Function Blocks

One block per row, with the variables it is called through. A block is called on the PLCopen interface: the axis, channel or group goes in as a reference, Execute or Enable starts it, and the answer comes back on the block’s own outputs rather than on the channel’s status.

The plain libraries come first. The packages after them are modules, so their blocks are in a project only when that module is.

Motion_Applications

Block	Called on	Inputs	Outputs
MC_Jog	Axis : AXIS_REF	JogForward : BOOL, JogBackwards : BOOL, Mode : MC_JOG_MODE, Position : LREAL, Velocity : LREAL, Acceleration : LREAL, Deceleration : LREAL, Jerk : LREAL	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD

Motion_Camming

Block	Called on	Inputs	Outputs
MC_CamIn	Master : AXIS_REF, Slave : AXIS_REF	Execute : BOOL, CamTableId : MC_CAM_ID, StartMode : MC_START_MODE, MasterOffset : LREAL, SlaveOffset : LREAL, MasterScaling : LREAL, SlaveScaling : LREAL	Done : BOOL, Busy : BOOL, Active : BOOL, InSync : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD
MC_CamOut	Axis : AXIS_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_CamTableSelect	Axis : AXIS_REF	Execute : BOOL, CamTable : MC_CAM_REF, CamTableId : MC_CAM_ID	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD

Motion_Channel

Block	Called on	Inputs	Outputs
MC_BlockSearch	Channel : CHANNEL_REF	Execute : BOOL, LineNumber : UDINT	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_ChannelDisable	Channel : CHANNEL_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_ChannelEnable	Channel : CHANNEL_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_ChannelReadError	Channel : CHANNEL_REF	Enable : BOOL	Valid : BOOL, Error : BOOL, ErrorID : MC_ErrorCode
MC_ChannelReadStatus	Channel : CHANNEL_REF	Enable : BOOL	Valid : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD, ErrorStop : BOOL, Disabled : BOOL, Stopping : BOOL, Standby : BOOL, Moving : BOOL, Homing : BOOL, ActualFeedRate : LREAL, ActualOverride : LREAL, ActualRapidOverride : LREAL, ActProgramLine : UDINT, CycleStarted : BOOL, FeedHold : BOOL, QueueBusy : BOOL, ItpFbState : FB_STATE
MC_ChannelReset	Channel : CHANNEL_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_CycleStart	Channel : CHANNEL_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_CycleStop	Channel : CHANNEL_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_ExecuteRepos	Channel : CHANNEL_REF	Execute : BOOL, SubprogramNumber : UDINT	Done : BOOL, Busy : BOOL, Active : BOOL, Error : BOOL, ErrorID : WORD
MC_ExecuteSubprogram	Channel : CHANNEL_REF	Execute : BOOL, SubprogramNumber : UDINT, Staged : BOOL	Done : BOOL, Busy : BOOL, Active : BOOL, Error : BOOL, ErrorID : WORD
MC_FeedHold	Channel : CHANNEL_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_FeedResume	Channel : CHANNEL_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_ProgramSelect	Channel : CHANNEL_REF	Execute : BOOL, ProgramName : STRING(63)	Done : BOOL, Busy : BOOL, Active : BOOL, Error : BOOL, ErrorID : WORD, Result : E_ProgramSelectResult
MC_SetBlockDelete	Channel : CHANNEL_REF	Execute : BOOL, Enable : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_SetChannelOverride	Channel : CHANNEL_REF	Execute : BOOL, OverrideValue : LREAL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_SetDryRun	Channel : CHANNEL_REF	Execute : BOOL, Enable : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_SetMachineLock	Channel : CHANNEL_REF	Execute : BOOL, Enable : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_SetOperationMode	Channel : CHANNEL_REF	Execute : BOOL, Mode : UINT	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_SetOptionalStop	Channel : CHANNEL_REF	Execute : BOOL, Enable : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_SetSingleBlock	Channel : CHANNEL_REF	Execute : BOOL, Enable : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
SequentialChannelCommandHelper	Channel : CHANNEL_REF	Execute : BOOL, WaitForMacroCompletion : BOOL	Done : BOOL, Busy : BOOL, Active : BOOL, Error : BOOL, ErrorID : WORD, SendCommand : BOOL
SequentialChannelStateHelper	Channel : CHANNEL_REF	Execute : BOOL, TargetState : MC_AXES_GROUP_STATE, AcceptAnyExcept : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD, SendCommand : BOOL

MC_ProgramSelect.Result is an E_ProgramSelectResult:

Value	Meaning
PSR_NONE	not refused. On a channel error Result stays here and ErrorID carries the channel’s code
PSR_NO_MATCH	no program carries the name
PSR_AMBIGUOUS_PROGRAM	several programs carry it
PSR_AMBIGUOUS_CHANNEL	several channels, and none was named
PSR_CHANNEL_BUSY	a program is running or held on the channel
PSR_NO_INTERPRETER	no interpreter is bound to the channel
PSR_BUFFER_UNAVAILABLE	the channel’s command buffer is not available
PSR_LOAD_FAILED	the kernel refused or could not parse the program
PSR_NOT_SERVED	the program catalogue did not answer in time

Motion_Coordinated

Block	Called on	Inputs	Outputs
GroupSequentialExecutionHelper	AxesGroup : AXES_GROUP_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD, SendCommand : BOOL
MC_GroupDisable	AxesGroup : AXES_GROUP_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_GroupEnable	AxesGroup : AXES_GROUP_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_GroupHalt	AxesGroup : AXES_GROUP_REF	Execute : BOOL, Deceleration : LREAL, Jerk : LREAL, BufferMode : MC_BUFFER_MODE	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD
MC_GroupReset	AxesGroup : AXES_GROUP_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_GroupStop	AxesGroup : AXES_GROUP_REF	Execute : BOOL, Deceleration : LREAL, Jerk : LREAL, BufferMode : MC_BUFFER_MODE	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD
MC_MoveLinearAbsolute	AxesGroup : AXES_GROUP_REF	Execute : BOOL, Position : ARRAY[?..?] OF LREAL, Velocity : LREAL, Acceleration : LREAL, Deceleration : LREAL, Jerk : LREAL, CoordSystem : MC_COORD_SYSTEM, BufferMode : MC_BUFFER_MODE, TransitionMode : MC_TRANSITION_MODE, TransitionParameter : ARRAY[?..?] OF LREAL	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD
MC_MoveLinearRelative	AxesGroup : AXES_GROUP_REF	Execute : BOOL, Distance : ARRAY[?..?] OF LREAL, Velocity : LREAL, Acceleration : LREAL, Deceleration : LREAL, Jerk : LREAL, CoordSystem : MC_COORD_SYSTEM, BufferMode : MC_BUFFER_MODE, TransitionMode : MC_TRANSITION_MODE, TransitionParameter : ARRAY[?..?] OF LREAL	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD

Motion_Core

Block	Called on	Inputs	Outputs
MC_Halt	Axis : AXIS_REF	Execute : BOOL, Deceleration : LREAL, Jerk : LREAL, BufferMode : MC_BUFFER_MODE	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD
MC_Home	Axis : AXIS_REF	Execute : BOOL, Position : LREAL, HomingMode : MC_HomingMode, BufferMode : MC_BUFFER_MODE, Options : ST_HomingOptions, bCalibrationCam : BOOL	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : UDINT
MC_MoveAbsolute	Axis : AXIS_REF	Execute : BOOL, Position : LREAL, Velocity : LREAL, Acceleration : LREAL, Deceleration : LREAL, Jerk : LREAL, Direction : MC_DIRECTION, BufferMode : MC_BUFFER_MODE	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD
MC_MoveAdditive	Axis : AXIS_REF	Execute : BOOL, Distance : LREAL, Velocity : LREAL, Acceleration : LREAL, Deceleration : LREAL, Jerk : LREAL, BufferMode : MC_BUFFER_MODE	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD
MC_MoveRelative	Axis : AXIS_REF	Execute : BOOL, Distance : LREAL, Velocity : LREAL, Acceleration : LREAL, Deceleration : LREAL, Jerk : LREAL, BufferMode : MC_BUFFER_MODE	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD
MC_MoveVelocity	Axis : AXIS_REF	Execute : BOOL, Velocity : LREAL, Acceleration : LREAL, Deceleration : LREAL, Jerk : LREAL, Direction : MC_DIRECTION, BufferMode : MC_BUFFER_MODE	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD, InVelocity : BOOL
MC_Power	Axis : AXIS_REF	Enable : BOOL, EnablePositive : BOOL, EnableNegative : BOOL	Status : BOOL, Valid : BOOL, Error : BOOL, ErrorID : WORD
MC_ReadActualPosition	Axis : AXIS_REF	Enable : BOOL	Valid : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD, Position : LREAL
MC_ReadActualTorque	Axis : AXIS_REF	Enable : BOOL	Valid : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD, Torque : LREAL
MC_ReadActualVelocity	Axis : AXIS_REF	Enable : BOOL	Valid : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD, Velocity : LREAL
MC_ReadAxisError	Axis : AXIS_REF	Enable : BOOL	Valid : BOOL, Error : BOOL, ErrorID : MC_ErrorCode, AxisErrorID : MC_ServoErrorCode
MC_ReadAxisInfo	Axis : AXIS_REF	Enable : BOOL	Valid : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD, HomeAbsSwitch : BOOL, LimitSwitchPos : BOOL, LimitSwitchNeg : BOOL, Simulation : BOOL, CommunicationReady : BOOL, ReadyForPowerOn : BOOL, PowerOn : BOOL, IsHomed : BOOL, AxisWarning : BOOL
MC_ReadBoolParameter	Axis : AXIS_REF	Enable : BOOL, ParameterNumber : INT	Valid : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD, Value : BOOL
MC_ReadMotionState	Axis : AXIS_REF	Enable : BOOL, Source : MC_SOURCE	Valid : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD, ConstantVelocity : BOOL, Accelerating : BOOL, Decelerating : BOOL, DirectionPositive : BOOL, DirectionNegative : BOOL
MC_ReadParameter	Axis : AXIS_REF	Enable : BOOL, ParameterNumber : INT	Valid : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD, Value : LREAL
MC_ReadStatus	Axis : AXIS_REF	Enable : BOOL	Valid : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD, ErrorStop : BOOL, Disabled : BOOL, Stopping : BOOL, Homing : BOOL, StandStill : BOOL, DiscreteMotion : BOOL, ContinuousMotion : BOOL, SynchronizedMotion : BOOL
MC_Reset	Axis : AXIS_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_SetOverride	Axis : AXIS_REF	Enable : BOOL, VelFactor : LREAL, AccFactor : LREAL, JerkFactor : LREAL	Enabled : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_SetPosition	Axis : AXIS_REF	Execute : BOOL, Position : LREAL, Relative : BOOL, ExecutionMode : MC_EXECUTION_MODE	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_Stop	Axis : AXIS_REF	Execute : BOOL, Deceleration : LREAL, Jerk : LREAL	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD
MC_WriteBoolParameter	Axis : AXIS_REF	Execute : BOOL, ParameterNumber : INT, Value : BOOL, ExecutionMode : MC_EXECUTION_MODE	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_WriteParameter	Axis : AXIS_REF	Execute : BOOL, ParameterNumber : INT, Value : LREAL, ExecutionMode : MC_EXECUTION_MODE	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
SequentialExecutionHelper	Axis : AXIS_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Active : BOOL, CommandAborted : BOOL, Error : BOOL, ErrorID : WORD, SendCommand : BOOL

Motion_Group

Block	Called on	Inputs	Outputs
MC_AddAxisToGroup	AxesGroup : AXES_GROUP_REF, Axis : AXIS_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_RemoveAxisFromGroup	AxesGroup : AXES_GROUP_REF, Axis : AXIS_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD
MC_UngroupAllAxes	AxesGroup : AXES_GROUP_REF	Execute : BOOL	Done : BOOL, Busy : BOOL, Error : BOOL, ErrorID : WORD

Standard

Block	Called on	Inputs	Outputs
BLINK		ENABLE : BOOL, TIMELOW : TIME, TIMEHIGH : TIME	OUT : BOOL
CTD		CD : BOOL, LOAD : BOOL, PV : WORD	Q : BOOL, CV : WORD
CTU		CU : BOOL, RESET : BOOL, PV : WORD	Q : BOOL, CV : WORD
CTUD		CU : BOOL, CD : BOOL, RESET : BOOL, LOAD : BOOL, PV : WORD	QU : BOOL, QD : BOOL, CV : WORD
FB_Alarm
FB_Arguments
FB_Message
FILTER_PT1		IN : REAL, T : REAL, RESET : BOOL	OUT : REAL
F_TRIG		CLK : BOOL	Q : BOOL
HYSTERESIS		IN : REAL, HIGH : REAL, LOW : REAL	Q : BOOL
LIN_TRAFO		IN : REAL, IN_MIN : REAL, IN_MAX : REAL, OUT_MIN : REAL, OUT_MAX : REAL	OUT : REAL, ERROR : BOOL
PID		ACTUAL : REAL, SET_POINT : REAL, KP : REAL, TN : REAL, TV : REAL, Y_MIN : REAL, Y_MAX : REAL, MANUAL : BOOL, Y_MANUAL : REAL, RESET : BOOL	Y : REAL, ERROR : REAL, LIMIT_H : BOOL, LIMIT_L : BOOL
RAMP		IN : REAL, ASCEND : REAL, DESCEND : REAL, RESET : BOOL	OUT : REAL
RS		S : BOOL, R1 : BOOL	Q1 : BOOL
R_TRIG		CLK : BOOL	Q : BOOL
SR		S1 : BOOL, R : BOOL	Q1 : BOOL
TOF		IN : BOOL, PT : TIME	Q : BOOL, ET : TIME
TON		IN : BOOL, PT : TIME	Q : BOOL, ET : TIME
TP		IN : BOOL, PT : TIME	Q : BOOL, ET : TIME
ESEL	function	E : BOOL, VAL : REAL, DEF : REAL	returns REAL: DEF while E, else VAL
SEL2	function	G1 : BOOL, G2 : BOOL, IN0 : REAL, IN1 : REAL, IN2 : REAL, IN3 : REAL	returns REAL: one of the four inputs, picked by G2 G1

System

Block	Called on	Inputs	Outputs
RTC		IN : BOOL, PDT : DT	Q : BOOL, CDT : DT
TIME	function		returns TIME: the current system time

CNC_Core

A CNC module, so this is in a project only when the module is.

Block	Called on	Inputs	Outputs
FB_MacroExecutor	Execute : BOOL	Channel : CHANNEL_REF, Enable : BOOL, SubprogramNumber : UDINT, Staged : BOOL	Busy : BOOL, Done : BOOL, Error : BOOL, Blocked : BOOL
FB_ManualAxisControl	Axis : AXIS_REF	Enable : BOOL, Reset : BOOL, Request : E_AxisRequest, StepMode : E_StepMode, HomeExecute : BOOL, HomeSensor : BOOL, MotionAllowed : BOOL, MpgActive : BOOL, MpgDeltaDistance : LREAL	Ready : BOOL, Error : BOOL, Homed : BOOL, HomeDone : BOOL

CNC_Mpg

A CNC module, so this is in a project only when the module is.

Block	Called on	Inputs	Outputs
FB_QuadDecoder		A : BOOL, B : BOOL	Count : DINT

The packages this list was read from

Package	Version
CNC_AutoLevel	1.0.0
CNC_Core	1.0.0
CNC_Mpg	1.0.0
CNC_Probing	1.0.0
Motion_Applications	1.0.0
Motion_Camming	1.0.0
Motion_Channel	1.0.0
Motion_Coordinated	1.0.0
Motion_Core	1.0.0
Motion_Group	1.0.0
Standard	1.0.0
System	1.0.0

Where to go next

• Global Variables: the variables the CNC packages publish and read.
• Built-in Functions: what the compiler provides without a package.
• What Your Code Owns: the line between a package and your logic.