19/05/22

PLC Controlled Motion release notes

2.17.2 Connect and [26-01-22] PLC code to 2.17.2 Connect and [29-05-22] PLC
code
• Updated Siemens Global Library Archive to resolve issues with importing to V17 TIA relating to a
missing GSDML file. Siemens PLC Controlled Motion Library-19-05-2022.zal14.

2.15.5 Connect and [10-02-21] PLC code to 2.17.2 Connect and [26-01-22] PLC
code
• Added automated stop on following error system. See CFG_StopOnFollowingErrorMode in the
user guide.
• Added CFG_BypassHomeReset to prevent a homing reset after downloading software to the PLC.
This mainly affects Rockwell PLCs.
• Updated all manuals section 4 so that the motion interface the manual is for is mentioned in the
notes rather than a generic setup using the position interface.
• For Siemens the PROFINET interface is now set to “Trip” if comms are lost to be consistent with
Rockwell.
• A bug has been fixed with the brake apply delay timing in the Siemens AMC based motion
interfaces.
• When rapidly selecting and deselecting Jog with a high jerk percentage it was possible to get an
inconsistent deceleration profile. This bug has been fixed by ensuring the user defined
deceleration time and Jerk percentage are used when implicitly stopping after a jog i.e. when
setting CMD_JogForward or CMD_JogReverse from 1 to 0.
• Description added to manuals to indicate that Home mode -1 is implemented using AMC home
mode 4 for backward compatibility.
• Fixed typo in Siemens WriteOutputDataPositionAMC_M750_A1.

V1.5.0 PLC Controlled Motion to 2.15.5 Connect and [10-02-21] PLC code
• From Connect V2.15.4 the PLC controlled motion setup tool was included in Connect. V2.15.6
includes [10-02-21] PLC code and manual release. There are no changes in the PLC Controlled
Motion setup tool, just the PLC code and manuals are updated.
• The Siemens example function blocks now have the internal I/O routed to the function block IO
giving a more familiar interface for Siemens users.
• Fixed a bug in the Rockwell version of CT_A_PositionAMC where position reference 9 was
overwriting position reference 10.
• Added CFG_BypassDebounceDelay to all CT_A motion function blocks. This allows the motion
CMD input debounce delay of 20ms to be bypassed for applications where the CMD inputs are
controlled by software instead of switches or relays.
• Added CFG_BypassOvershootProtection which allows the profile overshoot protection system to
be bypassed giving full control of the profile decisions to the user. This is an expert feature and is
not recommended for general use.
• AOI Error 12 is the highest priority error allowing the Error to be seen when the axis is disabled
and STS_PositionLoopEncoderOK = 0.
• Fixed a bug with low CFG_RPI_Time values where the CMD_DriveReset worked intermittently.
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• STS_PositionComplete, STS_ProfileAtPosition and STS_DriveAtPosition have been modified so

that they are set to 0 on the first scan when STS_PositionActive = 1 and the position target is
changed.
• The position selector system has been rationalised to reduce the memory used by the
CT_C_UniM7xxAMC AOI / function block.
• STS_DriveAtZeroSpeed, STS_DriveAtSpeed, and STS_DriveAtPosition have been modified to
reduce bit flicker when CMD_SpeedFeedForwardOnly = 1.
• Fixed a bug where the EGB reference failed to change in to EGB with rigid lock, when CMD_EGB
was toggled rapidly.
• Fixed a bug in homing mode -2 where the routine did not complete properly in Rockwell.
• Fixed a bug with homing mode -2 where CFG_HomeRequiredOnPoweUp was set to 1, the AMC
was placed in Absolute mode, and the STS_HomeComplete flag was not set to 1 on power up
following a successful home.
• Fixed bug with STS_ProfileAtZeroSpeedInternal flag that prevented jog reference decel rate from
updating during deceleration when the CMD_Jog input was set to 0.

V1.4.6 to V1.5.0
• Updated the Siemens PLC code to fix some casting issues that are only highlighted with older
PLCs. The compiler rules regarding data type casting have been relaxed with more modern
SIEMENS PLCs which masked a casting issue in some of the PLC Controlled Motion Function
blocks.
• Added a Speed AMC and Position AMC configurations for the Digitax HD M751.
• Added Fixed rate acceleration to the software. See CFG_FixedRateEnable and
CFG_FixedRateMaxSpeed. This gives similar functionality to the Frequency and RPM interfaces.
• Home mode -1 and -2 timing has been improved so it works at low RPI values.
• Home mode -2 and 4 bug fixed where the decimal information was not passed to the drive.
• Internal units resolution value limited to a minimum 1 to prevent div by 0 error with no comms
on start-up.
• The rotary rollover value is now read by the motion interface to implement rotary rollover in the
calculation for the STS_PositionRemainingDistance and STS_PositionComplete. Rotary limits are
now applied to all position target inputs related to the rotary mode and rotary rollover limit.
• A limit has been applied to the CFG_EGB_RTMOE_MasterReference so it can only be set in the
range 0 to 255, and a user warning given by error 1059.
• The EGB ratio numerator and Denominator are applied all of the time, even when EGB is not
selected.
• Added contextual help to the PLC Controlled Motion, where user level help is given when the
mouse pointer is hovered over different items in the plug-in.
• The “Apply Setup” now functions and speeds up the setup work flow in the PLC Controlled
Motion plug-in.
• For comms based e.g. EnDat encoders an “Auto Setup” button has been added to allow the user
to pass the encoder type, voltage and baud rate to the target drive, reset it, and then read back
the resolution settings.
• When Homing, if home to a freeze is selected, the freeze setup is now shown on the Homing tab.
• The diagrams on the EGB tab have been updated.
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• The configuration page control type diagrams have been updated

• All drives operating with a Frequency control type will start off in Fixed boost removing the need
to Autotune.
• All of the user guides have been updated to reflect the changes in the PLC Controlled Motion
Plugin, and a revised start up work flow.
• For Rockwell operating with AMC based motion, a new EtherNetIP mapping has been added for
Pr31.010 to support the new Rotary mode changes.
• The linear machine types all now support an optional gearbox ratio for dual loop systems based
on linear mechanics. Previously only Conveyor had this option.
• The brake tab, mechanical brake diagrams have been modified to bring the data entry boxes
closer to the description.
• All new values applied on any tab in PLC Controlled Motion are applied to the offline project
directly. The changes made will be seen directly in the offline parameters.
• A direct link to the help videos on YouTube for PLC Controlled Motion has been added.
• On the Feedback tab, when Absolute mode is selected Pr3.073 is set to 1 to retain turns
information on incremental encoders.
• Dynamic Brake Stop mode and Ramp mode have been removed from the AMC control
interfaces.
• For Rockwell PLCs, the user input and output mappings now show “Unassigned” when pointed to
0.00.000.
• M702 I/O is now properly supported by the I/O selection boxes.
• Added visualisation of position and turns information for comms based encoders i.e. Hiperface,
EnDat, SSI and BiSS.

V1.4.2 to V1.4.5 and V1.4.4 to V1.4.6

This section details the software changes made between V1.4.2 (Rockwell Only Global Release) to V1.4.5
(Rockwell Only Global Release), and also V1.4.4 (Rockwell and Siemens Early Adopters) to V1.4.6
(Rockwell and Siemens Early Adopters).

Changes V1.4.2 to V1.4.5 and V1.4.4 to V1.4.6

• Update made to the Rockwell implementation CT_C_AccelProfileCalculation to resolve a speed
input sampling issue introduced in V1.10 and resolved in V1.11. when updating a project ensure
that the import option for the CT_C_AccelProfileCalculation AOI is set to “Overwrite” to import
V1.11 of the AOI correctly.

V1.4.3 to V1.4.4
This section details the software changes made between V1.4.3 (Rockwell and Siemens Early Adopters)
and V1.4.4 (Rockwell and Siemens Early Adopters).

Changes V1.4.3 to V1.4.4

• Added support in the Siemens Global library for the drive and communications combination of
Unidrive M70x and SI-ProfiNet V2
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Fixed minor bug in the Speed rpm motion interface for Siemens in the speed
error detection threshold.
V1.3.3 to V1.4.3
This section details the software changes made between V1.3.3 (Rockwell only Early Adopters) and V1.4.2
(Rockwell Only Global Release) / V1.4.3 (Rockwell and Siemens Early Adopters).

Changes common to V1.4.2 and V1.4.3

• Added Siemens PLC functionality to the system.
• Consolidated the fundamental setup to a single tab called “Axis Configuration” where the user
can choose a PLC, the control type and machine type.
• Summary tab has been renamed as “Apply Setup”.
• Improvements to the rationalisor code that allows better handling of common user unit ratios
like Pi/65536.
• Fixed the retention of encoder types when PLC Controlled Motion was closed and reopened.
• Fixed bug where the Digitax HD M751 did not show its encoder setup tab.
• PLC Controlled Motion reconfigures the cyclic communications links with dynamic changes to the
PLC type.
• The factory fitted ethernet module has been moved to the top of the option slot list to better
reflect the physical location on the product for M700.
• De cluttered the Network Inputs and Outputs tabs with a collapse control for the non-user cyclic
links.
• Added a next button to the Homing Tab.
• On load of PLC Controlled Motion the axis configuration initialisation was improved.
• Fixed exception on the RTMoE Tab in the event an Ethernet IP capable comms interface had not
been fitted.
• The homing complete window is now a minimum of 1 to match the nominal capability of the
AMC profile generator.
• Fixed issue where swapping the motor type, (Servo to Induction), on the motor tab did not result
in the motor setup reconfiguring.
• Fixed the ratio types for rotary ratios
• Automatic selection of the sensible comms option for a given PLC and Drive type on start up and
dynamically if the PLC is changed.
• The electrical brake resistor configuration is now persisted.
• The default setup on a Digitax HD for the digital output assigned to Pr12.040 is now reset to
Pr0.000 to prevent a conflict with the PLC Controlled Motion brake output that permits
maintenance brake forcing.
• AMC update rate default is 2ms.
• PLC Connection check box has been modified to be compatible with SI-ProfiNet V2 comms
options.
• The formatting and position of the resolution information has been improved.
• Drive parameters required for Siemens setup have been applied.
• The number of decimal places that a user can specify a ratio has been increased to the maximum
possible within 64bit double precision floating point without hitting the exponent threshold.
• User defined rotary ratio machine type has been removed.
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• Where possible, parameters are now update when a change is made to the value and not on a
change of focus.
• Fixed an issue where the drive mode was not being updated properly on M200 to M400 and
C200 to C300.
• Fixed incorrect Ethernet IP cyclic comms mapping 15.
• Fixed a bug with the handling of dynamic Linear to Rotary and vice versa changes.
• Updated PLC Software and manuals to match the latest version of the PLC Controlled Motion
Connect Extension.

Changes Specific to V1.4.2

• Siemens PLC is disabled.
• Siemens PLC text says “Coming Soon”.

Changes specific to V1.4.3

• Siemens PLC code and manuals have been added.
• Siemens PLC is enabled.
• Siemens text says Siemens ProfiNet.