Y_PLCopenPart1_Toolbox FB

Function block	Description
MC_ReadStatus	This function block returns the state of the axis in detail. The state reflects the motion state diagram and other motion related attributes.
MC_Power	The MC_Power function block is used to enable (energize) or disable (de-energize) an axis in the case of a servo. If the axis is a VFD, this function block is used to take the axis from a motion inhibit state to a motion ready state and vice versa.
MC_Reset	The MC_Reset function block will reset axis related alarms on the controller and on the drive.
MC_SetPosition	The MC_SetPosition function block sets a new reference coordinate frame for the axis. As a result, the commanded position and actual position of the axis change without causing any motion.
MC_ReadActualPosition	The MC_ReadActualPosition returns the feedback position of the axis in user units configured by the user.
MC_ReadActualVelocity	The MC_ReadActualVelocity returns the actual (feedback) velocity of the axis in user units as configured by the user.
MC_Stop	The MC_Stop function block commands a controlled motion stop and transitions the axis to the 'Stopping' state.
MC_MoveAbsolute	The MC_MoveAbsolute function block commands the axis to a specified absolute position.
MC_MoveRelative	The MC_MoveRelative function block commands a move of a specified distance relative to the commanded position when the function block is executed.
MC_ReadAxisError	The MC_ReadAxisError function block reports axis alarms and warnings. The ErrorClass output designates the source of the alarm or warning. The AxisErrorID output contains the error code.
MC_MoveVelocity	The MC_MoveVelocity function block commands the axis to follow a user specified velocity.
MC_ReadActualTorque	This Function Block returns the value of the actual torque or force in percentage of rated torque. Note that peak torque will vary from 200 to over 300% based on the specific amplifier model.
MC_ReadParameter	The MC_ReadParameter function block returns the value of an axis-specific controller side parameter. For drive side parameters, refer to Y_ReadDriveParameter.
MC_ReadBoolParameter	The MC_ReadBoolParameter function block reads the value of an axis specific Boolean parameter and is for controller side parameters only. For drive side parameters, refer to Y_ReadDriveParameter.
MC_WriteBoolParameter	The MC_WriteBoolParameter function blockwrites the value of an axis specific controller side boolean parameter. For setting drive side parameters, refer to Y_WriteDriveParameter
MC_WriteParameter	The MC_WriteParameter function Block writes the value of an axis-specific non boolean controller parameter. For drive side parameters, refer to Y_WriteDriveParameter.
Y_ClearAlarms	The Y_ClearAlarms function block clears controller based alarms that are not axis specific.
Y_ReadAlarm	The Y_ReadAlarm function block reports controller-specific alarms that are not axis related.Y_ClearAlarms clears alarms reported by this block.
Y_WriteDriveParameter	The Y_WriteDriveParameter function blockwrites the specified parameter to the drive or amplifier of the specified axis. To transfer a copy of all parameters from the controller to the amplifier, use Y_WriteParameters.
Y_ReadDriveParameter	This Function Block reads the specified parameter from the drive or amplifier of the specified axis. To read a controller side axis parameter, use MC_ReadParameter.
MC_AbortTrigger	The Function Block aborts function blocks which are associated with trigger events (e.g. MC_TouchProbe, MC_StepRefPulse). Those blocks with the Busy output set high will switch to CommandAborted set high.
MC_GearIn	This Function Block commands a velocity ratio between the master and slave axes. If the gearing mode is executed while the master is already in motion, position synchronization will not be achieved unless some other method (MC_MoveSuperImposed or MC_GearInPos) is executed.
MC_GearInPos	This Function Block commands a gear ratio between the master and slave axes. Position synchronization is achieved over a defined region of travel for both master and slave.
MC_GearOut	This Function Block disengages the Slave axis from the Master axis. The slave will continue to move at the last commanded velocity.
MC_MoveSuperImposed	This Function Block commands a controlled motion of the specified relative distance additional to an existing motion. The existing Motion is not interrupted, but is superimposed by the additional motion.
MC_StepLimitSwitch	This function Block performs a homing function and sets the position by searching for a limit switch. Logic is built-in to account for cases in which the limit is already hit.
MC_TorqueControl	This function block continuously exerts a torque or force of the specified magnitude. This magnitude is approached using a defined ramp (TorqueRamp), and the Function Block sets the InTorque output if the commanded Torque level is reached. This function block is applicable for force and torque. When there is no external load or the load is low, the Velocity limit may be reached before the specified Torque is achieved. In this case, the InTorque output will not be set. Positive torque is in the positive direction of velocity.
MC_TouchProbe	The function block will output the axis position when a trigger event occurs. This function block is specifically designed to work with the high speed hardware latches on ServoPacks and LIO option cards. See the chart below for configuring the TRIGGER_REF structure to capture the position for the desired input.
Y_HoldPosition	This Function Block's purpose is After the axis has held position, the Done output is set to TRUE. As soon as ‘Done’ is SET, the axis goes to the ‘StandStill’ state. to sync up the commanded position when transitioning from a non-position-control mode (torque/velocity) to a position control mode. This should only be done while stationary (speed = zero), because the behavior of stopping in this mode is controlled by servo parameters.
MC_SetOverride	This function block accepts override inputs for single axis motion. The commanded velocity, acceleration and deceleration are multiplied by these factors. Motion affected by a master- slave synchronized relationship is not affected.
Y_CamFileSelect	Y_CamFileSelectloads a cam table from a CSV file into the motion memory.
Y_CamIn	This function block engages the axis in camming mode with the cam profile specified by the CamTableID.
Y_CamOut	This Function Block disengages a Slave axis from its Master axis when the master is at the DisengagePosition.
Y_CamScale	Y_CamScalemultiplies cam slave position data derived from the cam table by a scale factor.
Y_CamShift	Y_CamShift dynamically modifies the master - slave relationship by adding a perceived offset to the master position, effectively causing the slave to advance or retard from the originally specified synchronization data in the cam data table.
Y_CamStructSelect	Y_CamStructSelectloads a cam table from the application memory area to the motion memory area and returns a CamTableID to be referenced when activating the Cam function.
Y_ReadCamTable	Y_ReadCamTablecopies a cam table from the motion memory into the application program memory.
Y_ReleaseCamTable	Y_ReleaseCamTable frees memory in the motion area currently allocated for a cam table.
Y_ResetAbsoluteEncoder	This Function Block clears absolute encoder alarms caused by battery power loss, cable disconnection, etc. WARNING: After performing this function, the motor position will be cleared and must be re-established (see MC_SetPosition ) to avoid mechanical damage to the machine.
Y_SlaveOffset	This Function Block applies an offset to the slave position when camming.
Y_DirectControl	This block allows direct access to any of five possible control modes available for the specified axis. For example, Y_DirectControl makes it possible to perform open loop velocity control for winding applications. In any control mode, the IEC application program can apply an algorithm to directly command position, velocity, or torque at every application task scan.
Y_GetAlarmDesc	This function block returns string descriptions for the alarm data that is stored in the controller.
Y_GetAlarmHistory	The Y_GetAlarmHistory function block is used to obtain a list of all FMK related controller alarms, warnings and reboot events in the controller SRAM memory.
Y_PostUserAlarm	The Y_PostUserAlarm writes application specific alarms to the system, e.g. the WebUI.
Y_ReadDriveMemory	The Y_ReadDriveMemory function block reads two or four bytes of data from the specified drive's memory.
Y_ReadMultipleParameters	This function will read a number of controller parameters at once. The parameters must be an LREAL type. Populate the parameter numbers into the ParamStruct, and the function block will supply the values to the requested parameters. Refer to parameters with LREAL Data Type in the Axis Parameter List.
Y_ReadStringParameter	This Function Block returns the string value of an axis-specific parameter. Refer to parameters with STRING Data Type in the Axis Parameter List. The two parameters available are .AmplifierModel (1819) and MotorModel (1823)
Y_WriteDriveMemory	The Y_WriteDriveMemory function block writes two or four bytes of data to the specified drive's memory.
Y_WriteCamTable	Y_WriteCamTablecopies a cam table from the memory into the motion memory.application program
MC_StepRefPulse	This function Block performs homing by searching for Zero pulse (also called Marker or reference pulse) in the encoder on all Sigma Series rotary servos.
Y_ReadMultipleAlarms	The Y_ReadMultipleAlarms reads multiple alarms on the controller that need not be axis specific.
Y_MotionAxisDriver	The Y_MotionAxisDriver FB enables communication between the PLCopenPart1 function block (MC_Power, MC_MoveVelocity...) and the motion axis.
Y_AxisRefToNodeID	This function block provides a way to map an AXIS_REF to a Node ID and index for the associated axis.