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<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/624f26c46caf596192c069ff/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/624f26c46caf596192c069ff/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">PLCopen</div><div class="t m0 x2 h3 y2 ff1 fs1 fc1 sc0 ls0 ws0">&#174;</div><div class="t m0 x3 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x4 h4 y3 ff2 fs2 fc1 sc0 ls0 ws0">for efficiency<span class="_ _0"></span> in automation </div><div class="t m0 x5 h5 y4 ff3 fs2 fc1 sc0 ls0 ws0"> </div><div class="t m0 x6 h6 y5 ff4 fs3 fc1 sc0 ls0 ws0">The PLCopen Motion Control Library: </div><div class="t m0 x7 h6 y6 ff4 fs3 fc1 sc0 ls0 ws0">Changing the landscape of industrial control </div><div class="t m0 x5 h5 y7 ff3 fs2 fc1 sc0 ls0 ws0"> </div><div class="t m0 x5 h7 y8 ff4 fs4 fc1 sc0 ls0 ws0">Introduction<span class="_ _1"></span> </div><div class="t m0 x5 h5 y9 ff3 fs2 fc1 sc0 ls1 ws0">Th<span class="ls0">e world is not stable, resulting in<span class="_ _0"></span> changing requirem<span class="_ _0"></span>ents. These change<span class="_ _0"></span>s </span></div><div class="t m0 x5 h5 ya ff3 fs2 fc1 sc0 ls0 ws0">are very visible on the<span class="_ _0"></span> front line <span class="ff5">&#8211;</span> the consume<span class="_ _0"></span>rs. Changes in consumer </div><div class="t m0 x5 h5 yb ff3 fs2 fc1 sc0 ls0 ws0">behavior, com<span class="_ _0"></span>bined with governmental rules, requi<span class="_ _0"></span>re changes at the </div><div class="t m0 x5 h5 yc ff3 fs2 fc1 sc0 ls0 ws0">suppliers in the food<span class="_ _0"></span> and beverage indu<span class="_ _0"></span>stry. B<span class="_ _1"></span>y differentiation in <span class="_ _0"></span>packaging<span class="_ _0"></span> </div><div class="t m0 x5 h5 yd ff3 fs2 fc1 sc0 ls0 ws0">and in products the suppliers<span class="_ _0"></span> fight for m<span class="_ _0"></span>arket share and shelf space in<span class="_ _0"></span> the </div><div class="t m0 x5 h5 ye ff3 fs2 fc1 sc0 ls0 ws0">supermarket. These change<span class="_ _0"></span>s require smaller batches, need<span class="_ _0"></span>ing more flexible </div><div class="t m0 x5 h5 yf ff3 fs2 fc1 sc0 ls0 ws0">production lines. Also chang<span class="_ _0"></span>ing governmental rules, focuse<span class="_ _0"></span>d to protect the </div><div class="t m0 x5 h5 y10 ff3 fs2 fc1 sc0 ls0 ws0">consumers by m<span class="_ _0"></span>aking the suppliers responsible and<span class="_ _0"></span> liable, require </div><div class="t m0 x5 h5 y11 ff3 fs2 fc1 sc0 ls0 ws0">producers to change<span class="_ _0"></span> their way of prod<span class="_ _0"></span>uction. On top of this they<span class="_ _0"></span> have to </div><div class="t m0 x5 h5 y12 ff3 fs2 fc1 sc0 ls0 ws0">produce mo<span class="_ _0"></span>re efficiently, for instance to serv<span class="_ _0"></span>e their shareholde<span class="_ _0"></span>rs or produce </div><div class="t m0 x5 h5 y13 ff3 fs2 fc1 sc0 ls0 ws0">less waste. </div><div class="t m0 x5 h5 y14 ff3 fs2 fc1 sc0 ls0 ws0">The suppliers in the food<span class="_ _0"></span> &amp; beverage (or even pharm<span class="_ _0"></span>aceutical) sectors </div><div class="t m0 x5 h5 y15 ff3 fs2 fc1 sc0 ls0 ws0">transfer their requirem<span class="_ _0"></span>ents to their m<span class="_ _0"></span>achine suppliers, which in turn tr<span class="_ _0"></span>ansfer </div><div class="t m0 x5 h5 y16 ff3 fs2 fc1 sc0 ls0 ws0">them to their control su<span class="_ _0"></span>ppliers. The control play<span class="_ _0"></span>s a crucial role in fulfi<span class="_ _0"></span>lling </div><div class="t m0 x5 h5 y17 ff3 fs2 fc1 sc0 ls0 ws0">these new requ<span class="_ _0"></span>irements. To be more specific: th<span class="_ _0"></span>e appl<span class="_ _1"></span>ication softw<span class="_ _0"></span>are is </div><div class="t m0 x5 h5 y18 ff3 fs2 fc1 sc0 ls0 ws0">crucial. And to m<span class="_ _0"></span>ake that effective, standardization is<span class="_ _0"></span> needed. </div><div class="t m0 x5 h5 y19 ff3 fs2 fc1 sc0 ls0 ws0">This paper presents such a<span class="_ _0"></span> standard, being im<span class="_ _0"></span>plemented across differen<span class="_ _0"></span>t </div><div class="t m0 x5 h5 y1a ff3 fs2 fc1 sc0 ls0 ws0">technolog<span class="_ _0"></span>ies, and being well supported by<span class="_ _0"></span> a large<span class="_ _1"></span> representation of the </div><div class="t m0 x5 h5 y1b ff3 fs2 fc1 sc0 ls0 ws0">industry. This software standardiz<span class="_ _0"></span>ation will certainly<span class="_ _0"></span> change the landscape. </div><div class="t m0 x5 h5 y1c ff3 fs2 fc1 sc0 ls0 ws0"> </div><div class="t m0 x5 h7 y1d ff4 fs4 fc1 sc0 ls0 ws0">Changing require<span class="_ _1"></span>ments in f<span class="ls2">ood</span> packaging<span class="_ _1"></span> </div><div class="t m0 x5 h5 y1e ff3 fs2 fc1 sc0 ls0 ws0">A typical exam<span class="_ _0"></span>ple of the effect of consum<span class="_ _0"></span>er changes is visible in the </div><div class="t m0 x5 h5 y1f ff3 fs2 fc1 sc0 ls0 ws0">packaging industry<span class="_ _0"></span>. Packaging comprises man<span class="_ _0"></span>y aspects like bottling, </div><div class="t m0 x5 h5 y20 ff3 fs2 fc1 sc0 ls0 ws0">weighing, bagging, cartonnin<span class="_ _0"></span>g, flow wrapping, form-fill-seal, labeling, </div><div class="t m0 x5 h5 y21 ff3 fs2 fc1 sc0 ls0 ws0">palletizing, and includes a w<span class="_ _0"></span>ide variety of applic<span class="_ _0"></span>ation domains within a </div><div class="t m0 x5 h5 y22 ff3 fs2 fc1 sc0 ls0 ws0">packaging plant. Each ap<span class="_ _0"></span>plication prov<span class="_ _0"></span>ides a unique set of requirem<span class="_ _0"></span>ents </div><div class="t m0 x5 h5 y23 ff3 fs2 fc1 sc0 ls0 ws0">specific to both indu<span class="_ _0"></span>stries and regions. Pharm<span class="_ _0"></span>aceutical plants must track </div><div class="t m0 x5 h5 y24 ff3 fs2 fc1 sc0 ls0 ws0">products accurately<span class="_ _0"></span> through every stage of the m<span class="_ _0"></span>anufacturing process. <span class="_ _0"></span>Food </div><div class="t m0 x5 h5 y25 ff3 fs2 fc1 sc0 ls0 ws0">and beverage suppliers are <span class="_ _0"></span>also concerned<span class="_ _0"></span> about product tracking; how<span class="_ _0"></span>ever, </div><div class="t m0 x5 h5 y26 ff3 fs2 fc1 sc0 ls0 ws0">the ability for a plant to<span class="_ _0"></span> respond to wid<span class="_ _0"></span>e variability in container sizes <span class="_ _0"></span>and </div><div class="t m0 x5 h5 y27 ff3 fs2 fc1 sc0 ls0 ws0">labeling is absolutely<span class="_ _0"></span> imperative today<span class="_ _0"></span>. </div><div class="t m0 x5 h5 y28 ff3 fs2 fc1 sc0 ls0 ws0">Overall, changes in consu<span class="_ _0"></span>mer need<span class="_ _0"></span>s and/or wishes include custom<span class="_ _0"></span>ization, </div><div class="t m0 x5 h5 y29 ff3 fs2 fc1 sc0 ls0 ws0">personalization, and conv<span class="_ _0"></span>enience. These chang<span class="_ _0"></span>es happen in the distribution<span class="_ _0"></span> </div><div class="t m0 x5 h5 y2a ff3 fs2 fc1 sc0 ls0 ws0">and storage along<span class="_ _0"></span> the chain (for instance just-<span class="ls3">in</span>-time<span class="_ _0"></span>, and additional selling </div><div class="t m0 x5 h5 y2b ff3 fs2 fc1 sc0 ls0 ws0">places), as well as the foo<span class="_ _0"></span>d packaging in<span class="_ _0"></span>dustry. Consumer changes like<span class="_ _0"></span> </div><div class="t m0 x5 h5 y2c ff3 fs2 fc1 sc0 ls0 ws0">these can make hug<span class="_ _0"></span>e portions of the existing pac<span class="_ _0"></span>kaging equipmen<span class="_ _0"></span>t obsolete </div><div class="t m0 x5 h5 y2d ff3 fs2 fc1 sc0 ls0 ws0">very quickly. </div><div class="t m0 x5 h5 y2e ff3 fs2 fc1 sc0 ls0 ws0"> </div><div class="t m0 x5 h7 y2f ff4 fs4 fc1 sc0 ls0 ws0">One step bac<span class="_ _1"></span>k in the chain: M<span class="_ _1"></span>achine builders <span class="_ _1"></span> </div><div class="t m0 x5 h5 y30 ff3 fs2 fc1 sc0 ls0 ws0">To cope with these consu<span class="_ _0"></span>mer changes, the packaging industry<span class="_ _0"></span> is putting </div><div class="t m0 x5 h5 y31 ff3 fs2 fc1 sc0 ls0 ws0">pressure on the leading<span class="_ _0"></span> packaging machine builde<span class="_ _0"></span>rs to better fulfill their </div><div class="t m0 x5 h5 y32 ff3 fs2 fc1 sc0 ls0 ws0">needs in: </div><div class="t m0 x5 h5 y33 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Smaller footprints </span></span></div><div class="t m0 x5 h5 y34 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Faster startups </span></span></div><div class="t m0 x5 h5 y35 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Flat to lower cost per fu<span class="_ _0"></span>nction completed </span></span></div><div class="t m0 x5 h5 y36 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Higher speeds </span></span></div><div class="t m0 x5 h5 y37 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Improved<span class="_ _0"></span> effici<span class="_ _1"></span>ency </span></span></div><div class="t m0 x5 h5 y38 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Faster changeove<span class="_ _0"></span>rs </span></span></div><div class="t m0 x5 h5 y39 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Better quality packa<span class="ls4">ge</span> </span></span></div><div class="t m0 x5 h5 y3a ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Reduced waste </span></span></div><div class="t m0 x5 h5 y3b ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Improved<span class="_ _0"></span> reliability </span></span></div><div class="t m0 x5 h5 y3c ff3 fs2 fc1 sc0 ls0 ws0">Such requiremen<span class="_ _0"></span>ts are not specific to the packaging ind<span class="_ _0"></span>ustry. Ove<span class="_ _0"></span>rall one </div><div class="t m0 x5 h5 y3d ff3 fs2 fc1 sc0 ls0 ws0">could say that the go<span class="_ _0"></span>al is: Faster, Better, Cheaper. </div><div class="t m0 x5 h5 y3e ff3 fs2 fc1 sc0 ls0 ws0"> </div><div class="t m0 x5 h7 y3f ff4 fs4 fc1 sc0 ls0 ws0">Another step bac<span class="_ _1"></span>k <span class="ff8">&#8211;</span> the effec<span class="_ _1"></span>t <span class="ls2">on</span> control<span class="_ _1"></span> suppliers </div><div class="t m0 x5 h5 y40 ff3 fs2 fc1 sc0 ls0 ws0">All these changing requirem<span class="_ _0"></span>ents are heavily reflected in<span class="_ _0"></span> the control </div><div class="t m0 x5 h5 y41 ff3 fs2 fc1 sc0 ls0 ws0">architecture. And m<span class="_ _0"></span>otion control, especially serv<span class="_ _0"></span>o-based, plays an ever </div><div class="t m0 x5 h5 y42 ff3 fs2 fc1 sc0 ls0 ws0">increasing role in this. </div><div class="t m0 x5 h5 y43 ff3 fs2 fc1 sc0 ls0 ws0">A packaging control sy<span class="_ _0"></span>stem deals with Hum<span class="_ _0"></span>an Machine Interfaces, Lo<span class="_ _0"></span>gic </div><div class="t m0 x5 h5 y44 ff3 fs2 fc1 sc0 ls0 ws0">and Sequencing Co<span class="_ _0"></span>ntrol Systems, Motion C<span class="_ _0"></span>ontrol Systems including drive </div><div class="t m0 x5 h5 y45 ff3 fs2 fc1 sc0 ls0 ws0">technolog<span class="_ _0"></span>ies, Network Architectures incl. Business Sy<span class="_ _0"></span>stem<span class="_ _0"></span> Integration, </div><div class="t m0 x5 h5 y46 ff3 fs2 fc1 sc0 ls0 ws0">Interface technolog<span class="_ _0"></span>ies to drives and othe<span class="_ _0"></span>r actuators and sensors. </div><div class="t m0 x5 h5 y47 ff3 fs2 fc1 sc0 ls0 ws0"> </div><div class="t m0 x8 h5 y48 ff3 fs2 fc1 sc0 ls0 ws0">All these aspects are co<span class="_ _0"></span>ntrolled by software, pl<span class="_ _0"></span>aying an ever increasing<span class="_ _0"></span> </div><div class="t m0 x8 h5 y49 ff3 fs2 fc1 sc0 ls0 ws0">role. Since these m<span class="_ _0"></span>ultiple environments need to be integ<span class="_ _0"></span>rated, standards and </div><div class="t m0 x8 h5 y4a ff3 fs2 fc1 sc0 ls0 ws0">open platforms are a pre-requisite<span class="_ _0"></span>. As the inve<span class="_ _0"></span>stment cost in the application </div><div class="t m0 x8 h5 y4b ff3 fs2 fc1 sc0 ls0 ws0">software is increasing, an es<span class="_ _0"></span>sential part is in<span class="_ _0"></span> the programm<span class="_ _0"></span>ing environment </div><div class="t m0 x8 h5 y4c ff3 fs2 fc1 sc0 ls0 ws0">and structure to create, m<span class="_ _0"></span>aintain, and operate the a<span class="_ _0"></span>ppli<span class="_ _1"></span>cation software<span class="_ _0"></span>. </div><div class="t m0 x8 h5 y4d ff3 fs2 fc1 sc0 ls0 ws0"> </div><div class="t m0 x8 h7 y4e ff4 fs4 fc1 sc0 ls0 ws0">Effect <span class="ls2">on</span> contro<span class="_ _1"></span>l systems </div><div class="t m0 x8 h5 yf ff3 fs2 fc1 sc0 ls0 ws0">To cope with these ne<span class="_ _0"></span>w requirements in packaging<span class="_ _0"></span> effectively<span class="_ _0"></span>, from a </div><div class="t m0 x8 h5 y10 ff3 fs2 fc1 sc0 ls0 ws0">motion control point of v<span class="_ _0"></span>iew, a mechatronics de<span class="_ _0"></span>sign is needed. Th<span class="_ _0"></span>is means </div><div class="t m0 x8 h5 y11 ff3 fs2 fc1 sc0 ls0 ws0">that mechanics in the m<span class="_ _0"></span>achine are replaced by<span class="_ _0"></span> electronic solutions in the </div><div class="t m0 x8 h5 y12 ff3 fs2 fc1 sc0 ls0 ws0">form of digital; motion<span class="_ _0"></span> control. For ex<span class="_ _0"></span>ample a rigid CAMshaft is replac<span class="_ _0"></span>ed </div><div class="t m0 x8 h5 y13 ff3 fs2 fc1 sc0 ls0 ws0">by a combination of m<span class="_ _0"></span>ultiple drives/m<span class="_ _0"></span>otors. The control software in the<span class="_ _0"></span>se </div><div class="t m0 x8 h5 y14 ff3 fs2 fc1 sc0 ls0 ws0">mechatronics solutions prov<span class="_ _0"></span>ides the flexibility he<span class="_ _0"></span>re. </div><div class="t m0 x8 h5 y15 ff3 fs2 fc1 sc0 ls0 ws0">To solve this cost effectiv<span class="_ _0"></span>ely, the packaging m<span class="_ _0"></span>achinery must take </div><div class="t m0 x8 h5 y16 ff3 fs2 fc1 sc0 ls0 ws0">advantage o<span class="_ _0"></span>f the latest software, networking, and o<span class="_ _0"></span>perating system </div><div class="t m0 x8 h8 y17 ff5 fs2 fc1 sc0 ls0 ws0">technolog<span class="_ _0"></span>ies to enable machinery to be flexible en<span class="_ _0"></span>ough for today<span class="_ _0"></span>&#8217;s </div><div class="t m0 x8 h5 y18 ff3 fs2 fc1 sc0 ls0 ws0">manufacturing requirem<span class="_ _0"></span>ents. Manufacturing plants<span class="_ _0"></span> need equipme<span class="_ _0"></span>nt that is </div><div class="t m0 x8 h5 y19 ff3 fs2 fc1 sc0 ls0 ws0">less complex<span class="_ _0"></span>, more flexible, easier to maintain, and with smaller<span class="_ _0"></span> footprints. </div><div class="t m0 x8 h8 y1a ff5 fs2 fc1 sc0 ls0 ws0">These requireme<span class="_ _0"></span>nts translate into substituting tod<span class="_ _0"></span>ay&#8217;s mechanical soluti<span class="_ _0"></span>ons </div><div class="t m0 x8 h5 y1b ff3 fs2 fc1 sc0 ls0 ws0">with electronic and softw<span class="_ _0"></span>are based solution<span class="_ _0"></span>s. Motion control technolog<span class="_ _0"></span>y </div><div class="t m0 x8 h5 y1c ff3 fs2 fc1 sc0 ls0 ws0">combined<span class="_ _0"></span> with industrial software is capable of v<span class="_ _0"></span>astly reducing the </div><div class="t m0 x8 h5 y4f ff3 fs2 fc1 sc0 ls0 ws0">complexity and size of ev<span class="_ _0"></span>ery domain of packaging<span class="_ _0"></span> machinery tod<span class="_ _0"></span>ay.<span class="_ _1"></span> </div><div class="t m0 x8 h5 y50 ff3 fs2 fc1 sc0 ls0 ws0"> </div><div class="t m0 x8 h7 y51 ff4 fs4 fc1 sc0 ls0 ws0">T<span class="ls5">he</span> name of the<span class="_ _1"></span> ga<span class="_ _1"></span>m<span class="_ _0"></span>e <span class="ff8">&#8211;</span> Soft<span class="_ _1"></span>ware </div><div class="t m0 x8 h5 y20 ff3 fs2 fc1 sc0 ls0 ws0">Motion integration issues hav<span class="_ _0"></span>e emerged<span class="_ _0"></span> to the forefront, along with </div><div class="t m0 x8 h5 y21 ff3 fs2 fc1 sc0 ls0 ws0">maintainability<span class="_ _0"></span> and connectivity to autom<span class="_ _0"></span>ation solutions. Unfortun<span class="_ _0"></span>ately, the </div><div class="t m0 x8 h5 y22 ff3 fs2 fc1 sc0 ls0 ws0">motion control m<span class="_ _0"></span>arket is a fragmen<span class="_ _0"></span>ted market, providing a wide v<span class="_ _0"></span>ariety of </div><div class="t m0 x8 h5 y23 ff3 fs2 fc1 sc0 ls0 ws0">incompatible system<span class="_ _0"></span>s. with different architectures and softwa<span class="_ _0"></span>re tools for </div><div class="t m0 x8 h5 y24 ff3 fs2 fc1 sc0 ls0 ws0">developmen<span class="_ _0"></span>t, installation and maintenan<span class="_ _0"></span>ce. This incompatibility incurs </div><div class="t m0 x8 h5 y25 ff3 fs2 fc1 sc0 ls0 ws0">considerable costs: apply<span class="_ _0"></span>ing different im<span class="_ _0"></span>plementations is confusing<span class="_ _0"></span>, </div><div class="t m0 x8 h5 y26 ff3 fs2 fc1 sc0 ls0 ws0">engineering<span class="_ _0"></span> becomes difficult, and the software is no<span class="_ _0"></span>t reusable across </div><div class="t m0 x8 h5 y27 ff3 fs2 fc1 sc0 ls0 ws0">platforms. Overall this me<span class="_ _0"></span>ans there is too little harmo<span class="_ _0"></span>nization providing </div><div class="t m0 x8 h5 y28 ff3 fs2 fc1 sc0 ls0 ws0">flexible solutions which a<span class="_ _0"></span>re open to new<span class="_ _0"></span> developments. Meaning no<span class="_ _0"></span>t only </div><div class="t m0 x8 h5 y29 ff3 fs2 fc1 sc0 ls0 ws0">harmonizing<span class="_ _0"></span> the programming language<span class="_ _0"></span>s, like done within the<span class="_ _0"></span> worldwide </div><div class="t m0 x8 h5 y2a ff3 fs2 fc1 sc0 ls0 ws0">IEC 61131-3 standard, but also the<span class="_ _0"></span> software interf<span class="_ _0"></span>ace towards differen<span class="_ _0"></span>t </div><div class="t m0 x8 h5 y2b ff3 fs2 fc1 sc0 ls0 ws0">motion control solution<span class="_ _0"></span>s, like distributed versus integrated. In<span class="_ _0"></span> this way, the </div><div class="t m0 x8 h5 y2c ff3 fs2 fc1 sc0 ls0 ws0">benefits of software stand<span class="_ _0"></span>ardization are clear: </div><div class="t m0 x8 h5 y52 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Less hardware depend<span class="_ _0"></span>ence </span></span></div><div class="t m0 x8 h5 y53 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Higher leve<span class="_ _0"></span>l of reusable code </span></span></div><div class="t m0 x8 h5 y54 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Transparent programs </span></span></div><div class="t m0 x8 h5 y55 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Lower commissioning<span class="_ _0"></span>, installation and m<span class="_ _0"></span>aintenance costs </span></span></div><div class="t m0 x8 h5 y56 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">Wide industry<span class="_ _0"></span> acceptance </span></span></div><div class="t m0 x8 h5 y57 ff6 fs2 fc1 sc0 ls0 ws0">&#61623;<span class="ff7"> <span class="_ _2"> </span><span class="ff3">And last but not least: redu<span class="_ _0"></span>ction in training costs </span></span></div><div class="t m0 x8 h9 y58 ff4 fs2 fc1 sc0 ls0 ws0"> </div><div class="t m0 x8 h7 y59 ff4 fs4 fc1 sc0 ls0 ws0">T<span class="ls5">he</span> role <span class="ls2">of</span> PLCopen<span class="_ _1"></span> </div><div class="t m0 x8 h8 y5a ff5 fs2 fc1 sc0 ls0 ws0">Motion control ge<span class="_ _0"></span>ts more and more integrated with<span class="_ _0"></span> the &#8216;classical&#8217; PLC </div><div class="t m0 x8 h5 y5b ff3 fs2 fc1 sc0 ls0 ws0">environmen<span class="_ _0"></span>t, creating a good basis for standardi<span class="_ _0"></span>zation. This vision<span class="_ _0"></span> was </div><div class="t m0 x8 h5 y5c ff3 fs2 fc1 sc0 ls0 ws0">shared among<span class="_ _0"></span> many different suppliers as part of th<span class="_ _0"></span>e organization </div><div class="t m0 x8 h5 y38 ff3 fs2 fc1 sc0 ls0 ws0">PLCopen, and resulted<span class="_ _0"></span> in the definition of a PLC<span class="_ _0"></span>open Motion Control </div><div class="t m0 x8 h5 y5d ff3 fs2 fc1 sc0 ls0 ws0">Library. </div><div class="t m0 x8 h5 y5e ff3 fs2 fc1 sc0 ls0 ws0">Effectively this standardiz<span class="_ _0"></span>ation is don<span class="_ _0"></span>e by defining libraries of reu<span class="_ _0"></span>sable </div><div class="t m0 x8 h5 y5f ff3 fs2 fc1 sc0 ls0 ws0">components. In<span class="_ _0"></span> this way the programm<span class="_ _0"></span>ing is less hardware depen<span class="_ _0"></span>dent, the </div><div class="t m0 x8 h5 y60 ff3 fs2 fc1 sc0 ls0 ws0">reusability of the application sof<span class="_ _0"></span>tware increased, the cost <span class="_ _0"></span>involved in </div><div class="t m0 x8 h5 y61 ff3 fs2 fc1 sc0 ls0 ws0">training and support redu<span class="_ _0"></span>ced, and the application becom<span class="_ _0"></span>es scalable across </div><div class="t m0 x8 h5 y62 ff3 fs2 fc1 sc0 ls0 ws0">different levels of control.<span class="_ _0"></span> As such it is based on<span class="_ _0"></span> IEC 61131-3<span class="_ _1"></span> Function<span class="_ _0"></span> </div><div class="t m0 x8 h5 y63 ff3 fs2 fc1 sc0 ls0 ws0">Blocks, creating application<span class="_ _0"></span> program<span class="_ _0"></span> which are commonly understandable </div><div class="t m0 x8 h5 y64 ff3 fs2 fc1 sc0 ls0 ws0">and re-usable across platform<span class="_ _0"></span>s. Due to the data hidin<span class="_ _0"></span>g and encapsulation<span class="_ _0"></span>, it </div><div class="t m0 x8 h5 y65 ff3 fs2 fc1 sc0 ls0 ws0">is usable on differen<span class="_ _0"></span>t architectures, like from<span class="_ _0"></span> centralized to distributed </div><div class="t m0 x8 h5 y66 ff3 fs2 fc1 sc0 ls0 ws0">control. And as such it is ope<span class="_ _0"></span>n to existing and future te<span class="_ _0"></span>chnologies. Ov<span class="_ _0"></span>erall, </div><div class="t m0 x8 h5 y67 ff3 fs2 fc1 sc0 ls0 ws0">this standardization is expe<span class="_ _0"></span>cted to cover aroun<span class="_ _0"></span>d 80% of the motion<span class="_ _0"></span> control </div><div class="t m0 x8 h5 y68 ff3 fs2 fc1 sc0 ls0 ws0">market. </div><div class="t m0 x8 h5 y69 ff3 fs2 fc1 sc0 ls0 ws0">The definition, consisting<span class="_ _0"></span> nowadays of mu<span class="_ _0"></span>ltiple parts, has been<span class="_ _0"></span> done via the </div><div class="t m0 x8 h5 y6a ff3 fs2 fc1 sc0 ls0 ws0">definition of the state m<span class="_ _0"></span>achine and a basic set of Fu<span class="_ _0"></span>nction Blocks for <span class="_ _0"></span>single </div><div class="t m0 x8 h5 y6b ff3 fs2 fc1 sc0 ls0 ws0">axis motion and a set of m<span class="_ _0"></span>ulti-axes Function Blocks. </div></div><div class="pi" data-data='{"ctm":[1.611792,0.000000,0.000000,1.611792,0.000000,0.000000]}'></div></div> </body> </html>
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