i5cnc / plcopen

plcopen

PLCOpen Motion - Uranus

Uranus is a C++ library that implements the part 1 & 2 of PLCopen motion control standard.

Currently included function blocks

Function Block	Description
MC_Power	Controls the power stage (On or Off).
MC_Home	Commands the axis to perform the «search home» sequence.
MC_Stop	Commands a controlled motion stop and transfers the axis to the state ‘Stopping’.
MC_Halt	Commands a controlled motion stop and transfers the axis to the state ‘StandStill’.
MC_MoveAbsolute	Commands a controlled motion to a specified absolute position.
MC_MoveRelative	Commands a controlled motion of a specified distance relative to the set position at the time of the execution.
MC_MoveAdditive	Commands a controlled motion of a specified relative distance additional to the most recent commanded position.
MC_MoveVelocity	Commands a never ending controlled motion at a specified velocity.
MC_ReadStatus	Returns in detail the status of the state diagram of the selected axis.
MC_ReadMotionState	Returns in detail the status of the axis with respect to the motion currently in progress.
MC_ReadAxisError	Reads information concerning an axis, like modes, inputs directly related to the axis, and certain status information.
MC_EmergencyStop	Commands the axis to stop immediately and transfers the axis to the state ‘ErrorStop’.
MC_Reset	Makes the transition from the state ‘ErrorStop’ to ‘Standstill’ or ‘Disabled’ by resetting all internal axis-related errors.
MC_ReadActualPosition	Returns the actual position.
MC_ReadCommandPosition	Returns the command position.
MC_ReadActualVelocity	Returns the actual velocity.
MC_ReadCommandVelocity	Returns the command velocity.

Build & install commands

mkdir build
cd build
cmake ..
make
sudo make install