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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

ValueDescription
0No error
1Invalid mode of operation
2Invalid input parameter