CM1-T
CM1-T
Breadcrumbs

CM1-T Library

Download

See Datasheets and Downloads

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