Title:
Function blocks Beckhoff TwinCAT
Subtitle:
CiA 402 homing function blocks for TwinCAT
Description:

CiA 402 motion library for Beckhoff TwinCAT 3 and TwinCAT 2 PLCs to support the drive-controlled homing with motor controller from Festo. This library supports the use of the TcMC and Tc2_MC2 motion library from Beckhoff for EtherCAT and CAN.



Supported systems:

  • integrated drive EMCA-EC-67- (1509036)
  • Motor controller CMMD-AS-C8-3A (561406) Revision 07
  • Motor controller CMMP-AS-C10-11A-P3-M0 (1622904) Revision 08
  • Motor controller CMMP-AS-C10-11A-P3-M3 (1501328) Revision 08
  • Motor controller CMMP-AS-C15-11A-P3-M3 (3215473) Revision 03
  • Motor controller CMMP-AS-C2-3A-M0 (1622901) Revision 08
  • Motor controller CMMP-AS-C2-3A-M3 (1501325) Revision 08
  • Motor controller CMMP-AS-C5-11A-P3-M0 (1622903) Revision 08
  • Motor controller CMMP-AS-C5-11A-P3-M3 (1501327) Revision 08
  • Motor controller CMMP-AS-C5-3A-M0 (1622902) Revision 08
  • Motor controller CMMP-AS-C5-3A-M3 (1501326) Revision 08
  • Motor controller CMMS-AS-C4-3A-G2 (572986) Revision 08
  • Motor controller CMMS-ST-C8-7-G2 (572211) Revision 11
  • servo drive CMMT-AS-C12-11A-P3-EC-S1 (8133355)
  • servo drive CMMT-AS-C2-11A-P3-EC-S1 (5340821)
  • servo drive CMMT-AS-C2-3A-EC-S1 (5340819)
  • servo drive CMMT-AS-C3-11A-P3-EC-S1 (5340822)
  • servo drive CMMT-AS-C4-3A-EC-S1 (5340820)
  • servo drive CMMT-AS-C5-11A-P3-EC-S1 (5340823)
  • servo drive CMMT-AS-C7-11A-P3-EC-S1 (8133354)
  • servo drive CMMT-ST-C8-1C-EC-S0 (8084005)
Document type:
Function elements
Version Download
Version 3.1.24.4 (12.09.2024)
Version changes:
Changes compared to the previous version:
  • Error handling deactivated, if fb is inactive
  • Set modes of operation to default mode if nc-axis is not in OP at the beginning
Festo_HomingLibrary_3.1.24.1.zip File size: 6 MB Version: 3.1.24.4 (12/09/2024)
Version 3.1.24.1 (16.11.2021)

Version changes:

  • Bugfix during switching of operation modes
  • Function block "Festo_MC_Home" changed (no manual link of "ModesOfOperation" neccessary)
  • CMMP-AS motor controller is no longer supported with this library (use version 3.1.20.2)
  • Motor controller with CAN interface are no longer supported with this library (use version 3.1.20.2)
Festo_HomingLibrary_3.1.24.1.zip Deutsch [de], English [en] File size: 6 MB Version: 3.1.24.1 (16/11/2021)
Version 3.1.20.2 (07.05.2019)

CiA 402 motion library for Beckhoff TwinCAT 3 and TwinCAT 2 PLCs to support the drive-controlled homing with motor controller from Festo. This library supports the use of the TcMC and Tc2_MC2 motion library from Beckhoff for EtherCAT and CAN.
Festo_HomingLibrary_3.1.20.2.zip Deutsch [de], English [en] File size: 4 MB Version: 3.1.20.2 (07/05/2019)