plcopen-mc-part6-version20

PLCopenforefficiencyinautomationTechnicalPaperPLCopenTechnicalCommittee2FunctionBlocksforMotionControlPart6–FluidPowerExtensionsVersion2.0,PublishedDISCLAIMEROFWARRANTIESTHISDOCUMENTISPROVIDEDONAN“ASIS”BASISANDMAYBESUBJECTTOFUTUREADDITIONS,MODIFICATIONS,ORCORRECTIONS.PLCOPENHEREBYDISCLAIMSALLWARRANTIESOFANYKIND,EXPRESSORIMPLIED,INCLUDINGANYWARRANTYOFMERCHANTABILITYORFITNESSFORAPARTICULARPURPOSE,FORTHISDOCUMENT.INNOEVENTWILLPLCOPENBERESPONSIBLEFORANYLOSSORDAMAGEARISINGOUTORRESULTINGFROMANYDEFECT,ERROROROMISSIONINTHISDOCUMENTORFROMANYONE’SUSEOFORRELIANCEONTHISDOCUMENT.Copyright©2002-2011byPLCopen.Allrightsreserved.Date:November18,2011PLCopenforefficiencyinautomationTC2-TaskForceMotionControl©PLCopen–2002,2011Part6–FluidPowerExtensions–V2.0November18,2011page2/27FunctionblocksforFluidPowerMotionControlThisdocumentisaspecificationasdevelopedbythePLCopenFuidPowerMotionControlTaskForce.AssuchitisanadditiontothePLCopenTechnicalCommittee2TaskForceFunctionBlocksforMotionControl,Version2.0.ThepresentspecificationwaswrittenthankstothefollowingmembersofthePLCopenTaskForceMotionControl:KennethRyanAlexandriaTechnicalCollegeEdwinSchwellinger3S,SmartSoftwareSolutionsJoachimUnfriedB&RAutomationKurtZehetleitnerB&RAutomationRalfBonefeldBoschRexrothEdgarHolembowskiBoschRexrothAndrewDeRungEatonTiberiuRacsaEatonSteveZumbuschEatonJohnBlomsterEatonIgorOskrobanEckelmannJuergenHippISGRolandBublitzParkerHannifinWilliGagsteigerSiemensEelcovanderWalPLCopenChangeStatusList:VersionnumberDateChangecommentV0.1June24,2009Preliminaryversion–resultofthedecisionfromtheJune23-24,2009Kick-offmeetingtoextendthecurrentPLCopenMotionControlFunctionBlockstofacilitateMCFButilizationincontrolschemesinvolvingfluidpower.V0.2January1,2010Documentingtheresultofthedecisionfinalizedduring6onlinemeetingsfromJune24,2009toDecember31,2009.V0.3Documentingtheresultofthedecisionfinalizedduring8onlinemeetingsfromDecember31,2009toJune30,2010.V0.4September18,2010LastreleaseforcommentswithinworkinggroupV0.9December20,2010FinaldocumentbeforeReleaseforCommentsV0.91January19,2011ResultoffeedbackandwebmeetingJan14,2011V091AJune23,2011Duetoinconsistenciesindocumentsvs.decisionsV092October24,2011ContainsfeedbackitemsonopenissuesV2.0November18,2011ReleasedversionPLCopenforefficiencyinautomationTC2-TaskForceMotionControl©PLCopen–2002,2011Part6–FluidPowerExtensions–V2.0November18,2011page3/27TableofContents1.GENERALINTRODUCTION...............................................................................................................................62.OVERVIEWOFTHEDEFINEDEXTENDEDFUNCTIONBLOCKS:..........................................................72.1.GENERALREMARKSTOTHEFUNCTIONBLOCKBEHAVIOR.....................................................................................72.1.1.ResponseTime................................................................................................................................................73.STATEDIAGRAM..................................................................................................................................................84.DEFINEDUSERDERIVEDDATATYPES..........................................................................................................94.1.ABORTINGVERSUSBUFFEREDMODES....................................................................................................................94.1.1.BufferedversusNon-bufferedmodes............................................................................................................105.FUNCTIONBLOCKS–EXTENSIONSFORMOTIONCONTROL.............................................................115.1.MC_LOADCONTROL.............................................................................................................................................115.2.MC_LIMITLOAD...................................................................................................................................................135.3.MC_LIMITMOTION...............................................................................................................................................165.4.MC_LOADSUPERIMPOSED....................................................................................................................................185.5.MC_LOADPROFILE...............................................................................................................................................20APPENDIXACOMPLIANCEPROCEDUREANDCOMPLIANCELIST.......................................................22APPENDIXA1.STATEMENTOFSUPPLIER.....................................................................................................................23APPENDIXA2.SUPPORTEDDATATYPES......................................................................................................................24APPENDIXA3.OVERVIEWOFTHEFUNCTIONBLOCKS................................................................................................24AppendixA3.1MC_LoadControl.......