CSP 

CSVL 

CSV 

PTO 

AC500_MotionControl 

ABB Specific 

MCA_AxisManualControl 

This function block can be used for quick tests with an axis, it comes with a Visualization template. 

Y 

Y 

Y 

Y 

MCA_CamAppend 

This function block implements Camming functionality. A slave axis is coupled to a master axis by a position/position relation. 

Y 

Y 

Y 

Y 

MCA_CamGetInterpolationPosition  

gives an interpolation result, acc. referenced cam table, for a master position. 

Y 

Y 

Y 

Y 

MCA_CamGetInterpolationValues 

interpolation result, according to the referenced camtable, for the given master position 

Y 

Y 

Y 

Y 

MCA_CamInDirect  

implements Camming-Functionality. A device is coupled to a master 

Y 

Y 

Y 

Y 

MCA_CamInfo  

gives an information which index is actually processed by the respective cam table 

Y 

Y 

Y 

Y 

MCA_CamStructureSelect 

selects CAM tables by connections to the relevant tables.To be used with CamTabel ABB 

Y 

Y 

Y 

Y 

MCA_Cam_Extra (Function) 

to modify 2 mode-bits which define the behavior for the MC_CamIn more precise 

Y 

Y 

Y 

Y 

MCA_DigitalCamSwitch  

pin is Switched on- and off-based on TrackID, Axis Pos.+ Config.in MCA_CAMTappet array 

Y 

Y 

Y 

Y 

MCA_DriveBasedHome  

to execute a homing procedure directly in the drive 

Y 

Y 

Y 

Y 

MCA_GearInDirect  

commands a gear ratio btw. position of device and master from synchronization onwards 

Y 

Y 

Y 

Y 

MCA_GearInPosRelative 

Y 

Y 

Y 

Y 

MCA_GetTappetValue 

implements Tappets: output pin is switched based on TrackID, Axis Position and Configuration in the MCA_CamTappet array.  

Y 

Y 

Y 

Y 

MCA_Indexing  

upon a rising edge, do a number of relative or absolute moves, listed in a table 

Y 

Y 

Y 

Y 

MCA_JogAxis  

jogs an axis for a given distance fwd./backward with selected jog vel./acc. 

Y 

Y 

Y 

Y 

MCA_MoveBuffer  

do a number of relative or absolute moves, listed in a table (Array of MCA_Pos_Ref). 

Y 

Y 

Y 

Y 

MCA_MoveByExternalReference  

gives a reference position to axis which is directly passed to position control loop 

Y 

Y 

Y 

Y 

MCA_MoveByExtRefRelative  

gives a ref. position to the axis which is directly passed to the position control loop 

Y 

Y 

Y 

Y 

MCA_MoveRelativeOpti  

commands a controlled motion of a distance relative to actual position 

Y 

Y 

Y 

Y 

MCA_MoveVelocityContinuous  

commands a never-ending controlled motion at a specified velocity. 

Y 

Y 

Y 

Y 

MCA_Parameter  

to change the default values of parameters 

Y 

Y 

Y 

Y 

MCA_PhasingByMaster  

movement for the relation to the master axis of the specified axis (in sync) 

Y 

Y 

Y 

Y 

MCA_ReadParameterList  

reads a list of parameters by using the “MC_ReadParameter”. 

Y 

Y 

Y 

Y 

MCA_SetOperatingMode  

changes the axis mode from positioning to velocity mode and vice versa. 

Y 

Y 

Y 

Y 

MCA_SetPositionContinuous  

modifies the position of an axis with a defined profile 

Y 

Y 

Y 

Y 

MCA_WriteParameterList  

writes a list of parameters by using the “MC_WriteParameter” 

Y 

Y 

Y 

Y 

MC Administrative 

MC_CamTableSelect  

selects the CAM tables by setting the connections to the relevant tables 

Y 

Y 

Y 

Y 

MC_Power  

controls the power stage (on or off). 

Y 

Y 

Y 

Y 

MC_ReadActualPosition  

returns the actual position 

Y 

Y 

Y 

Y 

MC_ReadActualVelocity  

returns the value of the actual velocity as long as Enable is set. 

Y 

Y 

Y 

Y 

MC_ReadAxisError  

describes general axis errors not relating to the PLCopen function blocks 

Y 

Y 

Y 

Y 

MC_ReadBoolParameter  

transfers parameters defined as “standard” in the PLCopen 

Y 

Y 

Y 

Y 

MC_ReadParameter  

transfers parameters defined as “standard” in the PLCopen 

Y 

Y 

Y 

Y 

MC_ReadStatus  

returns detailed status of axis w. respect to motion currently in progress. 

Y 

Y 

Y 

Y 

MC_Reset  

transition  ErrorStop to StandStill by resetting all int. axis-errors 

Y 

Y 

Y 

Y 

MC_SetOverride  

set  a factor: multiplied to commanded vel., acceleration, deceleration., jerk of move. 

Y 

Y 

Y 

Y 

MC_SetPosition  

shifts coordinate system by manip. set-point, pos., actual pos. w.same value w/o movement. 

Y 

Y 

Y 

Y 

MC_WriteBoolParameter  

transfers parameters defined as “standard” in the PLCopen 

Y 

Y 

Y 

Y 

MC_WriteParameter  

transfers parameters defined as “standard” in the PLCopen 

Y 

Y 

Y 

Y 

MC Homing 

MC_StepAbsSwitch  

performs a homing  by searching for absolute external physical switch 

Y 

Y 

Y 

Y 

MC_StepDirect  

static homing by directly forcing an actual position. No physical motion performed 

Y 

Y 

Y 

Y 

MC_StepLimitSwitch  

homing function by searching for sensor using only limit switches. 

Y 

Y 

Y 

Y 

MC_StepRefPulse  

homing by searching for Zero pulse 

Y 

Y 

Y 

Y 

MC MultiAxis 

MC_CamIn  

implements Camming: A device- is coupled to a master axis by pos./pos. relation 

Y 

Y 

Y 

Y 

MC_CamOut  

disengages the Slave axis from the Master axis immediately 

Y 

Y 

Y 

Y 

MC_CombineAxes  

combines the motion of 2 axes into a third axis with selectable combination method. 

Y 

Y 

Y 

Y 

MC_GearIn  

commands a ratio between the velocity of the slave and master axis. 

Y 

Y 

Y 

Y 

MC_GearInPos  

commands a gear ratio btw. position of device, master axes from sync. point onw. 

Y 

Y 

Y 

Y 

MC_GearOut  

disengages the Slave axis from the Master axis 

Y 

Y 

Y 

Y 

MC_HaltPhasing  

commands a controlled motion stop for the phasing movement. 

Y 

Y 

Y 

Y 

MC_PhasingAbsolute  

movement for the relation to the master axis of the specified axis. 

Y 

Y 

Y 

Y 

MC_PhasingRelative  

movement for the relation to the master axis of the specified axis.  

Y 

Y 

Y 

Y 

MC SingleAxis 

MC_AccelerationProfile  

commands a time-acceleration locked motion profile. 

Y 

Y 

Y 

Y 

MC_Halt  

commands a controlled motion stop. 

Y 

Y 

Y 

Y 

MC_HaltSuperImposed  

commands halt to all superimposed motions.  

Y 

Y 

Y 

Y 

MC_MoveAbsolute  

commands a controlled motion to a specified absolute position. 

Y 

Y 

Y 

Y 

MC_MoveAdditive  

commands a controlled motion of a specified relative distance additional to the most recent commanded position in the discrete motion state. 

Y 

Y 

Y 

Y 

MC_MoveContinuousAbsolute  

commands controlled motion to specified abs. position ending with spec. velocity. 

Y 

Y 

Y 

Y 

MC_MoveContinuousRelative  

commands controlled motion of specified rel. distance, ending with spec. velocity. 

Y 

Y 

Y 

Y 

MC_MoveRelative  

commands controlled motion of distance rel. to actual position at time of execution. 

Y 

Y 

Y 

Y 

MC_MoveSuperImposed  

commands controlled motion of spec. Rel. distance additional to existing motion. The existing Motion is not interrupted but is superimposed. 

Y 

Y 

Y 

Y 

MC_MoveVelocity  

commands a never-ending controlled motion at a specified velocity. 

Y 

Y 

Y 

Y 

MC_PositionProfile  

commands a time-position locked motion profile. 

Y 

Y 

Y 

Y 

MC_Stop  

commands a controlled motion stop and transfers the axis to the state “Stopping”. 

Y 

Y 

Y 

Y 

MC_VelocityProfile  

commands a time-velocity locked motion profile. 

Y 

Y 

Y 

Y 

CMC_Binary2Modulo  

Convert a 32 bit value (Position_Reference) to Modulo_Range. 

Y 

Y 

Y 

Y 

CMC_Get_Units_From_Inc (Fun) 

converts drive’s position value (DINT) exchanged with drive to scaled position unit (LREAL)  

Y 

Y 

Y 

Y 

CMC_Modulo2Binary  

Convert a <32 bit value to 32 bit for use as Actual_Position. 

Y 

Y 

Y 

Y 

AC500_OnboardIO 

OBIO_ 
FunctionBlocks 

OBIOEncoderCounter  

Encoder counter (if respective channel is configured as encoder channel) 

OBIOForwardCounter  

Forward counter  ( if respective channel is configured as forward counter) 

OBIOFreqOut  

PWM functionality: Issue an adjustable frequency (channel is config. as PWM channel) 

OBIOInterruptInfo  

Information  which input triggered the task, and a timestamp when it did happen 

OBIOInterruptPara  

Enables up to 4 inputs to be used as interrupt source 

OBIOLimitSwitch  

A binary output can be switched on/off with respect to a counter value 

OBIOPulseTrainOutput  

PTO supports clockwise/counterclockwise or pulse/direction outputs max. 200kHz 

OBIOPulseTrainSingleOutput  

PTO supports just pulse/direction outputs with  max 200 kHz 

OBIOPwm  

Up to 8 PWM channels. The max frequency is determined by channel and HW delay times. 

OBIOTouchProbe  

binary input can be used to save a counter value at rising edge. 

OBIO_ 
SimpleMotion 

OBIOMotionPTO  

Single axis point-to-point or velocity movement, utilizing the PTO functionality 

OBIOMotionPwm  

Single axis point-to-point or velocity movement, utilizing the PWM functionality 

OBIOMotionSinglePTO 

Single axis point-to-point or velocity movement, utilizing the PTO functionality 

OBIOBasicPoint2Point  

Positioning algorithm with a trapezodial velocity curve. To be used w. OBIOMotionPwm 

OBIOSineSquarePoint2Point  

Positioning algorithm with a sine-square velocity curve. To be used w. OBIOMotionPwm 

AC500_Math Functions 

Math_FFT 

Calculate a FastFourier Transformation. 

Y 

Y 

Y 

Y 

Math_Input_Shaper_ZV 

The input-shaper is meant to prevent oscillations in a system. It can be used if the resonance frequency of the system is known. 

Y 

Y 

Y 

Y 

Math_Input_Shaper_ZVD 

The input-shaper is meant to prevent oscillations in a system. It can be used if the resonance frequency of the system is known 

Y 

Y 

Y 

Y 

Math_Moving_Avg 

Calculate a moving average for input X. 

Y 

Y 

Y 

Y 

Math_Notch_Filter 

The notch filter is meant to suppress the frequencies between NotchFrequencyLow and NotchFrequencyHigh from input signal X. 

Y 

Y 

Y 

Y 

MATH_LINEAR_REGRESSION  

Calculates estimated next value based on a linear regression with 8 values history 

Y 

Y 

Y 

Y 

AC500_Ecat_CiA402 

CoE 

ECAT_Read_Byte_App  

Reads an 8 bit value from an EtherCAT node. It uses EcatCoeRead to do so 

Y 

Y 

Y 

ECAT_Read_Coe_List_App  

Reads a list of parameters to the drive by using the EcatCoeRead. 

Y 

Y 

Y 

ECAT_Read_DInt_App  

Reads a 32 bit value from an EtherCAT node. It uses EcatCoeRead to do so 

Y 

Y 

Y 

ECAT_Read_Int_App  

Reads a 16 bit value from an EtherCAT node. It uses EcatCoeRead to do so 

Y 

Y 

Y 

ECAT_Write_Byte_App  

Writes an 8 bit value to an EtherCAT node. It uses EcatCoeWrite to do so 

Y 

Y 

Y 

ECAT_Write_Coe_List_App  

Writes a list of parameters to the drive by using the EcatCoeWrite. 

ECAT_Write_DInt_App  

Writes a 32 bit value to an EtherCAT node. It uses EcatCoeWrite to do so 

ECAT_Write_Int_App  

Writes a 16 bit value to an EtherCAT node. It uses EcatCoeWrite to do so 

Drive 

ECAT_CiA402_Control_App  

 Controls the state machine for a drive with 402 profile and connected to EtherCAT. 

Homing 

ECAT_402ParameterHoming_APP  

Sends parameters needed for homing to drive: all parameter with a value <> 0 

ECAT_HomingOnTouchProbe_APP  

Performs homing on latched position value, e.g., Touch Probe on Z-pulse of encoder 

TouchProbe 

ECAT_CiA402_TouchProbe_App  

Manages Touch Probe objects accord.: “EtherCAT Implementation Directive for CiA402 

AC500_ExtensionAC500 - ABB Specific 

Cam 

MCA_CamBounds  

Calculates min/max position,  estimate min/max velocity and acceleration of a slave coupled in absolute mode to a master, which is moved with a max velocity, accel./decel. 

MCA_CamEditor  

 Used to display cam table in the visualization ,it work together with online cam editor visualization to modify the cam in online mode 

MCA_CamIn 

This function block implements Camming functionality. A slave axis is coupled to a master axis by a position/position relation 

MCA_GetCamMasterPhase  

Obtain the corresponding master phase within the setting window range according to the setting slave position. 

MCA_ReadCamFile  

Loading a cam at runtime and making it available for the modules MCA_CamStructureSelect, MC_CamTableSelect, MCA_DigitalCamSwitch, MC_CamIn and MCA_CamInDirect. 

MCA_ReadCamTablePoint  

Read one CAM table data point from the CAM table, which contains master position , slave position , slave velocity and slave acceleration 

MCA_ReadTappetTablePoint  

Read one Tappet table point from Tappet table, which contains master axis position , tappet type , track ID and tappet action. 

MCA_WriteCamFile  

Storing a cam table created within the Cam editor into a file at runtime 

MCA_WriteCamTablePoint  

Write one CAM table data point from the CAM table, which contains master position , slave position , slave velocity and slave acceleration 

MCA_WriteTappetTablePoint  

Write one tappet table data point from the tappet table, which contains master position , slave position , slave velocity and slave acceleration 

EtherCAT 

MCA_DriveCheckReadyToEnable  

Check if the drive is ready to be used before enabling it 

MCA_DriveEnableImmediateApply  

 Write PDO objects into drive live parameters (e180/e190) 

MCA_DriveParametersSave  

Let the parameters in the drive which accords to the CANopen DS301 protocol be saved in the drive’s non-volatile memory. 

MCA_DriveSetOperatingMode  

Change the DS 402 operating mode of the Servo Drive and check that the change of mode has been accepted by the drive.  

MCA_GetE1x0DriveErrorDescription  

Display the error number and text description for the Servo Drive which has been commissioned via the Motion Wizard. 

MCA_MoveFeed  

Performing positioning for the specified travel distance from the position where an external device triggers an interrupt input. 

MCA_MoveVelocity_PV  

Controlling the velocity of an axis using a nonreal time method, the drive corresponds to the axis is changed to Profile Velocity mode, and all the ramp of velocity and torque limit are processed by the drive. 

MCA_QuickStop  

EtherCAT axis quick stop function and can be invoked in ANY PLCopen state. 

MCA_TorqueControl_CSTOL  

Control the torque by using the cyclic synchronous torque mode of the servo drive. 

MCA_TorqueControl_PT  

Controlling the torque of an axis using a nonreal time method, the drive corresponds to the axis is changed to Profile Torque mode, and all the ramp of torque and velocity limit are processed by the drive. 

MCA_TorqueProfile_CSTOL 

This function block commands a time-torque locked profile motion by using the cyclic synchronous torque mode of the Servo Drive. 

MCA_TouchProbeECAT  

Manages the Touch Probe objects, records axis position at trigger event. 

MCA_TouchProbeECATFiltering  

Manages the filtering parameters of Touch Probe objects and set them into servo drive via EtherCAT. (only e180/e190) 

Generic 

MCA_EncoderAxisMotionState  

Observes the actual position of an encoder axis and gives out currently motion state of the encoder axis. 

Homing 

MCA_CiA402DriveHoming 

This function block sends the parameter needed for Drive based homing to the drive and then executes a homing procedure in the drive. 

MCA_HomeAbsSwitch  

Homing function by searching for an absolute positioned external physical switch. 

MCA_HomeLimitSwitch  

Homing function by searching for an absolute positioned external physical switch. 

MCA_HomeToTorque  

Homing procedure against a physical object, mechanically blocking the movement. 

MCA_HomeToTouchProbe  

Homing on a latched position value, e.g. Touch Probe on Z-pulse of an encoder and Touch Probe on external input . 

XYGroup 

CMC_XYGroupRef  

Inferface for all other XY group function blocks to exchange messages. 

MCA_XYGroupEnable  

Changes the state for a group from GroupDisabled to GroupStandby and also changes the state of each member axis from Disabled to Standstill. 

MCA_XYGroupHome  

Commands all member axes to perform the homing sequence. The details of the homing sequence is defined by the input HomingSequence. 

MCA_XYGroupPause  

Pauses the on-going motion and stops group while Enable True, does not abort motion  

MCA_XYGroupReset  

Resets both all internal group-related errors and errors occur on the member axes in the group. 

MCA_XYGroupStop  

Commands a controlled motion stop and transfers the axes group to the state GroupStopping. 

MCA_XYMoveCircular  

Commands an interpolated circular movement on the XY group from the current position. 

MCA_XYMoveLinear  

Commands interpolated linear movement from current position to absolute/relative position. 

Move Link 

MCA_MoveLink 

Performing positioning in sync with master axis. (up to three velocity segments for slave axis) 

MCA_MoveLinkPath 

This function block is designed for performing path in sync with the specified master axis. 

DeviceInterfac 

Common_CiA402_Control_App 

The function block controls the statemachine for a drive with 402 profile and connected to realtime fieldbus. 

Common_HomingOnTouchProbe_APP 

This function block perfoms a homing on a latched position value, e.g. Touch Probe on Z-pulse of an encoder. 

Common_CiA402_TouchProbe_App 

This function block manages the Touch Probe objects according to CiA402 Drive Profile