CM1-T Library

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Introduction

The CM1-T Library is an add-on library that helps the user easily deploy, manage and run a CM1-T integrated motor. The CM1-T Library can be used with development environments based on the IEC 61131-3 standard. These IDEs will include Codesys™, Schneider EcoStruxure Machine Expert™, WAGO’s e!COCKPIT™, Beckhoff's TwinCAT™ and more.

The CM1-T Library can be used with the following protocols

EtherNet/IP
Modbus/TCP
TCP/IP
UDP

The library conforms to the PLCopen Motion Control specification and implements the following function blocks:

Administration	Motion	Information	Homing	Digital I/O
MC_Power MC_Reset MC_Stop	MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive MC_MoveVelocity MC_Halt	MC_ReadActualPosition MC_ReadActualVelocity MC_ReadAcutalTorque MC_ReadInfo MC_ReadAxisError MC_ReadParameter MC_WriteParameter	MC_Home MC_SetPosition	MC_ReadDigitalInput MC_ReadDigitalOutput MC_WriteDigitalOutput

Appendix

ErrorID

The ErrorID available on most function blocks has the following values

Value	Description
0	No error
1	Invalid mode of operation
2	Invalid input parameter