Simatic S Tcpu

PLCopen
for efficiency in automation
Subset of the
Technical Specification
PLCopen - Technical Committee 2 – Task Force
Function blocks for motion control

(Formerly Part 1 and Part 2)
Version 2.0
Appendix B
Compliance Procedure and Compliance List
DISCLAIMER OF WARANTIES
THIS DOCUMENT IS PROVIDED ON AN “AS IS” BASIS AND MAY BE SUBJECT TO FUTURE ADDITIONS,
MODIFICATIONS, OR CORRECTIONS. PLCOPEN HEREBY DISCLAIMS ALL WARRANTIES OR
CONDITIONS OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING, WITHOUT LIMITATION, ANY
WARRANTIES, OR CONDITIONS OF TITLE, NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR
A PARTICULAR PURPOSE, FOR THIS DOCUMENT. IN NO EVENT WILL PLCOPEN BE RESPONSIBLE FOR
ANY LOSS OR DAMAGE ARISING OUT OR RESULTING FROM ANY DEFECT, ERROR OR OMISSION IN
THIS DOCUMENT OR FROM ANYONE’S USE OF OR RELIANCE ON THIS DOCUMENT.
Copyright © 2009 – 2011 by PLCopen. All rights reserved.
March 17, 2011.
Unrestricted TC2 Task Force Motion ControlMarch 17, 2011 © 1999 - 2011 copyright by PLCopen
Function Blocks for Motion Control Version 2.0, Appendix B page 1/ 25
PLCopen
Appendix B. Compliance Procedure and Compliance List

Listed in this Appendix are the requirements for the compliance statement from the supplier of the Motion Control
Function Blocks. The compliance statement consists of two main groups: supported data types and supported Function
Blocks, in combination with the applicable inputs and outputs. The supplier is required to fill out the tables for the used
data types and Function Blocks, according to their product, committing their support to the specification.
By submitting these tables to PLCopen, and after approval by PLCopen, the list will be published on the PLCopen web-
site, www.plcopen.org as well as a shortform overview, as specified in Appendix B 2 Supported Data types and Ap-
pendix B 3 Overview of the Function Blocks as below.
In addition to this approval, the supplier is granted access and usage rights of the PLCopen Motion Control logo, as
described in Appendix B 4:
The PLCopen Motion Control Logo and Its Usage..
Data types
The data type REAL listed in the Function Blocks and parameters (e.g. for velocity, acceleration, distance, etc.) may be
exchanged to SINT, INT, DINT or LREAL without to be seen as incompliant to this standard, as long as they are con-
sistent for the whole set of Function Blocks and parameters.
Implementation allows the extension of data types as long as the basic data type is kept. For example: WORD may be
changed to DWORD, but not to REAL.
Function Blocks and Inputs and Outputs

An implementation which claims compliance with this PLCopen specification shall offer a set of Function Blocks for
motion control, meaning one or more Function Blocks, with at least the basic input and output variables, marked as “B”
in the tables. These inputs and outputs have to be supported to be compliant.
For higher-level systems and future extensions any subset of the extended input and output variables, marked as “E” in
the tables can be implemented.
Vendor specific additions are marked with “V”, and can be listed as such in the supplier documentation.
- Basic input/output variables are mandatory Marked in the tables with the letter “B”
- Extended input /output variables are optional Marked in the tables with the letter “E”
- Vendor Specific additions Marked in the vendor’s compliance documentation with “V”
All the vendor specific items will not be listed in the comparison table on the PLCopen website, but in the detailed ven-
dor specific list, which also is published.
All vendor specific in- and outputs of all FBs must be listed in the certification list of the supplier. With this, the certifi-
cation listing from a supplier describes all the I/Os of the relevant FBs, including vendor-specific extensions, and thus
showing the complete FBs as used by the supplier.
PLCopen
Appendix B 1. Statement of Supplier
Supplier name Siemens AG

Supplier address Gleiwitzer Str. 555
City 90475 Nuremberg
Country Germany
Telephone +49 (911) 895-0
Fax
Email address hans-benno.bruss@siemens.com
Product Name SIMATIC S7-1500 T-CPU
Product version V02.00.01
Release date 30.09.2016
I hereby state that the following tables as filled out and submitted do match our product as well as the accompanying
user manual, as stated above.
Hans Benno Bruss
Date of signature (dd/mm/yyyy): 17.01.2017
Signature:
PLCopen
Appendix B 2. Supported Data types
Defined datatypes with MC library: Supported If not supported, which datatype used
BOOL YES
INT YES Additional DINT
WORD YES Additional DWORD
REAL YES Additional LREAL
ENUM No INT is used
UINT YES
Table 1: Supported datatypes
Within the specification the following derived datatypes are defined. Define which of these structures are used in this
system:
Derived datatypes: Where used Supported Which structure
AXIS_REF Nearly all FBs YES TO_Axis
MC_DIRECTION MC_MoveAbsolute YES INT
(extended) MC_MoveVelocity
MC_TorqueControl
MC_MoveContinuousAbsolute
MC_TP_REF MC_PositionProfile No
MC_TV_REF MC_VelocityProfile No
MC_TA_REF MC_AccelerationProfile No
MC_CAM_REF MC_CamTableSelect No
MC_CAM_ID MC_CamTableSelect YES TO_Cam
(extended) MC_CamIn
MC_START_MODE MC_CamIn No
(extended) MC_CamTableSelect
MC_BUFFER_MODE Buffered FBs No
MC_EXECUTION_MODE MC_SetPosition No
MC_WriteParameter
MC_WriteBoolParameter
MC_WriteDigitalOutput
MC_CamTableSelect
MC_SOURCE MC_ReadMotionState No
MC_CamIn
MC_GearIn
MC_GearInPos
MC_CombineAxes
MC_DigitalCamSwitch
MC_SYNC_MODE MC_GearInPos No
MC_COMBINE_MODE MC_CombineAxes No
MC_TRIGGER_REF MC_TouchProbe YES TO_MeasuringInput
MC_AbortTrigger
MC_INPUT_REF MC_ReadDigitalInput No
MC_OUTPUT_REF MC_DigitalCamSwitch YES TO_OutputCam
MC_ReadDigitalOutput TO_CamTrack
MC_WriteDigitalOutput
MC_CAMSWITCH_REF MC_DigitalCamSwitch No Configured in TO_CamTrack or
TO_OutputCam
MC_TRACK_REF MC_DigitalCamSwitch No Configured in TO_CamTrack
Table 2: Supported derived datatypes
PLCopen
Appendix B 3. Overview of the Function Blocks
Single Axis Function Blocks Supported as Comments (<= 48 char.)

V1.0/ V1.1/
V2.0 or Not
MC_Power V2.0
MC_Home V2.0
MC_Stop No
MC_Halt V2.0
MC_MoveAbsolute V2.0
MC_MoveRelative V2.0
MC_MoveAdditive No
MC_MoveSuperimposed V2.0
MC_HaltSuperimposed No
MC_MoveVelocity V2.0
MC_MoveContinuousAbsolute No
MC_MoveContinuousRelative No
MC_TorqueControl No
MC_PositionProfile No
MC_VelocityProfile No
MC_AccelerationProfile No
MC_SetPosition No Supported by MC_Home
MC_SetOverride No Supported by system functions
MC_ReadParameter & No Supported by system functions
MC_ReadBoolParameter
MC_WriteParameter & No Supported by system functions
MC_WriteBoolParameter
MC_ReadDigitalInput No Supported by system functions
MC_ReadDigitalOutput No Supported by system functions
MC_WriteDigitalOutput No Supported by system functions
MC_ReadActualPosition No Supported by system functions
MC_ReadActualVelocity No Supported by system functions
MC_ReadActualTorque No Supported by system functions
MC_ReadStatus No Supported by system functions
MC_ReadMotionState No Supported by system functions
MC_ReadAxisInfo No Supported by system functions
MC_ReadAxisError No Supported by system functions
MC_Reset V2.0
MC_DigitalCamSwitch No Implemented with MC_OutputCam, MC_CamTrack
MC_TouchProbe No Implemented with MC_MeasuringInput
MC_AbortTrigger No Implemented with MC_AbortMeasuringInput
Multi-Axis Function Blocks Supported as Comments (<= 48 char.)
V1.0/ V1.1/
V2.0 or Not
MC_CamTableSelect No Supported by MC_CamIn
MC_CamIn V2.0
MC_CamOut No
MC_GearIn V2.0
MC_GearOut No
MC_GearInPos V2.0
MC_PhasingAbsolute V2.0
MC_PhasingRelative V2.0
MC_CombineAxes No
Table 3: Short overview of the Function Blocks
PLCopen
Appendix B 3.1 MC_Power

If Supported MC_Power Sup. Y/N Comments
VAR_IN_OUT
B Axis YES As VAR_INPUT
VAR_INPUT
B Enable YES
E EnablePositive
E EnableNegative
VAR_OUTPUT
B Status YES
E Valid
B Error YES
E ErrorID YES
Appendix B 3.2 MC_Home

If Supported MC_Home Sup. Y/N Comments
VAR_IN_OUT
VAR_INPUT
B Execute YES
B Position YES
E BufferMode
VAR_OUTPUT
B Done YES
E Busy YES
E Active
E CommandAborted YES
B Error YES
E ErrorID YES
Appendix B 3.3 MC_Stop

If Supported MC_Stop Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Execute
E Deceleration
E Jerk
VAR_OUTPUT
B Done
E Busy
E CommandAborted
B Error
E ErrorID
PLCopen
Appendix B 3.4 MC_Halt

If Supported MC_Halt Sup. Y/N
VAR_IN_OUT
VAR_INPUT
B Execute YES
E Deceleration YES
E Jerk YES
E BufferMode
VAR_OUTPUT
B Done YES
E Busy YES
E Active
B Error YES
E ErrorID YES
Appendix B 3.5 MC_MoveAbsolute

If Supported MC_MoveAbsolute Sup.Y/N Comments
VAR_IN_OUT
VAR_INPUT
B Execute YES
E ContinuousUpdate
B Position YES
B Velocity YES
E Acceleration YES
E Deceleration YES
E Jerk YES
B Direction YES
E BufferMode
VAR_OUTPUT
B Done YES
E Busy YES
E Active
B Error YES
E ErrorID YES
PLCopen
Appendix B 3.6 MC_MoveRelative

If Supported MC_MoveRelative Sup. Y/N Comments
VAR_IN_OUT
VAR_INPUT
B Execute YES
E ContinuousUpdate
B Distance YES
E Velocity YES
E Acceleration YES
E Deceleration YES
E Jerk YES
E BufferMode
VAR_OUTPUT
B Done YES
E Busy YES
E Active
B Error YES
E ErrorID YES
Appendix B 3.7 MC_MoveAdditive

If Supported MC_MoveAdditive Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Execute
E ContinuousUpdate
B Distance
E Velocity
E Acceleration
E Deceleration
E Jerk
E BufferMode
VAR_OUTPUT
B Done
E Busy
E Active
E CommandAborted
B Error
E ErrorID
PLCopen
Appendix B 3.8 MC_MoveSuperimposed

If Supported MC_MoveSuperimposed Comments
VAR_IN_OUT
VAR_INPUT
B Execute YES
E ContinuousUpdate
B Distance YES
E VelocityDiff YES
E Acceleration YES
E Deceleration YES
E Jerk YES
VAR_OUTPUT
B Done YES
E Busy YES
B Error YES
E ErrorID YES
E CoveredDistance
Appendix B 3.9 MC_HaltSuperimposed

If Supported MC_HaltSuperimposed Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Execute
E Deceleration
E Jerk
VAR_OUTPUT
B Done
E Busy
E CommandAborted
B Error
E ErrorID
PLCopen
Appendix B 3.10 MC_MoveVelocity

If Supported MC_MoveVelocity Sup. Y/N Comments
VAR_IN_OUT
VAR_INPUT
B Execute YES
E ContinuousUpdate
E Velocity YES
E Acceleration YES
E Deceleration YES
E Jerk YES
E Direction YES
E BufferMode
VAR_OUTPUT
B InVelocity YES
E Busy YES
E Active
B Error YES
E ErrorID YES
Appendix B 3.11 MC_MoveContinuousAbsolute

If Supported MC_MoveContinuousAbsolute Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Execute
E ContinuousUpdate
B Position
B EndVelocity
B Velocity
E Acceleration
E Deceleration
E Jerk
E Direction
E BufferMode
VAR_OUTPUT
B InEndVelocity
E Busy
E Active
E CommandAborted
B Error
E ErrorID
PLCopen
Appendix B 3.12 MC_MoveContinuousRelative

If Supported MC_MoveContinuousRelative Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Execute
E ContinuousUpdate
B Distance
B EndVelocity
B Velocity
E Acceleration
E Deceleration
E Jerk
E BufferMode
VAR_OUTPUT
B InEndVelocity
E Busy
E Active
E CommandAborted
B Error
E ErrorID
Appendix B 3.13 MC_TorqueControl

If Supported MC_TorqueControl Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Execute
E ContinuousUpdate
B Torque
E TorqueRamp
E Velocity
E Acceleration
E Deceleration
E Jerk
E Direction
E BufferMode
VAR_OUTPUT
B InTorque
E Busy
E Active
E CommandAborted
B Error
E ErrorID
PLCopen
Appendix B 3.14 MC_PositionProfile

If Supported MC_PositionProfile Comments
VAR_IN_OUT
B Axis
B TimePosition
VAR_INPUT
B Execute
E ContinuousUpdate
E TimeScale
E PositionScale
E Offset
E BufferMode
VAR_OUTPUT
B Done
E Busy
E Active
E CommandAborted
B Error
E ErrorID
Appendix B 3.15 MC_VelocityProfile

If Supported MC_VelocityProfile Comments
VAR_IN_OUT
B Axis
B TimeVelocity
VAR_INPUT
B Execute
E ContinuousUpdate
E TimeScale
E VelocityScale
E Offset
E BufferMode
VAR_OUTPUT
B ProfileCompleted
E Busy
E Active
E CommandAborted
B Error
E ErrorID
PLCopen
Appendix B 3.16 MC_AccelerationProfile

If Supported MC_AccelerationProfile Comments
VAR_IN_OUT
B Axis
B TimeAcceleration
VAR_INPUT
B Execute
E ContinuousUpdate
E TimeScale
E AccelerationScale
E Offset
E BufferMode
VAR_OUTPUT
B ProfileCompleted
E Busy
E Active
E CommandAborted
B Error
E ErrorID
Appendix B 3.17 MC_SetPosition

If Supported MC_SetPosition Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Execute
B Position
E Relative
E ExecutionMode
VAR_OUTPUT
B Done
E Busy
B Error
E ErrorID
Appendix B 3.18 MC_SetOverride

If Supported MC_SetOverride Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Enable
B VelFactor
E AccFactor
E JerkFactor
VAR_OUTPUT
B Enabled
E Busy
B Error
E ErrorID
PLCopen
Appendix B 3.19 MC_ReadParameter & MC_ReadBoolParameter

If Supported MC_ReadParameter Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Enable
B ParameterNumber
VAR_OUTPUT
B Valid
E Busy
B Error
E ErrorID
B Value
If Supported MC_ReadBoolParameter Comments

VAR_IN_OUT
B Axis
VAR_INPUT
B Enable
B ParameterNumber
VAR_OUTPUT
B Valid
E Busy
B Error
E ErrorID
B Value
Name B/E R/W Supp. Comments

Y/N
CommandedPosition B R
SWLimitPos E R/W
SWLimitNeg E R/W
EnableLimitPos E R/W
EnableLimitNeg E R/W
EnablePosLagMonitoring E R/W
MaxPositionLag E R/W
MaxVelocitySystem E R
MaxVelocityAppl B R/W
ActualVelocity B R
CommandedVelocity B R
MaxAccelerationSystem E R
MaxAccelerationAppl E R/W
MaxDecelerationSystem E R
MaxDecelerationAppl E R/W
MaxJerkSystem E R
MarkJerkAppl E R/W
Table 4: Parameters for MC_Read(Bool)Parameter and MC_Write(Bool)Parameter
PLCopen
Appendix B 3.20 MC_WriteParameter & MC_WriteBoolParameter

If Supported MC_WriteParameter Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Execute
B ParameterNumber
B Value
E ExecutionMode
VAR_OUTPUT
B Done
E Busy
B Error
E ErrorID
If Supported MC_WriteBoolParameter Comments

VAR_IN_OUT
B Axis
VAR_INPUT
B Execute
B ParameterNumber
B Value
E ExecutionMode
VAR_OUTPUT
B Done
E Busy
B Error
E ErrorID
Appendix B 3.21 MC_ReadDigitalInput

If Supported MC_ReadDigitalInput Comments
VAR_IN_OUT
B Input
VAR_INPUT
B Enable
E InputNumber
VAR_OUTPUT
B Valid
E Busy
B Error
E ErrorID
B Value
PLCopen
Appendix B 3.22 MC_ReadDigitalOutput

If Supported MC_ReadDigitalOutput Comments
VAR_IN_OUT
B Output
VAR_INPUT
B Enable
E OutputNumber
VAR_OUTPUT
B Valid
E Busy
B Error
E ErrorID
B Value
Appendix B 3.23 MC_WriteDigitalOutput

If Supported MC_WriteDigitalOutput Comments
VAR_IN_OUT
B Output
VAR_INPUT
B Execute
E OutputNumber
B Value
E ExecutionMode
VAR_OUTPUT
B Done
E Busy
B Error
E ErrorID
Appendix B 3.24 MC_ReadActualPosition

If Supported MC_ReadActualPosition Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Enable
VAR_OUTPUT
B Valid
E Busy
B Error
E ErrorID
B Position
PLCopen
Appendix B 3.25 MC_ReadActualVelocity

If Supported MC_ReadActualVelocity Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Enable
VAR_OUTPUT
B Valid
E Busy
B Error
E ErrorID
B Velocity
Appendix B 3.26 MC_ReadActualTorque

If Supported MC_ReadActualTorque Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Enable
VAR_OUTPUT
B Valid
E Busy
B Error
E ErrorID
B Torque
Appendix B 3.27 MC_ReadStatus

If Supported MC_ReadStatus Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Enable
VAR_OUTPUT
B Valid
E Busy
B Error
E ErrorID
B ErrorStop
B Disabled
B Stopping
E Homing
B Standstill
E DiscreteMotion
E ContinuousMotion
E SynchronizedMotion
PLCopen
Appendix B 3.28 MC_ReadMotionState

If Supported MC_ReadMotionState Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Enable
E Source
VAR_OUTPUT
B Valid
E Busy
B Error
E ErrorID
E ConstantVelocity
E Accelerating
E Decelerating
E DirectionPositive
E DirectionNegative
Appendix B 3.29 MC_ReadAxisInfo

If Supported MC_ReadAxisInfo Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Enable
VAR_OUTPUT
B Valid
E Busy
B Error
E ErrorID
E HomeAbsSwitch
E LimitSwitchPos
E LimitSwitchNeg
E Simulation
E CommunicationReady
E ReadyForPowerOn
E PowerOn
E IsHomed
E AxisWarning
Appendix B 3.30 MC_ReadAxisError

If Supported MC_ReadAxisError Comments
VAR_IN_OUT
B Axis
VAR_INPUT
B Enable
VAR_OUTPUT
B Valid
E Busy
B Error
B ErrorID
E AxisErrorID
PLCopen
Appendix B 3.31 MC_Reset

If Supported MC_Reset Sup. Y/N Comments
VAR_IN_OUT
VAR_INPUT
B Execute YES
VAR_OUTPUT
B Done YES
E Busy YES
B Error YES
E ErrorID YES
Appendix B 3.32 MC_DigitalCamSwitch

If Supported MC_DigitalCamSwitch Comments
VAR_IN_OUT
B Axis
B Switches
E Outputs
E TrackOptions
VAR_INPUT
B Enable
E EnableMask
E ValueSource
VAR_OUTPUT
B InOperation
E Busy
B Error
E ErrorID
Basic elements within the array structure of MC_CAMSWITCH_REF

B/E Parameter Sup.Y/N Comments
B TrackNumber
B FirstOnPosition [u]
B LastOnPosition [u]
E AxisDirection
E CamSwitchMode
E Duration
Basic elements within the array structure of MC_TRACK_REF

B/E Parameter Sup.Y/N Comments
E OnCompensation
E OffCompensation
E Hysteresis [u]
Supplier specific implementation (MC_OutputCam, MC_CamTrack)
PLCopen
Appendix B 3.33 MC_TouchProbe

If Supported MC_TouchProbe Comments
VAR_IN_OUT
B Axis
E TriggerInput
VAR_INPUT
B Execute
E WindowOnly
E FirstPosition
E LastPosition
VAR_OUTPUT
B Done
E Busy
E CommandAborted
B Error
E ErrorID
B RecordedPosition
Supplier specific implementation (MC_MeasuringInput)
Appendix B 3.34 MC_AbortTrigger

If Supported MC_AbortTrigger Comments
VAR_IN_OUT
B Axis
E TriggerInput
VAR_INPUT
B Execute
VAR_OUTPUT
B Done
E Busy
B Error
E ErrorID
Supplier specific implementation (MC_AbortMeasuringInput)
Appendix B 3.35 MC_CamTableSelect

If Supported MC_CamTableSelect Comments
VAR_IN_OUT
E Master
E Slave
B CamTable
VAR_INPUT
B Execute
E Periodic
E MasterAbsolute
E SlaveAbsolute
E ExecutionMode
VAR_OUTPUT
B Done
E Busy
B Error
E ErrorID
E CamTableID
PLCopen
Appendix B 3.36 MC_CamIn

If Supported MC_CamIn Comments
VAR_IN_OUT
B Master YES As VAR_INPUT
B Slave YES As VAR_INPUT
VAR_INPUT
B Execute YES
E ContinuousUpdate
E MasterOffset YES
E SlaveOffset YES
E MasterScaling YES
E SlaveScaling YES
E MasterStartDistance YES
E MasterSyncPosition YES
E StartMode
E MasterValueSource
E CamTableID YES Datatype TO_Cam
E BufferMode
VAR_OUTPUT
B InSync YES
E Busy YES
E Active
B Error YES
E ErrorID YES
E EndOfProfile YES
Appendix B 3.37 MC_CamOut

If Supported MC_CamOut Comments
VAR_IN_OUT
B Slave
VAR_INPUT
B Execute
VAR_OUTPUT
B Done
E Busy
B Error
E ErrorID
PLCopen
Appendix B 3.38 MC_GearIn

If Supported MC_GearIn Comments
VAR_IN_OUT
VAR_INPUT
B Execute YES
E ContinuousUpdate
B RatioNumerator YES
B RatioDenominator YES
E MasterValueSource
E Acceleration YES
E Deceleration YES
E Jerk YES
E BufferMode
VAR_OUTPUT
B InGear YES
E Busy YES
E Active
B Error YES
E ErrorID YES
Appendix B 3.39 MC_GearOut

If Supported MC_GearOut Comments
VAR_IN_OUT
B Slave
VAR_INPUT
B Execute
VAR_OUTPUT
B Done
E Busy
B Error
E ErrorID
PLCopen
Appendix B 3.40 MC_GearInPos

If Supported MC_GearInPos Comments
VAR_IN_OUT
VAR_INPUT
B Execute YES
B RatioNumerator YES
B RatioDenominator YES
E MasterValueSource
B MasterSyncPosition YES
B SlaveSyncPosition YES
E SyncMode
E MasterStartDistance YES
E Velocity YES
E Acceleration YES
E Deceleration YES
E Jerk YES
E BufferMode
VAR_OUTPUT
E StartSync YES
B InSync YES
E Busy YES
E Active
B Error YES
E ErrorID YES
Appendix B 3.41 MC_PhasingAbsolute

If Supported MC_PhasingAbsolute Comments
VAR_IN_OUT
VAR_INPUT
B Execute YES
B PhaseShift YES
E Velocity YES
E Acceleration YES
E Deceleration YES
E Jerk YES
E BufferMode
VAR_OUTPUT
B Done YES
E Busy YES
E Active
B Error YES
E ErrorID YES
E AbsolutePhaseShift YES
PLCopen
Appendix B 3.42 MC_PhasingRelative

If Supported MC_PhasingRelative Comments
VAR_IN_OUT
VAR_INPUT
B Execute YES
B PhaseShift YES
E Velocity YES
E Acceleration YES
E Deceleration YES
E Jerk YES
E BufferMode
VAR_OUTPUT
B Done YES
E Busy YES
E Active
B Error YES
E ErrorID YES
E CoveredPhaseShift YES
Appendix B 3.43 CombineAxes

If Supported MC_CombineAxes Comments
VAR_IN_OUT
B Master1
B Master2
B Slave
VAR_INPUT
B Execute
E ContinuousUpdate
E CombineMode
E GearRationNumeratorM1
E GearRatioDenominatorM1
E GearRatioNumeratorM2
E GearRatioDenominatorM2
E MasterValueSourceM1
E MasterValueSourceM2
E BufferMode
VAR_OUTPUT
B InSync
E Busy
E Active
E CommandAborted
B Error
E ErrorID
PLCopen
Appendix B 4. The PLCopen Motion Control Logo and Its Usage

For quick identification of compliant products, PLCopen has developed a logo for the Motion Control Function Blocks:
Figure 1: The PLCopen Motion Control Logo
This motion control logo is owned and trademarked by PLCopen.
In order to use this logo free-of-charge, the relevant company has to fulfill all the following requirements:
1. the company has to be a voting member of PLCopen;
2. the company has to comply with the existing specification, as specified by the PLCopen Task Force Motion
Control, and as published by PLCopen, and of which this statement is a part;
3. this compliance application is provided in written form by the company to PLCopen, clearly stating the appli-
cable software package and the supporting elements of all the specified tables, as specified in the document it-
self;
4. in case of non-fulfillment, which has to be decided by PLCopen, the company will receive a written statement
concerning this from PLCopen. The company will have a one month period to either adopt their software pack-
age in such a way that it complies, represented by the issuing of a new compliance statement, or remove all ref-
erence to the specification, including the use of the logo, from all their specification, be it technical or promo-
tional material;
5. the logo has to be used as is - meaning the full logo. It may be altered in size providing the original scale and
color setting is kept.
6. the logo has to be used in the context of Motion Control.

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PLCopen

for efficiency in automation

Function blocks for motion control

Compliance Procedure and Compliance List

Copyright © 2009 – 2011 by PLCopen. All rights reserved.

March 17, 2011.

Appendix B. Compliance Procedure and Compliance List

The PLCopen Motion Control Logo and Its Usage..

Function Blocks and Inputs and Outputs

Appendix B 1. Statement of Supplier

Supplier name Siemens AG

Hans Benno Bruss

Date of signature (dd/mm/yyyy): 17.01.2017

Appendix B 2. Supported Data types

Appendix B 3. Overview of the Function Blocks

Single Axis Function Blocks Supported as Comments (<= 48 char.)

Appendix B 3.1 MC_Power

Appendix B 3.2 MC_Home

Appendix B 3.3 MC_Stop

Appendix B 3.4 MC_Halt

Appendix B 3.5 MC_MoveAbsolute

Appendix B 3.6 MC_MoveRelative

Appendix B 3.7 MC_MoveAdditive

Appendix B 3.8 MC_MoveSuperimposed

Appendix B 3.9 MC_HaltSuperimposed

Appendix B 3.10 MC_MoveVelocity

Appendix B 3.11 MC_MoveContinuousAbsolute

Appendix B 3.12 MC_MoveContinuousRelative

Appendix B 3.13 MC_TorqueControl

Appendix B 3.14 MC_PositionProfile

Appendix B 3.15 MC_VelocityProfile

Appendix B 3.16 MC_AccelerationProfile

Appendix B 3.17 MC_SetPosition

Appendix B 3.18 MC_SetOverride

Appendix B 3.19 MC_ReadParameter & MC_ReadBoolParameter

If Supported MC_ReadBoolParameter Comments

Name B/E R/W Supp. Comments

Appendix B 3.20 MC_WriteParameter & MC_WriteBoolParameter

If Supported MC_WriteBoolParameter Comments

Appendix B 3.21 MC_ReadDigitalInput

Appendix B 3.22 MC_ReadDigitalOutput

Appendix B 3.23 MC_WriteDigitalOutput

Appendix B 3.24 MC_ReadActualPosition

Appendix B 3.25 MC_ReadActualVelocity

Appendix B 3.26 MC_ReadActualTorque

Appendix B 3.27 MC_ReadStatus

Appendix B 3.28 MC_ReadMotionState

Appendix B 3.29 MC_ReadAxisInfo

Appendix B 3.30 MC_ReadAxisError

Appendix B 3.31 MC_Reset

Appendix B 3.32 MC_DigitalCamSwitch

Basic elements within the array structure of MC_CAMSWITCH_REF

Basic elements within the array structure of MC_TRACK_REF

Supplier specific implementation (MC_OutputCam, MC_CamTrack)

Appendix B 3.33 MC_TouchProbe

Supplier specific implementation (MC_MeasuringInput)

Appendix B 3.34 MC_AbortTrigger

Supplier specific implementation (MC_AbortMeasuringInput)

Appendix B 3.35 MC_CamTableSelect