_MOVEABSOLUTE with no changes = 1c = 5ms
Interruption delay of the same instance of MC_MOVEABSOLUTE = 1c+0,5ms = 5+0,5
= 5,5ms
Applications with 1 axis (Lexium 15LP):
c = 5 ms
Time start a MC_MOVEABSOLUTE with changes = 6c +1c = 6x5+5 = 35ms

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114 35010605.04 07/2008

Glossary

%I According to the CEI standard, %I indicates a language object of type discrete IN.

%IW According to the CEI standard, %IW indicates a language object of type analog IN.

%KW According to the CEI standard, %KW indicates a language object of type constant
word.

%M According to the CEI standard, %M indicates a language object of type memory bit.

%MW According to the CEI standard, %MW indicates a language object of type memory
word.

%Q According to the CEI standard, %Q indicates a language object of type discrete OUT.

%QW According to the CEI standard, %QW indicates a language object of type analog OUT.

ADDM_TYPE This predefined type is used as an output for the ADDM function. This is an
ARRAY[0..8] OF Int. You can find it in the library, in the same family as the EFs that
use it.

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Glossary

ADDR_TYPE This predefined type is used as an output for the ADDR function. This is an
ARRAY[0..5] OF Int. You can find it in the library, in the same family as the EFs that
use it.

ANL_IN ANL_IN is the abbreviation of the analog input data type. It is used when processing
analog values. %IW addresses in the configured analog input module, which are
specified in the list of I/O components, are automatically assigned to data types, and
therefore must be occupied by unassigned variables only.

ANL_OUT ANL_OUT is the abbreviation of the analog output data type. It is used when
processing analog values. %MW addresses in the configured analog input module,
which are specified in the list of I/O components, are automatically assigned to data
types, and therefore must be occupied by unassigned variables only.

ANY There is a hierarchy among the various data types. In the DFBs, it is sometimes
possible to declare variables that can contain several types of values. In that case
we use ANY_xxx types.

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Glossary

The figure below describes this hierarchical structure:

ANY
ANY_ELEMENTARY
ANY_MAGNITUDE_OR_BIT
ANY_MAGNITUDE
ANY_NUM
ANY_REAL
REAL
ANY_INT
DINT, INT, UDINT, UINT
TIME
ANY_BIT
DWORD, WORD, BYTE, BOOL
ANY_STRING
STRING
ANY_DATE
DATE_AND_TIME, DATE, TIME_OF_DAY
EBOOL
ANY_DERIVED
ANY_ARRAY
ANY_ARRAY_ANY_EDT
ANY_ARRAY_ANY_MAGNITUDE
ANY_ARRAY_ANY_NUM
ANY_ARRAY_ANY_REAL
ANY_ARRAY_REAL
ANY_ARRAY_ANY_INT
ANY_ARRAY_DINT
ANY_ARRAY_INT
ANY_ARRAY_UDINT
ANNY_ARRAY_UINT
ANY_ARRAY_TIME
ANY_ARRAY_ANY_BIT
ANY_ARRAY_DWORD
ANY_ARRAY_WORD
ANY_ARRAY_BYTE
ANY_ARRAY_BOOL
ANY_ARRAY_ANY_STRING
ANY_ARRAY_STRING
ANY_ARRAY_ANY_DATE
ANY_ARRAY_DATE_AND_TIME
ANY_ARRAY_DATE
ANY_ARRAY_TIME_OF_DAY
ANY_ARRAY_EBOOL
ANY_ARRAY_ANY_DDT
ANY_STRUCTURE
ANY_DDT
ANY_IODDT
ANY_FFB
ANY_EFB
ANY_DFB

ARRAY An ARRAY is a table containing elements of a single type.

The syntax is as follows: ARRAY [<limits>] OF <Type>
Example:
ARRAY [1..2] OF BOOL is a one-dimensional table with two elements of type
BOOL.
ARRAY [1..10, 1..20] OF INT is a two-dimensional table with 10x20 elements
of type INT.

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Glossary

Assigned A variable whose position in the PLC memory can be known. For example, the
variables Water_pressure variable is associated with %MW102. Water_pressure is said
to be assigned.

BCD BCD is the abbreviation of the Binary Coded Decimal format.

BCD can be used to represent decimal numbers between 0 and 9 using a set of four
bits (nybble).
In this format, the four bits used to encode decimal numbers have an unused range
of combinations.
Example of BCD encoding:
z The number 2,450
z is encoded: 0010 0100 0101 0000

BOOL BOOL is the abbreviation for the Boolean type. This is the basic data type in
computing. A BOOL variable can have either of the following two values: 0 (FALSE)
or 1 (TRUE).
A bit extracted from a word is of type BOOL, for example: %MW10.4.

BYTE When 8 bits are grouped together, they are called a BYTE. You can enter a BYTE
either in binary mode or in base 8.
The BYTE type is encoded in an 8 bit format which, in hexadecimal format, ranges
from 16#00 to 16#FF.

DATE The DATE type, encoded in BCD in a 32 bit format, contains the following
information:
z the year encoded in a 16 bit field,
z the month encoded in an 8 bit field,
z the day encoded in an 8 bit field.

The DATE type must be entered as follows: D#<Year>-<Month>-<Day>

This table shows the upper/lower limits of each field:

Field Limits Comment

Year [1990,2099] Year
Month [01,12] The leading 0 is displayed; it can be omitted during data entry.

118 35010605.04 07/2008

Glossary

Field Limits Comment

Day [01,31] For months 01/03/05/07/08/10/12
[01,30] For months 04/06/09/11
[01,29] For month 02 (leap years)
[01,28] For month 02 (non-leap years)

DATE_AND_TIME See DT.

DBCD Representation of a double integer in double BCD format.

BCD format can be used to represent decimal numbers between 0 and 9 using a set
of four bits.
In this format, the four bits used to encode decimal numbers have an unused range
of combinations.
Example of DBCD encoding:
z The number 78,993,016
z is encoded: 0111 1000 1001 1001 0011 0000 0001 0110

DDT DDT is the abbreviation of Derived Data Type.

A derived data type is a set of elements with the same type (ARRAY) or with different
types (structure).

DFB DFB is the abbreviation of Derived Function Block.

DFB types are function blocks that can be defined by the user in ST, IL, LD or FBD
language.
Using these DFB types in an application makes it possible to:
z simplify the design and entry of the program;
z make the program easier to read;
z make it easier to debug;
z reduce the amount of code generated.

DINT DINT is the abbreviation of Double INTeger (encoded in 32 bits).

The upper/lower limits are as follows: -(2 to the power of 31) to (2 to the power of
31) - 1.
Example:
-2147483648, 2147483647, 16#FFFFFFFF.

DT DT is the abbreviation of Date and Time.

The DT type, encoded in BCD in a 64 bit format, contains the following information:
z the year encoded in a 16 bit field,
z the month encoded in an 8 bit field,
z the day encoded in an 8 bit field,
z the time encoded in an 8 bit field,
z the minutes encoded in an 8 bit field,
z the seconds encoded in an 8 bit field.

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Glossary

Note: The 8 least significant bits are not used.

The DT type must be entered as follows:

DT#<Year>-<Month>-<Day>-<Hour>:<Minutes>:<Seconds>
This table shows the upper/lower limits of each field:

Field Limits Comment

Year [1990,2099] Year
Month [01,12] The leading 0 is displayed; it can be omitted during data entry.
Day [01,31] For months 01/03/05/07/08/10/12
[01,30] For months 04/06/09/11
[01,29] For month 02 (leap years)
[01,28] For month 02 (non-leap years)
Hour [00,23] The leading 0 is displayed; it can be omitted during data entry.
Minute [00,59] The leading 0 is displayed; it can be omitted during data entry.
Second [00,59] The leading 0 is displayed; it can be omitted during data entry.

DWORD DWORD is the abbreviation of Double Word.

The DWORD type is encoded in a 32 bit format.
This table shows the upper/lower limits of each of the bases that can be used:

Base Lower limit Upper limit

Hexadecimal 16#0 16#FFFFFFFF
Octal 8#0 8#37777777777
Binary 2#0 2#11111111111111111111111111111111

Examples of representation:

Data Representation in one of the bases

00000000000010101101110011011110 16#ADCDE
00000000000000010000000000000000 8#200000
00000000000010101011110011011110 2#10101011110011011110

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Glossary

EBOOL EBOOL is the abbreviation of Extended BOOLean. An EBOOL type has a value (0
(FALSE) or 1 (TRUE), but also rising or falling edges and forcing functions.
An EBOOL variable occupies one byte in memory.
The byte contains the following information:
z one bit for the value;
z one bit for the history (whenever the object changes state, the value is copied to
the history bit);
z one bit for forcing (equal to 0 if the object is not forced, or 1 if the bit is forced).

The default value of each bit is 0 (FALSE).

EF EF is the abbreviation of Elementary Function.

This is a block used in a program which performs a predefined logical function.
A function does not have any information on the internal state. Several calls to the
same function using the same input parameters will return the same output values.
You will find information on the graphic form of the function call in the "[functional
block (instance)]". Unlike a call to a function block, function calls include only an
output which is not named and whose name is identical to that of the function. In
FBD, each call is indicated by a unique [number ] via the graphic block. This number
is managed automatically and cannot be modified.
You position and configure these functions in your program in order to execute your
application.
You can also develop other functions using the SDKC development kit.

EFB EFB is the abbreviation of Elementary Function Block.

This is a block used in a program which performs a predefined logical function.
EFBs have states and internal parameters. Even if the inputs are identical, the
output values may differ. For example, a counter has an output indicating that the
preselection value has been reached. This output is set to 1 when the current value
is equal to the preselection value.

Elementary See EF.

function

EN EN stands for ENable; it is an optional block input. When the EN input is enabled, an
ENO output is set automatically.
If EN = 0, the block is not enabled; its internal program is not executed, and ENO is
set to 0.
If EN = 1, the block's internal program is run and ENO is set to 1. If an error occurs,
ENO is set to 0.
If the EN input is not connected, it is set automatically to 1.

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Glossary

ENO ENO stands for Error NOtification; this is the output associated with the optional input
EN.
If ENO is set to 0 (because EN = 0 or in case of an execution error):
z the status of the function block outputs remains the same as it was during the
previous scanning cycle that executed correctly;
z the output(s) of the function, as well as the procedures, are set to "0".

FBD FBD is the abbreviation of Function Block Diagram.

FBD is a graphical programming language that works like a flowchart. By adding
simple logical blocks (AND, OR, etc.), each function or function block in the program
is represented in this graphical format. For each block, the inputs are on the left and
the outputs on the right. Block outputs can be linked to inputs of other blocks in order
to create complex expressions.

FFB Collective term for EF (elementary function), EFB (elementary function block) and
DFB (derived function block).

FTP File Transfer Protocol.

Function See EF.

Function Block See FBD.

Diagram

Global Data Global Data provides the automatic exchange of data variables for the coordination
of PLC applications.

GRAY The Gray code, or "reflected binary", is used to encode a numerical value developed
in a string of binary configurations that may be differentiated by changing the status
of a single bit.
For example, this code can be used to avoid the following random event: in pure
binary, changing the value 0111 to 1000 may produce a range numbers between 0
and 1,000, given that the bits do not all change value at the same time.

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Glossary

Equivalence between decimal, BCD and Gray:

Decimal 0 1 2 3 4 5 6 7 8 9

BCD 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001

Gray 0000 0001 0011 0010 0110 0111 0101 0100 1100 1101

HTTP Hypertext Transfer Protocol

I/O scanning An I/O scan continuously polls I/O modules to collect data bits and status, error, and
diagnostics information. This process monitors inputs and control outputs.

IEC 61131-3 International standard: programmable logic controllers

Part 3: programming languages

IL IL is the abbreviation of Instruction List.

This language is a series of basic instructions.
It is very close to assembly language used to program processors.
Each instruction is made up of an instruction code and an operand.

INF Used to indicate that a number exceeds the authorized limits.

For an integer, the value ranges (shown in gray) are as follows:

-INF INF

-3.402824e+38 -1.1754944e-38 0.0 1.1754944e-38 3.402824e+38

When a result is:

z less than -3.402824e+38, the symbol -INF (for -infinity) is displayed;
z greater than +3.402824e+38, the symbol INF (for +infinity) is displayed;

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Glossary

INT INT is the abbreviation of single INTeger (encoded in 16 bits).

The upper/lower limits are as follows: -(2 to the power of 15) to (2 to the power of
15) - 1.
Example:
-32768, 32767, 2#1111110001001001, 16#9FA4.

IODDT IODDT is the abbreviation of Input/Output Derived Data Type.

The term IODDT indicates a structured data type representing a module or a
channel of a PLC module. Each expert module has its own IODDTs.

Keyword A keyword is a unique combination of characters used as a syntax element in a

programming language (see the definition provided in appendix B of the IEC 61131-
3 standard. All the keywords used in Unity Pro and included in the IEC 61131-3
standard appear in appendix C of that standard. Keywords cannot be used as
identifiers [names of variables, sections, DFB types, etc.] in your program).

LD LD is the abbreviation of Ladder Diagram.

LD is a programming language that represents instructions to be executed as
graphical diagrams very similar to electrical diagrams (contacts, coils, etc.).

Literal value in A literal value in base 10 is used to represent a decimal integer value. This value
base 10 may be preceded by the "+" and "-" signs. If the "_" character is used in the literal
value, it is not significant.
Example:
-12, 0, 123_456, +986

Literal value in A literal value in base 16 is used to represent a hexadecimal integer. The base is
base 16 determined by the number "16" and the "#" sign. The "+" and "-" signs are prohibited.
To make it easier to read, you can use the "_" sign between the bits.
Example:
16#F_F or 16#FF (decimal 255)
16#F_F or 16#FF (decimal 224)

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Glossary

Literal value in A literal value in base 2 is used to represent a binary integer. The base is determined
base 2 by the number "2" and the "#" sign. The "+" and "-" signs are prohibited. To make it
easier to read, you can use the "_" sign between the bits.
Example:
2#1111_1111 or 2#11111111 (decimal 255)
2#1110_0000 or 2#11100000 (decimal 224)

Literal value in A literal value in base 8 is used to represent an octal integer. The base is determined
base 8 by the number "8" and the "#" sign. The "+" and "-" signs are prohibited. To make it
easier to read, you can use the "_" sign between the bits.
Example:
8#3_77 or 8#377 (decimal 255)
8#34_0 or 8#340 (decimal 224)

Literal value of a A literal real value is a number expressed with one or more decimals.
real Example:
-12,0, 0,0, +0,456, 3,14159_26

Literal value of a Number that may be expressed using standard scientific notation. In that case the
real with an representation is as follows: mantissa + exponent.
exponent Example:
-1.34E-12 or -1.34e-12
1.0E+6 or 1.0e+6
1.234E6 or 1.234e6

Literal value of A literal value of an integer is used to enter integer values in the decimal system.
an integer Values may be preceded by the "+" and "-" signs. Underscore signs (_) separating
numbers are not significant.
Example:
-12, 0, 123_456, +986

Literal value of The TIME type has the following units: days (d), hours (h), minutes (m), seconds (s)
time and milliseconds (ms). A literal value of type TIME is represented by a combination
of the preceding types prefixed with T#, t#, TIME# or time#.
Examples: T#25h15m, t#14,7S, TIME#5d10h23m45s3ms

Multitoken Operating mode of an SFC. In multitoken mode, the SFC can have several steps
that are active simultaneously.

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Glossary

Naming An identifier is a series of letters, digits, and underscores starting with a letter or an
conventions underscore (e.g. the name of a function block type, an instance, a variable, or a
(identifier) section). Accented letters (such as ö, ü, é and õ) may be used, except in names of
projects and DFBs. Underscore signs are significant in identifiers. For example,
A_BCD and AB_CD are interpreted as different identifiers. You cannot use several
underscores in succession or at the start of an identifier.
Identifiers cannot contain spaces. They do not differentiate uppercase and
lowercase characters. For example, ABCD and abcd are interpreted as the same
identifier.
According to the IEC 61131-3 standard, leading digits are not authorized in
identifiers. However, you can use them if, from the Tools → Project options dialog
box, in the Language extensions tab, you check the Leading digits authorized
box.
Identifiers cannot be keywords.

NAN Used to indicate that the result of an operation is not a number (NAN = Not A
Number).
Example: calculating the square root of a negative number.

Note: The CEI 559 standard defines two classes of NAN: the silent NAN (QNAN)
and the signaling NAN (SNAN). A QNAN is a NAN with a most significant fraction
bit while an SNAN is a NAN without a most significant fraction bit (bit number 22).
QNANs can be propagated via most arithmetic operations without throwing an
exception. As for SNANs, they generally indicate an invalid operation when they are
used as operands in arithmetic operations (see %SW17 and %S18).

Network There are two meanings of the work "network".

z In LD:
a network is a set of interconnected graphic elements. The scope of a network
is local, concerning the organizational unit (section) of the program containing the
network.
z With expert communication modules:
a network is a set of stations that intercommunicate. The term "network" is also
used to define a group interconnected graphic elements. This group then makes
up part of a program that may comprise a group of networks.

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Glossary

Procedure Procedures are technically functional views. The only difference with elementary
functions is the fact that procedures can include more than one output and that they
handle the VAR_IN_OUT data type. In appearance, procedures are no different from
elementary functions.
Procedures are an extension to the IEC 61131-3 standard.

REAL The REAL type is encoded in a 32 bit format.

The possible value ranges are shown in the figure below:

-INF INF

-3.402824e+38 -1.1754944e-38 0.0 1.1754944e-38 3.402824e+38

When a result is:

z between -1,175494e-38 and 1,175494e-38, it is considered to be a DEN;
z less than -3.402824e+38, the symbol -INF (for - infinity) is displayed;
z greater than +3.402824e+38, the symbol INF (for + infinity) is displayed;
z undefined (square root of a negative number), the symbolNAN is displayed.

Note: The IEC 559 standard defines two classes of NAN: the silent NAN (QNAN)
and the signaling NAN (SNAN). A QNAN is a NAN with a most significant fraction
bit while an SNAN is a NAN without a most significant fraction bit (bit number 22).
QNANs can be propagated via most arithmetic operations without throwing an
exception. As for SNANs, they generally indicate n invalid operation when they are
used as operands in arithmetic operations (see %SW17 and %S18).

Note: When a DEN (non-standardized number) is used as an operand, the result is

not significant.

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Glossary

SFC SFC is the abbreviation of Sequential Function Chart.

An SFC can be used to graphically represent in a structured manner the operation
of a sequential PLC. This graphical description of the PLC's sequential behavior and
of the various resulting situations is created using simple graphic symbols.

SIL Safety Integrity Level

Safety functions are executed to achieve and maintain the safe state of a system.
The IEC 61508 specifies 4 levels of safety performance for a safety function. These
are called safety integrity levels (SIL), ranging from 1 (the lowest) to 4 (the highest).
The Quantum Safety PLC is certified for use in SIL2 applications in which the de-
energized state is the safe state, for example in an Emergency Shutdown (ESD)
system.
You can use the Schneider safety products for creating a Hot Standby (HSBY)
solution if you require high availability for a safety system.

Single token Operating mode for an SFC diagram in which only one step can be active at a given
time.

SNMP Simple Network Management Protocol.

ST ST is the abbreviation of Structured Text.

The structured literal language is a developed language similar to computer
programming languages. It can be used to organize a series of instructions.

STRING A STRING variable is a series of ASCII characters. The maximum length of a string
is 65,534 characters.

TIME The TIME type expresses a time in milliseconds. Encoded in 32 bits, this type can
be used to obtain times from 0 to 2 32-1 milliseconds.
The TIME type has the following units: days (d), hours (h), minutes (m), seconds (s)
and milliseconds (ms). A literal value of type TIME is represented by a combination
of the preceding types prefixed with T#, t#, TIME# or time#.
Examples: T#25h15m, t#14,7S, TIME#5d10h23m45s3ms

TIME_OF_DAY See TOD.

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Glossary

TOD TOD is the abbreviation of Time Of Day.

The TOD type, encoded in BCD in a 32 bit format, contains the following information:
z the hour encoded in an 8 bit field;
z the minutes encoded in an 8 bit field;
z the seconds encoded in an 8 bit field.

Note: The 8 least significant bits are not used.

The TOD type must be entered as follows: TOD#<Hour>:<Minutes>:<Seconds>

This table shows the upper/lower limits of each field:

Field Limits Comment

Hour [00,23] The leading 0 is displayed; it can be omitted during data entry.
Minute [00,59] The leading 0 is displayed; it can be omitted during data entry.
Second [00,59] The leading 0 is displayed; it can be omitted during data entry.

Example: TOD#23:59:45.

Token Active step in an SFC.

TOPO_ADDR_TYPE This predefined type is used as an output for the READ_TOPO_ADDR function.
This is an ARRAY[0..4] OF Int. You can find it in the library, in the same family as
the EFs that use it.

UDINT UDINT is the abbreviation of Unsigned Double INTeger (encoded in 32 bits). The
upper/lower limits are as follows: 0 to (2 to the power of 32) - 1.
Example:
0, 4294967295, 2#11111111111111111111111111111111, 8#37777777777,
16#FFFFFFFF.

UDP user datagram protocol. UDP is a connectionless Internet communications protocol

defined by IETF RFC 768. This protocol facilitates the direct transmission of
datagrams on IP networks. UDP/IP messages do not expect a response, and are
therefore ideal for applications in which dropped packets do not require
retransmission (such as streaming video and networks that demand real-time
performance).

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Glossary

UINT UINT is the abbreviation of the Unsigned INTeger format (encoded in 16 bits). The
upper/lower limits are as follows: 0 to (2 to the power of 16) - 1.
Example:
0, 65535, 2#1111111111111111, 8#177777, 16#FFFF.

Unassigned A variable whose position in the PLC memory cannot be known. A variable that is
variables not linked to an address is called unassigned variable.

Variable Memory entity of type BOOL, WORD, DWORD, etc., whose contents can be modified by
the program currently running.

WORD The type WORD is encoded in a 16 bit format and is used to perform processing on
series of bits.
This table shows the upper/lower limits of each of the bases that can be used:

Base Lower limit Upper limit

Hexadecimal 16#0 16#FFFF
Octal 8#0 8#177777
Binary 2#0 2#1111111111111111

Examples of representation

Data Representation in one of the bases

0000000011010011 16#D3
1010101010101010 8#125252
0000000011010011 2#11010011

130 35010605.04 07/2008

Index
B
AC
A M
availability of the instructions, 23 MC_HOME, 80
AXIS_REF, 30 MC_JOG, 70
MC_MOVEABSOLUTE, 60
MC_MOVEADDITIVE, 64
B MC_MOVERELATIVE, 62
basic parameters, 35 MC_MOVEVELOCITY, 68
MC_POWER, 59
MC_READACTUALPOSITION, 46
C MC_READACTUALTORQUE, 50
CAN_HANDLER, 40 MC_READACTUALVELOCITY, 48
MC_READAXISERROR, 73
MC_READPARAMETER, 42
I MC_READSTATUS, 77
instructions MC_RESET, 54
availability, 23 MC_STOP, 56
MC_TORQUECONTROL, 52
MC_WRITEPARAMETER, 44
L
Lexium-instructions
LXM_DOWNLOADMTASK, 94
LXM_GEARPOS, 82
LXM_STARTMTASK, 96
LXM_UPLOADMTASK, 91
LXM_DOWNLOADMTASK, 94
LXM_GEARPOS, 82
LXM_STARTMTASK, 96
LXM_UPLOADMTASK, 91

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Index

motion-instructions
CAN_HANDLER, 40
MC_HOME, 80
MC_JOG, 70
MC_MOVEABSOLUTE, 60
MC_MOVEADDITIVE, 64
MC_MOVERELATIVE, 62
MC_MOVEVELOCITY, 68
MC_POWER, 59
MC_READACTUALPOSITION, 46
MC_READACTUALTORQUE, 50
MC_READACTUALVELOCITY, 48
MC_READAXISERROR, 73
MC_READPARAMETER, 42
MC_READSTATUS, 77
MC_RESET, 54
MC_STOP, 56
MC_TORQUECONTROL, 52
MC_WRITEPARAMETER, 44
TE_DOWNLOADDRIVEPARAM, 88
TE_UPLOADDRIVEPARAM, 85