0 - FB UFM V5 (TwinCat 2 Und 3) - EN

UFM V5 PLC Library
Platform TwinCat-2
Platform TwinCat-3
Copyright
Date: 08/03/18
 Copyright by
Promess Montage- und Prüfsysteme GmbH
Nunsdorfer Ring 29
D-12277 Berlin
Federal Republic of Germany
1 Introduction ............................................................................................................................................. 3
2 General Use of Function Modules ........................................................................................................ 4
3 Parallel Operation ................................................................................................................................... 4
3.1 UFM_CycleStart ................................................................................................................................ 5
3.2 UFM_GetMoveParams ...................................................................................................................... 5
3.3 UFM_Home........................................................................................................................................ 6
3.4 UFM_Jog ........................................................................................................................................... 6
3.5 UFM_Move ........................................................................................................................................ 6
3.6 UFM_ReadMeasuredValues ............................................................................................................. 7
3.7 UFM_ReadMeasuredValuesExt ........................................................................................................ 7
3.8 UFM_ReadPartId ............................................................................................................................... 8
3.9 UFM_ReadUser ................................................................................................................................. 8
3.10 UFM_ReadValueSources .................................................................................................................. 9
3.11 UFM_ReadVariables ......................................................................................................................... 9
3.12 UFM_ResetError .............................................................................................................................. 10
3.13 UFM_ReadVariablesExt .................................................................................................................. 10
3.14 UFM_SelectProgram ....................................................................................................................... 10
3.15 UFM_SelectSignalSource ................................................................................................................ 11
3.16 UFM_SetKeyboardLock ................................................................................................................... 11
3.17 UFM_SetMoveParams .................................................................................................................... 12
3.18 UFM_SetUserInputs ........................................................................................................................ 12
3.19 UFM_GetUserOutputs ..................................................................................................................... 12
3.20 UFM_Station .................................................................................................................................... 13
3.21 UFM_Wheel ..................................................................................................................................... 15
3.22 UFM_WritePartId ............................................................................................................................. 15
3.23 UFM_WriteUser ............................................................................................................................... 15
3.24 UFM_WriteValueSources ................................................................................................................ 16
3.25 UFM_WriteVariables ........................................................................................................................ 16
3.26 UFM_WriteVariablesExt .................................................................................................................. 17
3.27 UFM_SetPiezoState ........................................................................................................................ 18
4 Data Types and Constants ..................................................................................................................19
4.1 UFM_Loglevel (Constants) ............................................................................................................. 19
4.2 UFM_AnalogComparisonOperator (ENUM) .................................................................................... 19
4.3 UFM_AnalogTestDirection (ENUM) ................................................................................................ 19
4.4 UFM_DataSample (STRUCT) ......................................................................................................... 20
4.5 UFM_IoDataArray (ALIAS) .............................................................................................................. 20
4.6 UFM_MovementParameters (STRUCT) ......................................................................................... 21
4.7 UFM_MoveMode (ENUM) ............................................................................................................... 21
4.8 UFM_OverloadComparisonOperator (ENUM) ................................................................................. 22
4.9 UFM_SignalSource (ENUM)............................................................................................................ 22
4.10 UFM_StationStatus (STRUCT)........................................................................................................ 23
4.11 UFM_UserRights (STRUCT) ........................................................................................................... 24
5 Appendix ...............................................................................................................................................25
5.1 Appendix A – Error List .................................................................................................................... 25
5.2 Appendix B : Value Sources ............................................................................................................ 27
1
5.3 Appendix C – Demo Program .......................................................................................................... 31
2
Introduction
UFM-5 PLC Library for TwinCat-3 Platform
1 Introduction
The UFM-5 library allows users to easily control one or more UFM-5 NC stations
made by PROMESS using a PLC on the TwinCAT 3 platform from Beckhoff
Automation. In addition to providing basic functionality (loading and running user
programs created on a PC, movement commands, various types of data transfer),
the library also supports many other special functions (including status queries,
user login via PLC).
In order to be used, the library requires a properly configured field bus

(EtherCAT,Profibus, Profinet, Modbus/TCP) between the NC station and PLC. The
IO data mapped to PLC variables (16 DWORDs in each direction) are assigned to
a station module (UFM_Station) that establishes a link between the individual
functional modules at the user level and the NC station. Here, the interfaces of the
various application modules follow the common Execute-Busy-Done model from
Beckhoff.
Accordingly, the basic means of using the UFM-5 library is as follows:
UfmInData AT%I* : UFM_IoDataArray; // mapped field bus data

UfmOutData AT%I* : UFM_IoDataArray;
ufmStation : UFM_Station;
ufmHome : UFM_Home; // Example with module
// "Homing"
// ...
(* Assignment of IO data to station module

*)
ufmStation
InDataPtr := ADR(UfmInData),
OutDataPtr := ADR(UfmInData),
);
(* Assigns an application module to the station FB

*)
ufmHome(StationPtr := ADR(ufmStation));
// ...
(* Start of homing
*)
ufmHome(Execute := true);
Appendix C contains a code listing of an extended executable demo program.
3
General Use of Function Modules
2 General Use of Function Modules
With the exception of the special UFM_Station module, all other function modules
follow the pattern known from Beckhoff:
• Modules are activated by a rising slope at the Execute input in idle state
• Next, the module changes to active status: The Busy output remains set until
the operation has been successfully completed – in which case the Done output
will be set – or an error or timeout occurs. In the latter case, the Error output is set
and the error is issued at the ErrorId output (see Appendix A – Error List)
• While a module is active (busy), it must be called in each PLC cycle.
• Some modules (UFM_CycleStart, UFM_Home, UFM_Move) can be aborted,

thus when the Abort input is set to active status, the operation will be aborted and
ERR_ABORTED will appear as an error message. UFM_Jog is properly quit by
resetting both direction inputs. UFM_Wheel is properly quit by setting the
Terminate input. In all other cases, the inputs are ignored after activation.
• After terminating, all modules issue the time required for execution at the
LastExecutionTime output (or until aborting).
• All modules have a Timeout input that overwrites the default timeout. Default
values: UFM_CycleStart and UFM_Home 2 minutes, UFM_Move 3 minutes,
otherwise 5 seconds. After the timeout period elapses, execution will be stopped –
only UFM_Jog and UFM_Wheel are not halted by a timeout.
3 Parallel Operation
Some application modules can be operated in parallel but others cannot. In

general, only one data transfer module (variables etc.) and one control module
(movement, program execution etc.) can access the field bus at any given time.
You can still nonetheless activate several modules simultaneously or successively,
but a module that, after being activated, does not immediately receive access to
the field bus will change to a special waiting status. If the timeout elapses during
this time, execution will be ended and ERR_TIMEOUT_LOCAL will be issued. In
contrast to ERR_TIMEOUT_REMOTE, this error indicates that execution was
blocked by other modules in the UFM library.
Thus if you receive local timeout errors, you should activate the modules serially so
that they do not block each other. Note here that the order of providing (internal)
access to the field bus is independent of the activation order and depends instead
on the order of calls made by active modules in the PLC cycle.
4
Parallel Operation
3.1 UFM_CycleStart
This function module executes a single step or complete cycle of a previously

selected program.
Inputs Type Default Value Description
ProgramNo UINT 0 If the received value is not equal to 0, the

function module will check whether this
program is actually currently selected. Value
range: 0 - 1023.
SingleStep BOOL FALSE Single-step mode
Abort BOOL FALSE Allows an abort during execution. Must not

be set at the same time as being activated.
After aborting execution, the module issues
an ERR_ABORTED error.
Outputs
OK BOOL Part IO flag set from station
NOK BOOL Part IO flag set from station
3.2 UFM_GetMoveParams
This function module gets the current parameter values for jogging, handwheel and
target positioning. To change the parameters, we recommend first retrieving them
using UFM_GetMoveParams, modifying them as required, and then writing them
back using UFM_SetMoveParams.
Type Description
Outputs
Parameters UFM_MovementParameters After execution, this contains the current

parameter values of the movement
commands.
5
Parallel Operation
3.3 UFM_Home
This function module executes a homing.
Abort BOOL FALSE Can be used during execution to abort the

homing procedure. Must not be set at the
same time as being activated. After
aborting execution, the module issues an
ERR_ABORTED error.
3.4 UFM_Jog
This function module starts jog mode. After activation, the module remains active
until both direction parameters are set to FALSE. The direction parameters can be
changed during execution, but both must not be set simultaneously to TRUE.
The movement parameters should be set prior to each activation (see

UFM_SetMoveParams), since these are reset after executing a movement. To jog,
the movement mode is set automatically to Positioning (compare with
UFM_MoveMode)
Up BOOL FALSE Movement upwards
Down BOOL FALSE Movement downwards
3.5 UFM_Move
This function module moves the spindle to a configured value. The default values
are used for this purpose (V=10mm/s, overload=10% of nominal load) but these
can be overwritten using UFM_SetMoveParams. Each time this function module is
activated, these values are automatically reset to their defaults.
Abort BOOL FALSE Can be used during execution to abort the

target positioning. Must not be set at the
same time as being activated. After
aborting execution, the module issues an
ERR_ABORTED error.
6
Parallel Operation
3.6 UFM_ReadMeasuredValues
This function module reads a measurement value.
Index BYTE 1 Index of measurement value to be read.

Value range: 1 to 16
Outputs
Sample UFM_DataSample Read measurement value
3.7 UFM_ReadMeasuredValuesExt
Lesen von bis zu 16 Messwerten.
Inputs Type Standardwert Beschreibung
FirstIndex BYTE 1 Index of measurement value to be read.

Value range: 1 to 16
Count BYTE 1 Count of the measurement value to be

read. Range: 1 to 16. Increasing the count
parameter increases the execution time.
Outputs
Samples ARRAY[1..16] OF Read measurement values. Attention: The

UFM_DataSample indexes of the output array are
correspondig to the indexes of the
measurments.
7
Parallel Operation
3.8 UFM_ReadPartId
This function module reads one or more part IDs.
The first two part IDs, referred to as segments here, are maximum 20 characters
long. The third part ID can have up to 80 characters.
ReadSegment_1 BOOL Specifies whether the first segment is to

be read or not. - Note: For reasons of
execution speed, segments that are not
required by the PLC will not be read.
ReadSegment_2 BOOL Specifies whether the second segment is

to be read or not.
ReadSegment_3 BOOL Specifies whether the third segment is to

be read or not.
Outputs
Segment_1 STRING First segment that was read
Segment_2 STRING Second segment that was read
Segment_3 STRING Third segment that was read
3.9 UFM_ReadUser
This function module reads the currently logged in user together with his rights.
Type Description
Outputs
UserName STRING User name
UserRights UFM_UserRights Rights of this user
8
Parallel Operation
3.10 UFM_ReadValueSources
This function module reads up to seven value sources. (See Appendix B : Values
Sources)
FirstIndex BYTE 0 Index of first value source to be read.

Value range: 0 - 255
Count BYTE 1 Number of value sources to be read.

Value range: 1 - 7
Outputs
Data ARRAY[0..6] Data that has been read

OF REAL
3.11 UFM_ReadVariables
This function module reads in up to 7 variables.
FirstIndex BYTE 1 Index of first variable to be read.

Value range: 1 - 64
Count BYTE 1 Number of variables to be read.

Value range: 1 - 7
Outputs
Data ARRAY[0..6] Data that has been read

OF REAL
9
Parallel Operation
3.12 UFM_ResetError
Confirms acknowledged errors in the control by setting the Reset Bit, as long as ok
and NOK are high. If there is no error confirm, when the module is activated, the
module terminate advance (without error)

Execute bool false Quittieren eines
quittierungspflichtigen Fehlers
3.13 UFM_ReadVariablesExt
Import up to 64 varaiables.
Note for the execution speed: each 7 variables can be read internally at the same
time.
Eingänge Typ Standardwert Beschreibung

FirstIndex BYTE 1 Index of first variable to be read.
Value range: 1 - 64
Value range: 1 - 64
Ausgänge
Data ARRAY[1..64] Data that has been read. Attention: The
OF REAL indexes of the output array are
variables
3.14 UFM_SelectProgram
This function module selects the program to be executed. As a side effect, the
contents of the current variable will be reset.
ProgramNo UINT 0 Value range: 0 – 1023.

Valid program numbers range from 1–
1023. By entering 0 as a program number,
any currently selected programs will be
cleared.
10
Parallel Operation
3.15 UFM_SelectSignalSource
This function module determines one of three signal sources for a specific type of
signal source.
The actual values of the signal sources can be read by the station status.
Index BYTE 1 Index of the signal source to be chosen.

Value range: 1 - 3
Source UFM_SignalSource sstForce Type of signal source to be used
3.16 UFM_SetKeyboardLock
This function module sets or removes a keyboard lock. If the keyboard lock is
active, all movements that can be started using PC software will be blocked.
SetLock BOOL TRUE Specifies whether the keyboard lock can

be set or removed.
11
Parallel Operation
3.17 UFM_SetMoveParams
This function module sets the parameters for jogging, handwheel and target
positioning.
To modify parameters, we recommend first getting them using

UFM_GetMoveParams, modifying them as required and setting them using
UFM_SetMoveParams. Note here that parameters must be rewritten prior to each
movement command since, for safety reasons, they are reset after the movement
is executed.
Parameters UFM_MovementParameters The parameters to be used

for the following movement.
3.18 UFM_SetUserInputs
This function module writes 32-bit data to be processed in a user program. Note:
Data written in a user program can be read using UFM_Station.Status.
Value WORD 0 Data to be written
3.19 UFM_GetUserOutputs
Read 16 bits of data written in the user program on the PC side.

Note: The data are also readable via UFM Station.Status. However, it is important
to ensure that the UFM_Station module is also called so that it can update its
status output.
Outputs Type Default Value Description

Value WORD 0 Read data
12
Parallel Operation
3.20 UFM_Station
The UFM_Station function module is not used to perform a specific operation but
instead acts as a link between the application modules and the NC station. A
module of the UFM_Station type is declared for each station. Next, this is assigned
to the mapped memory area for the field bus IO data, and the various application
modules are directly linked to it:
UfmInData AT%I* : UFM_IoDataArray;

UfmOutData AT%Q* : UFM_IoDataArray;
ufmHome : UFM_Home;
// ...
(* Assignment of IO data to station module

*)
ufmStation(
OutDataPtr := ADR(UfmOutData)
);
(* Assigns an application module to the station FB

*)
The IO data can naturally only be assigned to a UFM_Station module.
After initialization, the module can be called to query the current status of the NC
station.
Furthermore, UFM_Station can also be used to write log files directly from PLC.
For this, the corresponding inputs must be configured (see table) and the module
must be called during each PLC cycle. Example:
ufmStation(
LogFileName := 'C:\Temp\UfmLog.txt',
LogNetId := '192.168.170.110.1.1',
LogLevel := LOGLEVEL_DEBUG
);
13
Parallel Operation
Inputs Type Default Description

Value
InDataPtr POINTER TO zero Pointer for the mapped input data

UFM_IoDataArray
OutDataPtr POINTER TO zero Pointer for the mapped output data

UFM_IoDataArray
LogFileName○ T_MaxString (empty) Path name of the log file to be written.

(Be sure to check the Windows file
permissions.)
LogNetId T_AmsNetId (leer) AMS NetID of computer where log file is

to be written. Typically, this is the AMS
NetID of the computer where TwinCAT
Runtime is running.
LogLevel BYTE 1 Determines the size of the log file. Value

range LOGLEVEL_TRACE (0) –
LOGLEVEL_ERRORS (3)
Outputs
Status UFM_StationStatus Current status of NC station
StatusValid BOOL Specifies whether the status output is

currently valid. (For instance, it is not
valid if the IO data has not been
assigned yet.)
LoggingError BOOL Specifies whether an error has occurred

while writing the log file.
LoggingErrorId UDINT Type of error while writing the log file.

Reference:
http://infosys.beckhoff.com/index.php?c
ontent=../content/1031/tcplclib_tc2_syst
em/27021598138499979.html&id=
14
Parallel Operation
3.21 UFM_Wheel
This function module activates the handwheel function. If the handwheel is active,
no other movements can be activated. The standard values are used for this
purpose (V=10mm/s, overload=10% of nominal load). These parameters can be
modified using UFM_SetMoveParams, but after activation these are automatically
reset to the default values.
Terminate BOOL FALSE This is set during execution to quit the

handwheel function.
3.22 UFM_WritePartId
This function module writes a part ID. There are three part IDs, whereby the first
two each have max. 20 characters. The third part ID can have up to 80 characters.
PartIdIndex BYTE 1 Specifies which part ID is to be written.

Value range: 1 – 3.
Value STRING (empty) Value of part ID to be written
3.23 UFM_WriteUser
This function module logs in a user (without authentification). As of version 5.11,

this function is available in the UFM PC software.
UserName STRING(16) (empty) Freely selectable name of the user to

be logged in.
UserRights UFM_UserRights (all rights) Rights of the user
15
Parallel Operation
3.24 UFM_WriteValueSources
This function module is used to write up to seven value sources. - Note that not all
value sources are writeable. Attempting to write to a non-writeable value source
will lead to an ERR_TIMEOUT_REMOTE error.
(See Appendix B : Values Sources)
FirstIndex BYTE 0 Index of first value source to be written.

Value range: 0 - 255
Count BYTE 1 Number of value sources to be written.

Value range: 1 - 7
Data ARRAY [0..6] Contains the data to be written.

OF REAL
3.25 UFM_WriteVariables
This function module writes up to 7 variables
FirstIndex BYTE 0 Index of first variable to be written. Value

range: 1 - 64
Count BYTE 1 Number of variables to be written. Value

range: 1 - 7
Data ARRAY Contains the variable values to be written.

[0..6] OF
REAL
16
Parallel Operation
3.26 UFM_WriteVariablesExt
Writes up to 64 variables
time.
Inputs

range: 1 - 64
Count BYTE 1 Number of variables to be written. Value
range: 1 - 64
Data ARRAY Contains the variable values to be written.
[1..64]
OF Attention: The indexes of the input array
REAL correspond to the indexes of the variables
Import up to 64 varaiables.
time.

range: 1 - 64
Value range: 1 - 7
Outputs
Data ARRAY[1..64] Data that has been read. Attention: The
OF REAL indexes of the output array are
variables
17
Parallel Operation
3.27 UFM_SetPiezoState
This function can be used to avoid for example the Reset state at program
change.
– A rising flank sets the piezo pre amplifier in operate mode,

– A falling flank sets the piezo pre amplifier in Reset mode, except a program
is running, a Homing is done or Jog respectively Handwheel is avtive.
– If the status bit iss et when program end is reached, the Reset mode is not
set by the UFM.
Attention
A boosted drift of the piezo signal might occur if the amplifier is not set to Reset
mode.
The current state can be read by the “UFM_StationStatus.PiezoOperational”
Please note that the state can differ to the last set state, because the state can be
set by the UFM for example by Program Start or the Jog function.
The execution of the module can be done in parallel to other modules.

Operational BOOL PiezoOp Input
18
Data Types and Constants
4 Data Types and Constants
4.1 UFM_Loglevel (Constants)
This function module determines the extent of the log file to be written. See input
LogLevel of UFM_Station module.
Constants Value Description
UFM_LOGLEVEL_TRACE 0 Log everything. Not recommended for production environments.
UFM_LOGLEVEL_DEBUG 1 Medium extent
UFM_LOGLEVEL_WARNING 2 Only warnings and errors. Recommended for production

S environments.
UFM_LOGLEVEL_ERRORS 3 Only errors
4.2 UFM_AnalogComparisonOperator (ENUM)
This function module specifies the operator to be used for checking the termination of a target positioning.
ancoGreaterOrEqual >=
ancoLessOrEqual <=
4.3 UFM_AnalogTestDirection (ENUM)
This function module is used to specify the test direction when quitting a target positioning in analog mode.
tdDown
tdUp
19
4.4 UFM_DataSample (STRUCT)
This represents a read measurement value.
Field Data Type Description
New BOOL New (vs. Old)
Ok BOOL IO (vs. NIO)
Missed BOOL Missed (vs. Captured)
UpperLimitViolated BOOL Upper limit violated
LowerLimitViolated BOOL Lower limit violated
StartPosition REAL Position (Start)
EndPosition REAL Position (End)
UpperLimit REAL Upper limit
Value REAL Force value / analog value
LowerLimit REAL Lower limit
Position REAL Position (capture)
4.5 UFM_IoDataArray (ALIAS)
• This function module assigns a mapped memory range to

UFM_Station
• UFM_IoDataArray : ARRAY[1..16] OF DWORD;
20
4.6 UFM_MovementParameters (STRUCT)
This function module specifies the parameters for the target positioning, jog and
handwheel functions.
Position REAL Target position (not required for handwheel

and jog)
Speed REAL Speed
Overload REAL Overload value
Signal REAL Target signal for analog mode
WheelRatio REAL Handwheel ratio (default: 10)
Acceleration REAL Acceleration
OverloadSignalSource UFM_SignalSource Signal source for overload detection
OverloadComparisonOperator UFM_OverloadComparison Comparison operators used for overload

Operator detection
AnalogSignalSource UFM_SignalSource Signal source for analog mode
Mode UFM_MoveMode Movement mode
AnalogComparisonOperator UFM_AnalogComparison Comparison operators used for analog mode

Operator
AnalogTestDirection UFM_AnalogTestDirection Test direction for analog mode
4.7 UFM_MoveMode (ENUM)
This function module determines the movement mode for UFM_Move and
UFM_Wheel
modePosition Move: If the Move function is being used, the movement first has to
be completely defined before commencing with the movement.
Handwheel: If a parameter has to be changed for handwheel mode

(e.g., sensitivity, speed), UFM_MovementParameters also have to
be written.
modeAnalog Move: This function is identical to positioning but it stops when the
signal limit is reached.
Handwheel: Operation is identical to Analog Move with the
21
exception that the positioning commands come from the

handwheel.
4.8 UFM_OverloadComparisonOperator (ENUM)
This function module is used to specify the overload comparison operator.
ocoGreaterOrEqual >= x
ocoLessOrEqual <= x
ocoGreaterOrEqualAbs >= ABS(x)
4.9 UFM_SignalSource (ENUM)
This function module is used to specify a signal source
sstNone (Initial value)
sstPosition Position
sstForce Force
sstStepRuntime Step runtime
sstVirtualInput_1 Virtual input 1
sstSlope Slope
sstSlope_2 Slope 2
sstLiveInput Live input
22
4.10 UFM_StationStatus (STRUCT)
Current status of NC station. This function module is used for the output Status of
UFM_Station.
Field Data type Description
SignalLimitTooEarly BOOL Signal limit too early
SignalLimitNotReached BOOL Signal limit not reached
MeasuredValueNotCaptured BOOL Measured value not captured
MeasuredValueUpperLimitViolated BOOL Upper limit of measured value violated
MeasuredValueLowerLimitViolated BOOL Lower limit of measured value violated
UpperEnvelopeCurveViolated BOOL Curve of upper envelope violated
LowerEnvelopeCurveViolated BOOL Curve of lower envelope violated
CurveMemoryOverrun BOOL Curve memory overrun
TriggerFunctionError BOOL Error in trigger function
NcModuleError BOOL NC module error
NcSetOkManually BOOL NC status set manually to OK
NcSetNokManually BOOL NC status set manually to NOK
SensorOffsetError BOOL Sensor offset error
Overload BOOL Overload
HomingError BOOL Error caused abort during homing
EmergencyOff BOOL Emergency off
StartSignalLost BOOL Start signal lost
NoProgramLoaded BOOL No NC program has been loaded
MaxPositionReached BOOL Maximum position has been reached
NcModuleReset BOOL NC module reset
ConverterTrip BOOL Converter has tripped
AdcOverload BOOL ADC overload
CtNetCouplerError BOOL Promess bus error
23
MotorOverload BOOL Motor overload
SignalSource_1_Value REAL Value of signal source 1
UserOutput WORD Output set from PC program for PLC processing.
CurrentProgram WORD Currently selected program
ReferenceRequest BOOL Station indicates that a homing request was

received
ReadyToStart BOOL Program is ready to start (Quit & DB_Healthy)
CurveDataReady BOOL Curve data for UDP library ready to collect
PiezoOperational BOOL OP_PIEZO state bit. When set, the piezo

preamplifier is in Operate state.
PiezoOperationalState BOOL Current state of the piezo output set by the function
UFM_SetPiezoState. (Can be used for diagnostic
purpose)
PC_LIFE BOOL UFM Software loaded
4.11 UFM_UserRights (STRUCT)
This function module defines the permission levels for a logged in user of UFM-5.
RIGHT_ADMIN BIT Administration
RIGHT_PRG_EDIT BIT Edit the program
RIGHT_STEP_EDIT BIT Edit the program step
RIGHT_PRG_LOAD BIT Load the program
RIGHT_MOVE BIT Movement
RIGHT_CONFIG BIT Configuration
24
Appendix
5 Appendix
5.1 Appendix A – Error List
Error Value Description
ERR_NO_ERROR 0 No error.
ERR_STATION_UNASSIGNED 1 Attempt to activate an application module without prior

assignment to a station FB
ERR_STATION_CHANGED_WHILE_BUSY 2 Re-assignment of a station to an application module while

this one is active.
ERR_IO_DATA_UNASSIGNED 3 Attempt to activate an application module assigned to a

station whose IO data range has not yet been assigned.
ERR_IO_DATA_CHANGED_WHILE_BUSY 4 The IO data range of the assigned station was changed while
the application module was active.
ERR_ABSTRACT_INSTANCE 5 Attempt to instantiate UFM_AbstractUseCase.
ERR_TIMEOUT_REMOTE 6 The timeout period for the operation has expired after
starting the (internal) handshake with the NC station. Assign
a larger timeout value to the application module.
ERR_TIMEOUT_LOCAL 7 The timeout period for the operation has expired before
starting the (internal) handshake with the NC station. The
likely cause of error is that too many application modules are
being used at the same time and that these are blocking
each other. Ensure that the application modules are
activated successively in an appropriate manner. (For more
on this, refer to the section Parallel Operation)
ERR_INVALID_FIRSTINDEX 8 An invalid value was assigned to the Index or FirstIndex input

of an application module. Check the value using the
documentation of the relevant application module.
ERR_INVALID_COUNT 9 The Count input of an application module was assigned to an

invalid value. Check the value using the documentation of
the relevant application module.
ERR_INVALID_PARTIDINDEX 10 An invalid value was assigned to the PartIdIndex input in an

instance of UFM_WritePartId. Valid values are are 1 to 3.
ERR_PARTID_TOO_LONG 11 The character string assigned to the Value input of

UFM_WritePartId is too long. The string can have 20
characters for PartIdIndex <= 2 or 80 characters for
PartIdIndex = 3.
ERR_READ_AT_LEAST_ONE_ID_SEGMENT 12 At least one of the inputs ReadSegment_n from

UFM_ReadPartId must be TRUE.
ERR_HOMING_ERROR 13 The NC station has signalized that it has aborted while

homing. Be sure to check the status of the station module for
more information on the cause of error.
ERR_ILLEGAL_PRG_NO 14 The value of the ProgramNo input from UFM_SelectProgram

or UFM_CycleStart is larger than 1023. Valid program
numbers are 1-1023. For UFM_CycleStart, the value 0
means "Do not validate program number", for
UFM_SelectProgram it means "Unload".
25
Appendix
ERR_PRG_NOT_LOADABLE 15 The chosen program could not be loaded.
ERR_WRONG_PRG_LOADED 16 The program number transferred to UFM_CycleStart does

not correspond to the number of the currently loaded
program. (To switch of the check, transfer program number
0.)
ERR_REF_REQ 17 The NC station has unexpectedly received a homing request

and this is effectively equivalent to aborting the operation due
to an error. Some of the possible causes include an overload
or emergency off. Be sure to check the status of the station
module for more information on the cause of error.
ERR_ABORT_AT_START 18 An abortable application module was activated while its Abort

input was already set to TRUE.
ERR_INVALID_JOG_INPUTS 19 Both direction inputs (Up, Down) of an UFM_Jog module

were set to TRUE.
ERR_ABORTED 20 An abortable application module was aborted through

application code that set the Abort input to TRUE.
ERR_INVALID_SIGNAL_SRC_INDEX 21 The Index input of an UFM_SelectSignalSource module was

not between 1 and 3.
ERR_INVALID_SIGNAL_SRC 22 An invalid value was transferred to a parameter of type

UFM_SignalSource and possibly within a value of type
UFM_MovementParameters
ERR_INVALID_OVERLOADCOMPOP 23 An invalid value was transferred to a parameter of type

UFM_OverloadComparisonOperator and possibly within a
value of type UFM_MovementParameters
ERR_INVALID_MOVEMODE 24 An invalid value was transferred to a parameter of type

UFM_MoveMode and possibly within a value of type
UFM_MovementParameters.
ERR_INVALID_ANALOGCOMPOP 25 An invalid value was transferred to a parameter of type

UFM_AnalogComparisonOperator and possibly within a
value of type UFM_MovementParameters.
ERR_INVALID_ANALOGCOMPARISONDIR 26 An invalid value was transferred to a parameter of type

UFM_AnalogTestDirection and possibly within a value of
type UFM_MovementParameters.
ERR_CYCLE_ERROR 27 The program cyce or the single program steps could not be
executed. Some of the possible causes include an overload
or emergency off. Be sure to check the status of the station
module for more information on the cause of error.
ERR_DB_HEALTHY_MISSING 28 At cycle start the flag "DB_Healthy" was not set by the PC
software. This flag is requested at cycle start to prevent the
possible loss of data.
ERR_INVALID_COUNT_FOR_FIRSTINDEX 29 The FirstIndex and Count inputs of an application module

together result in a violation of the valid index range. Please
refer to the documentation on the inputs of the relevant
application module.
26
Appendix
5.2 Appendix B : Value Sources
Signal IOs
VSRC8_NULL 0
VSRC8_POSITION 1
VSRC8_FORCE 2
VSRC8_TIME 3
VSRC8_VIN0 4
VSRC8_VIN1 5
VSRC8_VIN2 6
VSRC8_VIN3 7
Free
VSRC8_SLOPE 9
VSRC8_SLOPE2 10
VSRC8_LIVEIN 11
VSRC8_LIVEOUT 12
VSRC8_VOUT0 13
VSRC8_VOUT1 14
VSRC8_UNUSED_SIO 15
Gauging Values
VSRC8_GVAR00_X 16
VSRC8_GVAR00_Y 17
VSRC8_GVAR00_STATUS 18
VSRC8_GVAR01_X 19
VSRC8_GVAR01_Y 20
VSRC8_GVAR02_X 22
VSRC8_GVAR02_Y 23
VSRC8_GVAR03_X 25
VSRC8_GVAR03_Y 26
VSRC8_FIRST_GVAR 16
VSRC8_LAST_GVAR 63
27
Appendix
Variables
VSRC8_VAR00 64
VSRC8_LAST_VOLATILE_VAR 121
VSRC8_FIRST_NONVOLATILE_VAR 122
VSRC8_VAR63 127
VSRC8_FIRST_VAR 64
VSRC8_LAST_VAR 127
VSRC8_NUM_VARS 64
VSRC8_NUM_VOLATILE_VARS 6
User Inputs
VSRC8_USER_IN0 128
VSRC8_USER_IN15 143
VSRC8_FIRST_USER_IN 128
VSRC8_LAST_USER_IN 143
VSRC8_NUM_USER_IN 16
User Outputs
VSRC8_USER_OUT0 144
VSRC8_USER_OUT15 159
VSRC8_FIRST_USER_OUT 144
VSRC8_LAST_USER_OUT 159
VSRC8_NUM_USER_OUT 16
Move
VSRC8_MOVE_POS 160
VSRC8_MOVE_SPEED 161
VSRC8_MOVE_OVERLOAD 162
VSRC8_MOVE_CONFIG 163
VSRC8_MOVE_SIGNAL 164
VSRC8_MOVE_WHEEL_RATIO 165
VSRC8_MOVE_ACCEL 166
Step Parameters
VSRC8_SIGNAL_LIMIT 167
VSRC8_POS_TARGET 168
VSRC8_POS_SPEED 169
VSRC8_DELAYTIME 170
28
Appendix
Acquisition Information
VSRC8_ACQ_MINX_X 171
VSRC8_ACQ_MINX_Y 172
VSRC8_ACQ_MAXX_X 173
VSRC8_ACQ_MAXX_Y 174
VSRC8_ACQ_MINY_X 175
VSRC8_ACQ_MINY_Y 176
VSRC8_ACQ_MAXY_X 177
VSRC8_ACQ_MAXY_Y 178
VSRC8_ACQ_MINY2_X 179
VSRC8_ACQ_MINY2_Y2 180
VSRC8_ACQ_MAXY2_X 181
VSRC8_ACQ_MAX2Y_Y2 182
VSRC8_ACQ_VIOLATION_UL_VALID 183
VSRC8_ACQ_VIOLATION_UL_X 184
VSRC8_ACQ_VIOLATION_UL_Y 185
VSRC8_ACQ_VIOLATION_LL_VALID 186
VSRC8_ACQ_VIOLATION_LL_X 187
VSRC8_ACQ_VIOLATION_LL_Y 188
VSRC8_ACQ_DELTA_X 189
Trigger
VSRC8_TRIGGERS_DONE 190
VSRC8_TRIGGER0_POS 191
Tara
VSRC8_TARA_SIO_FORCE 204
VSRC8_TARA_SIO_TIME 205
VSRC8_TARA_SIO_VIN0 206
Step Information
VSRC8_STEP_INITIAL_ABSOLUTE_POS 210
VSRC8_STEP_ABORT_CONDITION 211
29
Appendix
VSRC8_STEP_PREPOSITION_SIGNAL 212
VSRC8_STEP_TRESHOLD_SIGNAL 213
VSRC8_STEP_TRESHOLD_POS 214
VSRC8_STEP_CONTROL_TIME 215
VSRC8_STEP_CONTROL_POS 216
VSRC8_FILTER_FORCE 220
VSRC8_FILTER_VIN0 221
VSRC8_FILTER_FIRST 220
VSRC8_FILTER_LAST 224
Home Position/ Zero Point
VSRC8_HOME_POSITION 230
Basic Information
VSRC8_FALSE 240
VSRC8_TRUE 241
VSRC8_PRG_NUMBER 242
VSRC8_STEP 243
VSRC8_MOTOR_CURRENT 244
VSRC8_CYCLETIME 245
VSRC8_DRIVE_RUNTIME 246
VSRC8_STATUS_OK 247
VSRC8_STATUS_NOK 248
VSRC8_VOLATILE_CYCLES 250
VSRC8_NONVOLATILE_CYCLES 251
VSRC8_OK_CYCLES 252
VSRC8_NOK_CYCLES 253
VSRC8_COMPENSATION 254
30
Appendix
5.3 Appendix C – Demo Program
For the TwinCat 3 platform in the following demo program the array
initialization has to be adjusted by encircled squared brackets.
(*
Demo program for the UFM-5 PLC library for the TwinCat-2/3 platforms.
Declaration part.
*)
PROGRAM PRG_Demo
VAR
(* UFM station proxy. Declare one instance for each UFM station you work with.
Each instance needs to be assigned its own IO variables (see below).
*)
(* Connected IO variables
*)
(* todo! - currently using globals of the same name instead
*
UfmInData AT%I* : UFM_IoDataArray;
UfmOutData AT%Q* : UFM_IoDataArray;
*)
(* UFM POU's for different tasks
*)
ufmHome : UFM_Home;
ufmSelectProgram : UFM_SelectProgram;
ufmWritePartId : UFM_WritePartId;
ufmWriteVars : UFM_WriteVariables;
ufmUserInput : UFM_SetUserInputs;
ufmCycleStart : UFM_CycleStart;
ufmReadMeasuredValues : UFM_ReadMeasuredValues;
(* Error signaled by UFM library

*)
ufmError : UDINT := ERR_NO_ERROR;
(* State of this demo program
*)
state : BYTE := 0;
(* Various (sample data, fake inputs etc.)
*)
abortButtonPressed : BOOL := FALSE;
currentPartIdSegment : BYTE := 1;
partIdSegments : ARRAY[1..3] OF STRING :=
'ABCD',
'01234567890123456789',
'01234567890123456789ABCDEF'
;
testWriteData : ARRAY [0..6] OF REAL := 0, 1, 2, 3.14, 4, 5, 6;
actualValue : REAL;
END_VAR
31
Appendix
(*
Demo program for UFM-5 library for the TwinCat-2/3 platforms.
Implementation part.
*)
CASE state OF
(* Initialization
*)
0 : (* Assign IO variables to UFM station proxy. Optionally configure logging output of the library.
*)
ufmStation(
OutDataPtr := ADR(UfmOutData),
LogFileName := 'C:\Temp\UfmLog.txt',
LogNetId := '192.168.170.110.1.1',
LogLevel := UFM_LOGLEVEL_TRACE
);
(* Assign the POU's for the respective use cases to the station
proxy. (Needs to be done only once, not for each activation.)
*)
ufmSelectProgram(StationPtr := ADR(ufmStation));
ufmWritePartId(StationPtr := ADR(ufmStation));
ufmWriteVars(StationPtr := ADR(ufmStation));
ufmUserInput(StationPtr := ADR(ufmStation));
ufmCycleStart(StationPtr := ADR(ufmStation));
ufmReadMeasuredValues(StationPtr := ADR(ufmStation));
(* Start homing
*)
ufmHome(
(* Don't forget to reset Execute to FALSE before the next activation:
*)
Execute := TRUE,
(* Overwrite the default timeout value of 2 minutes
*)
Timeout := T#10S
);
state := 1;
(* Homing
*)
1 : (* Activated POU's need to be invoked each cycle:
*)
ufmHome();
IF ufmHome.Error THEN
ufmError := ufmHome.ErrorId;
ELSIF ufmHome.Done THEN
(*
Start user program selection, if no program has been
selected yet. We check this via the station proxy's
Status output. To have the station update its Status
output, we have to invoke the station POU first.
*)
ufmStation();
IF ufmStation.Status.CurrentProgram <> 1 THEN
ufmSelectProgram(Execute := TRUE, ProgramNo := 1);
state := 2;
ELSE
32
Appendix
(*
Skip program selection, directly start writing all three segments of the part id in a loop
*)
ufmWritePartId(
Execute := TRUE,
PartIdIndex := currentPartIdSegment,
Value := partIdSegments[currentPartIdSegment]
);
state := 3;
END_IF
END_IF
(* Selecting the user program

*)
2 : ufmSelectProgram();
IF ufmSelectProgram.Error THEN
ufmError := ufmSelectProgram.ErrorId;
ELSIF ufmSelectProgram.Done THEN
(*
Start writing all three segments of the part id in
a loop
*)
ufmWritePartId(
Execute := TRUE, PartIdIndex := currentPartIdSegment,
);
state := 3;
END_IF
(* Writing the part id segments
*)
3 : ufmWritePartId();
IF ufmWritePartId.Error THEN
ufmError := ufmWritePartId.ErrorId;
ELSIF ufmWritePartId.Done THEN
(*
All three parts written?
*)
IF currentPartIdSegment >= 3 THEN
(*
Start writing seven contiguous variables
from index 3
*)
ufmWriteVars(
Execute := TRUE, FirstIndex := 3,
Count := 7, Data := testWriteData
);
state := 4;
ELSE
(* Write next segment
*)
currentPartIdSegment := currentPartIdSegment + 1;
ufmWritePartId(Execute := FALSE);
ufmWritePartId(
Execute := TRUE,
PartIdIndex := currentPartIdSegment,
);
END_IF
33
Appendix
END_IF
(* Writing variables
*)
4 : ufmWriteVars();
IF ufmWriteVars.Error THEN
ufmError := ufmWriteVars.ErrorId;
ELSIF ufmWriteVars.Done THEN
(*
Start writing user input (16 bit)
*)
ufmUserInput(Execute := TRUE, Value := 42);
state := 5;
END_IF
(* Writing user input
*)
5 : ufmUserInput();
IF ufmUserInput.Error THEN
ufmError := ufmUserInput.ErrorId;
ELSIF ufmUserInput.Done THEN
(*
Start user program. Not in single-step mode, but
full cycle execution.
*)
ufmCycleStart(Execute := TRUE, SingleStep := FALSE);
state := 6;
END_IF
(* POUs that possibly involve axis movements may be aborted with

the 'Abort' input. In this case the POUs will terminate with
ErrorId == ERR_ABORTED
*)
6 : ufmCycleStart(Abort := abortButtonPressed);
IF ufmCycleStart.Error THEN
ufmError := ufmCycleStart.ErrorId;
ELSIF ufmCycleStart.Done THEN
(*
Start reading a mesaured value
*)
ufmReadMeasuredValues(Execute := TRUE, Index := 1);
state := 7;
END_IF
(* Reading the measured value

*)
7 : ufmReadMeasuredValues();
IF ufmReadMeasuredValues.Error THEN
ufmError := ufmReadMeasuredValues.ErrorId;
ELSIF ufmReadMeasuredValues.Done THEN
(*
Access data sample properties via the 'Sample' output
*)
IF ufmReadMeasuredValues.Sample.UpperLimitViolated THEN
; (* ... *)
ELSE
actualValue := ufmReadMeasuredValues.Sample.Value;
(* ... *)
END_IF
state := 100;
34
Appendix
END_IF
(* Done, no errors
*)
100 :
;
END_CASE
(* Have the station proxy update its logging and status output.
Switch off logging, if some logging error is detected (invalid path,
missing rights, ...)
*)
IF state > 0 THEN
ufmStation();
IF ufmStation.LoggingErrorId > 0 THEN
ufmStation.LogFileName := '';
END_IF
END_IF
35
Index
UFM_ReadMeasuredValuesExt .......................... 7
D
UFM_ReadPartId ................................................. 8
Demo Program ...................................................32
UFM_ReadUser ................................................... 8
E UFM_ReadValueSources .................................... 9
Error List .............................................................26 UFM_ReadVariables............................................ 9
U UFM_SelectProgram ......................................... 11
UFM_SetKeyboardLock ..................................... 12
UFM_AnalogComparisonOperator .....................20
UFM_SetMoveParams....................................... 13
UFM_AnalogTestDirection..................................20
UFM_SetUserInputs .......................................... 13
UFM_CycleStart ................................................... 5
UFM_SignalSource ............................................ 23
UFM_DataSample ..............................................21
UFM_Station ...................................................... 14
UFM_GetMoveParams ......................................... 5
UFM_StationStatus ............................................ 24
UFM_Home .......................................................... 6
UFM_UserRights ............................................... 25
UFM_IoDataArray ...............................................21
UFM_Wheel ....................................................... 16
UFM_Jog .............................................................. 6
UFM_WriteUser ................................................. 16
UFM_Loglevel .....................................................20
UFM_WriteValueSources .................................. 17
UFM_Move ........................................................... 6
UFM_WriteVariables .......................................... 17
UFM_MovementParameters ..............................22
UFM_MoveMode ................................................22 V
UFM_OverloadComparisonOperator ..................23 Value Sources .................................................... 28
UFM_ReadMeasuredValues ................................ 7
36
37
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UFM V5 PLC Library

UFM-5 PLC Library for TwinCat-3 Platform

In order to be used, the library requires a properly configured field bus

Accordingly, the basic means of using the UFM-5 library is as follows:

UfmInData AT%I* : UFM_IoDataArray; // mapped field bus data

(* Assignment of IO data to station module

(* Assigns an application module to the station FB

Appendix C contains a code listing of an extended executable demo program.

2 General Use of Function Modules

• While a module is active (busy), it must be called in each PLC cycle.

• Some modules (UFM_CycleStart, UFM_Home, UFM_Move) can be aborted,

Some application modules can be operated in parallel but others cannot. In

This function module executes a single step or complete cycle of a previously

Inputs Type Default Value Description

ProgramNo UINT 0 If the received value is not equal to 0, the

SingleStep BOOL FALSE Single-step mode

Abort BOOL FALSE Allows an abort during execution. Must not

OK BOOL Part IO flag set from station

NOK BOOL Part IO flag set from station

Parameters UFM_MovementParameters After execution, this contains the current

This function module executes a homing.

Inputs Type Default Value Description

Abort BOOL FALSE Can be used during execution to abort the

The movement parameters should be set prior to each activation (see

Inputs Type Default Value Description

Up BOOL FALSE Movement upwards

Down BOOL FALSE Movement downwards

Inputs Type Default Value Description

Abort BOOL FALSE Can be used during execution to abort the

This function module reads a measurement value.

Inputs Type Default Value Description

Index BYTE 1 Index of measurement value to be read.

Sample UFM_DataSample Read measurement value

Lesen von bis zu 16 Messwerten.

Inputs Type Standardwert Beschreibung

FirstIndex BYTE 1 Index of measurement value to be read.

Count BYTE 1 Count of the measurement value to be

Samples ARRAY[1..16] OF Read measurement values. Attention: The

This function module reads one or more part IDs.

Inputs Type Default Value Description

ReadSegment_1 BOOL Specifies whether the first segment is to

ReadSegment_2 BOOL Specifies whether the second segment is

ReadSegment_3 BOOL Specifies whether the third segment is to

Segment_1 STRING First segment that was read

Segment_2 STRING Second segment that was read

Segment_3 STRING Third segment that was read

UserName STRING User name

UserRights UFM_UserRights Rights of this user

Inputs Type Default Value Description

FirstIndex BYTE 0 Index of first value source to be read.

Count BYTE 1 Number of value sources to be read.

Data ARRAY[0..6] Data that has been read

This function module reads in up to 7 variables.

Inputs Type Default Value Description

FirstIndex BYTE 1 Index of first variable to be read.

Count BYTE 1 Number of variables to be read.

Data ARRAY[0..6] Data that has been read

Inputs Type Default Value Description

Eingänge Typ Standardwert Beschreibung

Inputs Type Default Value Description

ProgramNo UINT 0 Value range: 0 – 1023.

Inputs Type Default Value Description

Index BYTE 1 Index of the signal source to be chosen.