File and language versions

Title:
Function blocks Beckhoff 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.

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

Supported systems:

integrated drive EMCA-EC-67- (1509036)
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-...-11A-P3-... (5111189)
servo drive CMMT-AS-...-3A-... (5111184)
servo drive CMMT-AS-C12-11A-P3-EC-S1 (8133355)
servo drive CMMT-AS-C12-11A-P3-MP-S1 (8143169)
servo drive CMMT-AS-C18-11A-P3-MP-S1 (8157801)
servo drive CMMT-AS-C2-11A-P3-EC-S1 (5340821)
servo drive CMMT-AS-C2-11A-P3-MP-S1 (8143165)
servo drive CMMT-AS-C2-3A-EC-S1 (5340819)
servo drive CMMT-AS-C2-3A-MP-S1 (8143163)
servo drive CMMT-AS-C25-11A-P3-MP-S1 (8157802)
servo drive CMMT-AS-C3-11A-P3-EC-S1 (5340822)
servo drive CMMT-AS-C3-11A-P3-MP-S1 (8143166)
servo drive CMMT-AS-C4-3A-EC-S1 (5340820)
servo drive CMMT-AS-C4-3A-MP-S1 (8143164)
servo drive CMMT-AS-C5-11A-P3-EC-S1 (5340823)
servo drive CMMT-AS-C5-11A-P3-MP-S1 (8143167)
servo drive CMMT-AS-C7-11A-P3-EC-S1 (8133354)
servo drive CMMT-AS-C7-11A-P3-MP-S1 (8143168)
servo drive CMMT-ST-C8-1C-EC-S0 (8084005)
servo drive CMMT-ST-C8-1C-MP-S0 (8163946)

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_3.1.24.4.zip File size: 6 MB Version: 3.1.24.4 (12/09/2024)
	Version 3.1.24.1 (16.11.2021) Version changes: Changes compared to the previous version: 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)