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TPM
EasyPAC User Manual
143
6.6.5. Motion Function Block List
Name Rule
FB’s with MC_ prefix are developed according to the PLCopen standard. FB’s with SA_, GA_ or EP_ prefix
are developed by TPM.
Execution Logic
The execution can be activated either by rising-edge or falling-edge and the data type is BOOL. In the case of
rising-edge Execute will be used as the parameter. In the case of level-trigger Enable is used as the parameter.
When level is HIGH, it will be executed repeatedly until the level becomes LOW.
Status Logic
The standard output includes Valid, Done, Busy, Active, CommandAborted, Error and ErrorID. The
corresponding data type is BOOL except that ErrorID is INT.
Valid represents that FB is executable, R/W of parameter is successful when Valid is TRUE and is failed when
Valid is FALSE. “Done” represents that FB is executed. Busy and Active represent that FB is being executed.
CommandAborted represents that FB is interrupted while being executed and is aborted therefore. Error
represents that the execution of FB is not correct. ErrorID can be used to check. Valid/Done, Busy/ Active,
CommandAborted and Error are mutually incompatible. When “Error” is TRUE, ErrorID is not 0.
The available Motion FB of EasyPAC is listed in the following table:
Index Motion FB Name Description
6.6.5.1 GA_GroupDisable Disable the grouped motion function
6.6.5.2 GA_GroupEnable Enable the grouped motion function
6.6.5.3 GA_GroupReset Reset grouped axes to Standstill
6.6.5.4 GA_GroupStop Grouped axes stop
6.6.5.5 GA_MoveCircularAbsolute Grouped absolute circular motion with T or S curve
6.6.5.6 GA_MoveCircularRelative Grouped relative circular motion with T or S curve
6.6.5.7 GA_MoveLinearAbsolute Grouped absolute linear motion with T or S curve
6.6.5.8 GA_MoveLinearRelative Grouped relative linear motion with T or S curve
6.6.5.9 GA_MovePath Continuous motion with multiple segments
6.6.5.10 GA_PathSelect Select and download the continuous path from xxxx.kwpts
6.6.5.11 MC_Home Do homing of the axis
6.6.5.12 MC_MoveAbsolute Absolute move with T or S curve
6.6.5.13 MC_MoveRelative Relative Move with T or S curve
6.6.5.14 MC_MoveVelocity Velocity Move with T or S curve
6.6.5.15 MC_Power Enable Servo/Step Driver for IP1~IP32 (AXIS_01~AXIS_32)
6.6.5.16 MC_ReadActualPosition Get the axis actual position from encoder
6.6.5.17 MC_ReadAcutalVelocity Read the current actual velocity