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Appendix A 1. Statement of Supplier

Supplier name Eckelmann AG
Supplier address Berliner Straße 161
City Wiesbaden
Country Germany
Telephone +49 (0)611-7103-0
Fax +49 (0)611-7103-133
Email address info@eckelmann.de
Product Name EMC55
Product version V1.17
Release date October 2005


I hereby state that the following tables as filled out and submitted do match our product as well as the accompanying user manual, as stated above.

Name of representation (person):
Roland Simon

Date of signature (dd/mm/yyyy):
12.10.2006

Signature:
ppa. Roland Simon

Appendix A 2. Supported Data types

Defined datatypes with MC library: Supported If not supported, which datatype used
BOOL Yes
INT Yes
WORD Yes
REAL No LREAL
ENUM Yes
Table 1: Supported datatypes

Within the specification the following derived datatypes are defined. Which structure is used in this system:

Derived datatypes: Where used Supported Which structure
Axis_Ref Nearly all FBs Yes TYPE AXIS_REF : WORD; END_TYPE
MC_Direction (extended) MC_MoveAbsolute MC_MoveVelocity Yes TYPE MC_Direction :
( MD_NEGATIV_E := -1,
MD_POSITIV_E := 1,
MD_SHORTEST_WAY_E := 2 ); END_TYPE
MC_TP_REF MC_PositionProfile Yes TYPE MC_TP_REF : STRUCT NoOfRows: DWORD; TP_TablePtr: DWORD; END_STRUCT END_TYPE
TP_TablePtr is a pointer to the table of the following type:
ARRAY{0..NoOfRows-1] OF MC_TP_TR
TYPE MC_TP_TR : STRUCT delta_time: LREAL; position: LREAL; interpolation: MC_PROFILE_INT_ART; END_STRUCT END_TYPE
TYPE MC_PROFILE_INT_ART : (
PROFILE_INT_ART_LINEAR_E:=0,
PROFILE_INT_ART_KUB_SPLINE_E:=1,
PROFILE_INT_ART_QUINTIC_SPLINE_E:=2 ); END_TYPE
MC_TV_REF MC_VelocityProfile Yes TYPE MC_TV_REF : STRUCT NoOfRows: DWORD; TV_TablePtr: DWORD; END_STRUCT END_TYPE TV_TablePtr is a pointer to the table of the following type: ARRAY{0..NoOfRows-1] OF MC_TV_TR TYPE MC_TV_TR : STRUCT delta_time: LREAL; position: LREAL; interpolation: MC_PROFILE_INT_ART; END_STRUCT END_TYPE TYPE MC_PROFILE_INT_ART : ( PROFILE_INT_ART_LINEAR_E:=0, PROFILE_INT_ART_KUB_SPLINE_E:=1, PROFILE_INT_ART_QUINTIC_SPLINE_E:=2 ); END_TYPE
MC_TA_REF MC_AccelerationProfile Yes TYPE MC_TA_REF : STRUCT NoOfRows: DWORD; TA_TablePtr: DWORD; END_STRUCT END_TYPE TA_TablePtr is a pointer to the table of the following type: ARRAY{0..NoOfRows-1] OF MC_TA_TR TYPE MC_TA_TR : STRUCT delta_time: LREAL; position: LREAL; interpolation: MC_PROFILE_INT_ART; END_STRUCT END_TYPE TYPE MC_PROFILE_INT_ART : ( PROFILE_INT_ART_LINEAR_E:=0, PROFILE_INT_ART_KUB_SPLINE_E:=1, PROFILE_INT_ART_QUINTIC_SPLINE_E:=2 ); END_TYPE
MC_CAM_REF MC_CamTableSelect Yes TYPE MC_CAM_REF : STRUCT NoOfRows: DWORD; CamPosPtr: DWORD; END_STRUCT END_TYPE CamPosPtr is a pointer to the table of the following type: ARRAY[0..NoOfRows-1] OF MC_POS_TR TYPE MC_POS_TR : STRUCT master: LREAL; slave: LREAL; interpol: MC_CAM_INT_ART; END_STRUCT END_TYPE TYPE MC_CAM_ART . ( CAM_INT_ART_LINEAR_E:=0, CAM_INT_ART_KUB_SPLINE_E:=1, CAM_INT_ART_QUINTIC_SPLINE_E:=2, CAM_INT_ART_BEZIER_E:= 3 ); END_TYPE
MC_CAM_ID (extended) MC_CamTableSelect MC_CamIn Yes TYPE MC_CAM_ID : WORD; END_TYPE
MC_StartMode (extended) MC_CamIn Yes TYPE MC_StartMode : ( STARTMODE_ABSOLUTE_E :=0, STARTMODE_RELATIVE_E :=1, STARTMODE_RAMP_IN_E :=2 ); END_TYPE
MC_BufferMode Buffered FBs Yes TYPE MC_BufferMode : ( BM_ABORTING_E :=0, BM_BUFFERED_E :=1, BM_BLENDING_LOW_E :=2, BM_BLENDING_PREVIOUS_E :=3, BM_BLENDING_NEXT_E :=4, BM_BLENDING_HIGH_E :=5, BM_MASTER_POSITION_E :=6 ); END_TYPE
Table 2: Supported derived datatypes

Appendix A 3. Overview of the Function Blocks

Single Axis Function Blocks Supported Yes / No Comments (<= 48 char.)
MC_MoveAbsolute Yes
MC_MoveRelative Yes
MC_MoveAdditive Yes
MC_MoveSuperimposed Yes
MC_MoveVelocity Yes
MC_Home Yes
MC_Stop Yes
MC_Power Yes
MC_ReadStatus Yes
MC_ReadAxisError Yes
MC_Reset Yes
MC_ReadParameter Yes
MC_ReadBoolParameter Yes
MC_WriteParameter Yes
MC_WriteBoolParameter Yes
MC_ReadActualPosition Yes
MC_PositionProfile Yes
MC_VelocityProfile Yes
MC_AccelerationProfile Yes
Multi-Axis Function Blocks Supported Yes / No Comments (<= 48 char.)
MC_CamTableSelect Yes
MC_CamIn Yes
MC_CamOut Yes
MC_GearIn Yes
MC_GearOut Yes
MC_Phasing Yes
Table 3: Short overview of the Function Blocks