According to the IEC standard, %I indicates a language object of type discrete IN.

According to the IEC standard, %IW indicates a language object of type analog IN.

According to the IEC standard, %KW indicates a language object of type constant word.

According to the IEC standard, %M indicates a language object of type memory bit.

According to the IEC standard, %MW indicates a language object of type memory word.

According to the IEC standard, %Q indicates a language object of type discrete OUT.

According to the IEC standard, %QW indicates a language object of type analog OUT.

Output mode in which both output signals (For example: phase A and phase B) are a pulse train signal at the same frequency (target frequency) and for which the direction is given by the phase difference between A and B.

The rate at which something increases its velocity. Acceleration is usually measured in units of velocity change for each unit of time (inches/second (velocity) per second (time)) and in this example is given either in ms or Hz/2ms.

The relative status of something compared to its absolute or perfect value. In motion control this will most often be a position description.

A command may be sent to move 4.0"(101.6 mm): the accuracy of the system will be defined by how close to the absolute value of 4.0"(101.6 mm) the system can complete the movement. Accuracy may be defined as a one time incident or the average over a number of cycles or motions.

Positioning accuracy will normally be defined in terms of deviation (+/- from theoretical) or limits of acceptable variation from a theoretical value. For example 3.8"-4.2" (96.52 mm - 106.68 mm) could define acceptable limits of variation around a theoretical point of 4.0" (101.6 mm)

There is a hierarchy among the various data types. In the DFBs, it is sometimes possible to declare variables that can contain several types of values. In that case we use ANY_xxx types.

An ARRAY is a table containing elements of a single type.

The syntax is as follows: ARRAY [<limits>] OF <Type>

Example:

ARRAY [1..2] OF BOOL is a one-dimensional table with two elements of type BOOL.

ARRAY [1..10, 1..20] OF INT is a two-dimensional table with 10x20 elements of type INT.

An axis is a mechanical part driven by an electric motor. It serves to guide rotation or translation.

Buffer byte value for which one positioning command follows another one. The next command starts as soon as the previous one reaches its Target_Position and will begin at the previous Target_Velocity.

BOOL is the abbreviation for the Boolean type. This is the basic data type in computing. A BOOL variable can have either of the following two values: 0 (FALSE) or 1 (TRUE).

A bit extracted from a word is of type BOOL, for example: %MW10.4.

The buffer is an input (a byte) that defines how two conscutive commands will be treated regarding Absolute and Relative Positioning commands . There are 3 possible values: Abort, value = 0, the second command cancels the one running and starts immediatly; Buffered, value = 1, the second command starts once the previous one is finalized (axis is stopped); BlendingPrevious, value = 2, explanation in the BlendingPrevious glossary entry.

When 8 Bits are grouped together, they are called a BYTE. You can enter a BYTE either in binary mode or in base 8.

The BYTE type is encoded in an 8 bit format which, in hexadecimal format, ranges from 16#00 to 16#FF.

The Counter_in_Position input (sometimes called Position_Completed) corresponds to an output of the drive indicating that the drive's internal position error counter is empty. This input can be used for homing processes to ensure a synchronization between the PTO channel's position counter and the drive.

The position of an axis relative to the requested position. This may be the position at the end of the move or the position at any time during the move.

Clock Wise / Counter Clock Wise: Output mode in which each output signal (i.e. CW signal and CCW signal) is alternatively the pulse train signal according to the direction.

DDT is the abbreviation of Derived Data Type.

A derived data type is a set of elements with the same type (ARRAY) or with different types (structure).

The rate at which something decreases its velocity. Deceleration is usually measured in units of velocity change for each unit of time (Inches/second (velocity) per second (time)) and in this example is given either in ms or Hz/2ms.

DFB is the abbreviation of Derived Function Block.

DFB types are function blocks that can be defined in ST, IL, LD or FBD language.

Using these DFB types in an application makes it possible to:

DINT is the abbreviation of Double INTeger (encoded in 32 bits).

The upper/lower limits are as follows: -(2 to the power of 31) to (2 to the power of 31) - 1.

Example:

-2147483648, 2147483647, 16#FFFFFFFF.

An electronic device that translates a motion controller command into a electrical current that controls a motor.

EBOOL is the abbreviation of Extended BOOLean. An EBOOL type has a value (0 (FALSE) or 1 (TRUE), but also rising or falling edges and forcing functions.

An EBOOL variable occupies one byte in memory.

The byte contains the following information:

The default value of each bit is 0 (FALSE).

EF is the abbreviation of Elementary Function.

This is a block used in a program which performs a predefined logical function.

A function does not have any information on the internal state. Several calls to the same function using the same input parameters will return the same output values. Information on the graphic form of the function call can be found in the "functional block (instance)". Unlike a call to a function block, function calls include only an output which is not named and whose name is identical to that of the function. In FBD, each call is indicated by a unique number via the graphic block. This number is managed automatically and cannot be modified.

Other functions using the SDKC can be developed with the development kit.

See EF.

EN stands for ENable; it is an optional block input. When the EN input is enabled, an ENO output is set automatically.

If EN = 0, the block is not enabled; its internal program is not executed, and ENO is set to 0.

If EN = 1, the block's internal program is run and ENO is set to 1. If an error occurs, ENO is set to 0.

If the EN input is not connected, it is set automatically to 1.

ENO stands for Error NOtification; this is the output associated with the optional input EN.

Task performed with priority over all other tasks, to reduce the response time of the application to certain events.

FBD is the abbreviation of Function Block Diagram.

FBD is a graphical programming language that works like a flowchart. By adding simple logical blocks (AND, OR, etc.), each function or function block in the program is represented in this graphical format. For each block, the inputs are on the left and the outputs on the right. Block outputs can be linked to inputs of other blocks in order to create complex expressions.

Collective term for EF (elementary function), EFB (elementary function block) and DFB (derived function block).

See EF.

See FBD.

A reference position for all absolute positioning movements. Usually defined by a home limit switch and/or encoder marker. Normally set by a homing command and retained as long as control system is operational.

Locating a unique reference position for axis calibration.

IL is the abbreviation of Instruction List.

This language is a series of basic instructions.

It is very close to assembly language used to program processors.

Each instruction is made up of an instruction code and an operand.

INT is the abbreviation of single INTeger (encoded in 16 bits).

The upper/lower limits are as follows: -(2 to the power of 15) to (2 to the power of 15) - 1.

Example:

-32768, 32767, 2#1111110001001001, 16#9FA4.

IODDT is the abbreviation of Input/Output Derived Data Type.

The term IODDT indicates a structured data type representing a module or a channel of a PLC module. Each expert module has its own IODDTs.

LD is the abbreviation of Ladder Diagram.

LD is a programming language that represents instructions to be executed as graphical diagrams very similar to electrical diagrams (contacts, coils, etc.).

The Proximity&LimitSwich input is used to signal that the axis has reached a limit of the valid area (either on the positive or the negative side), except in case set homing type is short cam with marker.

Homing procedure that enables to reference the axis by searching for a negative limit switch-type sensor.

Homing procedure that enables to reference the axis by searching for a positive limit switch-type sensor.

Abbreviation for Lexium, a Schneider Electric drive brand.

Motion Single axis controller PTO.

Open loop control refers to a motion control system with no external sensors to provide position or velocity correction signals.

A closed loop control is a motion control system that has position and velocity feedback to generate a correction signal by comparing its position and velocity to desired parameters. Feedback devices are typically encoders, resolvers, LVTDs and/or tachometers.

The origin input is used for all types of homing commands to signal that the axis has reached the reference point.

Any current in excess of the rated current of the drive to maintain or move to a new position at a given velocity and acceleration or deceleration rate.

PLCopen is a Vendor- and product-independent worldwide association on a standard regarding: programming. Effectively this standardization is done by defining libraries of reusable components. In this way the programming is less hardware dependent, the reusability of the application software increased, the cost involved in training and support reduced, and the application becomes scalable.

Portion of the command signals that generates the position information based on position feedback.

Specifying a move by giving a target position, a velocity and an acceleration and deceleration. The target position can be an absolute position, or a relative position from the current position.

PowerSuite is a Schneider Electric software which allows configuration of the Schneider Electric drives (Lexium, ATV, TeSys, ATS)

Procedures are technically functional views. The only difference with elementary functions is the fact that procedures can include more than one output and that they handle the VAR_IN_OUT data type. In appearance, procedures are no different from elementary functions.

Procedures are an extension to the IEC 61131-3 standard.

Graphical representation of movement. This can be position vs. time, velocity vs.time or torque vs. time.

The Proximity&LimitSwitch input is used as Proximity signal during homing command when set homing type is short cam with marker. The signal represents a proximity area around the reference point. The accurate position of the reference point is given by the zero marker signal.

Pulse Train Output

Output mode in which the first output signal (CW, i.e. Pulse) is the pulse train signal, while the second output signal (CCW, i.e. Direction) gives the direction.

Procedure to set the feedback device relative to a specific reference point.

Standard interface multi-port serial communication port.

A cable that has a metallic sleeve wrapped around all of the conductors that comprise its center. The metal sleeve is then grounded to eliminate the effects of electrical noise on the signals being carried by the cable.

Homing procedure that enables referencing of the axis by searching for an absolute positioned external physical switch (reference on the negative side of the absolute switch/short cam).

Homing procedure that enables referencing the axis by searching for Zero pulse (also called Marker or reference pulse) in encoder within a proximity area delimited by an absolute switch (short cam).

Homing procedure that enables referencing of the axis by searching for an absolute positioned external physical switch (reference on the negative side of the absolute switch/short cam) within an area delimited on the negative side by a limit switch.

Homing procedure that enables referencing the axis by searching for an absolute positioned external physical switch (reference on the negative side of the absolute switch/short cam) within an area delimited on the positive side by a limit switch.

Slack correction is used to define the number of ouput pulses to ignore after every change of direction.

ST is the abbreviation of Structured Text.

The structured literal language is a developed language similar to computer programming languages. It can be used to organize a series of instructions.

Software limits (High and Low) that define the field in which the application can run. These limits are always included in the axis physical limits.

The TIME type expresses a time in milliseconds. Encoded in 32 bits, this type can be used to obtain times from 0 to 2 32-1 milliseconds.

The TIME type has the following units: days (d), hours (h), minutes (m), seconds (s) and milliseconds (ms). A literal value of type TIME is represented by a combination of the preceding types prefixed with T#, t#, TIME# or time#.

Examples: T#25h15m, t#14,7S, TIME#5d10h23m45s3ms

Two wires twisted together for the purpose of eliminating the effect of electrical noise.

UDINT is the abbreviation of Unsigned Double INTeger (encoded in 32 bits). The upper/lower limits are as follows: 0 to (2 to the power of 32) - 1.

Example:

0, 4294967295, 2#11111111111111111111111111111111, 8#37777777777, 16#FFFFFFFF.

UINT is the abbreviation of the Unsigned INTeger format (encoded in 16 bits). The upper/lower limits are as follows: 0 to (2 to the power of 16) - 1.

Example:

0, 65535, 2#1111111111111111, 8#177777, 16#FFFF.

The USIC (Universal Signal Interface Converter) is an interface adapter that is used as a universal adapter for a pulse/direction interface to a master controller (for example/ PLC).

Memory entity of type BOOL, WORD, DWORD, etc., whose contents can be modified by the program currently running.

The speed at which a motor or mechanical system runs.

The type WORD is encoded in a 16 bit format and is used to perform processing on a series of bits.

Explicit writing of command words in the module. This operation is carried out via internal words %MW that contain the command to be carried out and its parameters (a motion control, for example).