Commonly Used Lib Packages in the Inovance AM600 PLC Project

In a recent project, we utilized lib packages, and I will outline the functions of the lib packages used in the project. They can be categorized into the following types:

Core Motion Control (e.g., CmpHCAxisControl)

Communication Protocols (e.g., EtherNetIPServices)

System Utilities (e.g., SysInfo) and Special Process Libraries (e.g., SM3_Robotics).

1.Core Motion Control (e.g., CmpHCAxisControl)

1. Motion Control Library (Core Capability)

  • <span>CmpHCAxisControl</span> (Axis Control)

    • Simplifies synchronous development for over 16 axes (configuration time reduced by 70%)

    • Eliminates position jitter (synchronization accuracy ±0.01mm)

    • Function: Multi-axis synchronous control (gear/cam synchronization), precise positioning (absolute/relative), jog/home/stop emergency

    • Scenario: Robotic arm trajectory control (e.g., automotive welding line), CNC positioning (e.g., laser cutting)

    • Problem Solved:

    • Siemens Equivalent:<span>TO (Technology Objects) + S7-1500T</span>

    • Mitsubishi Equivalent:<span>QD75 Positioning Module + MELSERVO-J5 Library</span>

Requirement

Inovance Library

Siemens Alternative

Mitsubishi Alternative

Multi-axis Synchronization

<span>CmpHCAxisControl</span>

<span>S7-1500T + TO</span>

<span>QD75 + MR-J5</span>

Real-time Communication

<span>IoDrvEtherCAT</span>

<span>PROFINET IRT</span>

<span>SSCNETⅢ</span>

Robot Control

<span>SM3_Robotics</span>

<span>SINUMERIK Run</span>

<span>CR800 Dedicated Library</span>

2. Mathematical Calculation Library

  • <span>CmpHCMath</span> (Mathematics Library)

    • Function: Matrix operations/coordinate transformations (<span>HML_CoordTransform</span>)/curve fitting

    • Scenario: Robot inverse kinematics calculations, visual calibration compensation

    • Special Capability: Supports single-precision floating-point acceleration (μs-level calculations)

  • Siemens:<span>SCL Math Function Package</span>

  • Mitsubishi:<span>GX Math Utility Pack</span>

2. Communication Protocols (e.g., EtherNetIPServices)

3. Industrial Ethernet Library

  • <span>EtherNetIPServices</span>

    • Non-cyclic data read/write (<span>GetAttributeSingle</span>)

    • I/O data real-time exchange (RPI configurable to 1ms)

    • Function: Implements EtherNet/IP master-slave communication (Rockwell protocol)

    • Key Features:

    • Scenario: Connects AB PLC, PanelView HMI

    • Comparison Platform:

      • Siemens:<span>PN/PN Coupler</span> (requires additional hardware)

      • Mitsubishi:<span>SLMP Protocol</span> (non-native support)

<span>IoDrvEtherCAT</span>(3S)

  • Function:

    EtherCAT master protocol stack, manages topology scanning, PDO mapping.

  • Optimized Features:

    Automatic hot-plug detection (switching in <10ms when a slave fails).

  • Competitors:

    • Siemens:<span>PROFINET</span> protocol + <span>IM155-5</span> interface module

    • Mitsubishi:<span>CC-Link IE Field</span> basic

Library Name

Function

Application Case

Competitor Solution

<span>IoDrvFreeCAN</span>

CANopen master protocol

Connects Inovance MD500 frequency converter

Siemens<span>CANopen CM PtP</span> module

<span>SM3_Basic</span>

Basic PLC instruction extension

Replaces IEC standard functions (more efficient)

Mitsubishi<span>GX Works3</span> function block library

<span>SqlServerAccess</span>

Direct connection to SQL database

Writes production data to MES system

Siemens<span>WinCC Professional</span>

4. Omron Dedicated Tools

  • <span>HC_OmronUtils</span>

    • Function: FINS protocol encapsulation (read/write CJ series PLC without code)

    • Application Scenario: Connects Omron sensors/NJ controllers

    • Example: One-click read servo alarm codes

5. System Utilities (e.g., SysInfo)

5. Real-time Task Management

  • <span>CmpIecTask</span> (IEC Task Management)

    • Function: Configure multi-task priorities (e.g., 1ms motion control + 10ms logic scan)

    • Performance Metrics: Hard real-time task jitter <10μs

    • Siemens Benchmark:<span>OB Priority Settings</span> (TIA Portal)

    • Mitsubishi Benchmark:<span>Interrupt Program (Ixx)</span>

6. Memory and Log Management

Library Name

Core Function

Scenario

<span>SysMem</span>

Safe memory operations (<span>MemCpySafe</span>)

Prevents array out-of-bounds crashes

<span>CmpLog</span>

Timestamped logs (saved to SD card)

Fault tracing (retains the last 100,000 entries)

<span>SysHCPlcInfo</span>

Reads PLC serial number/firmware version

Authorization verification/remote diagnostics

Comparison: Siemens<span>Diagnostic Buffer</span> stores only 2000 logs

7. Dedicated Process Libraries

7. Packaging Machinery Standards

  • <span>CmpHCPackML</span> (formerly CmpHCOpMode)

    • Implemented Standard: ISA-88/PackML state machine

Commonly Used Lib Packages in the Inovance AM600 PLC Project

8. Data Sharing Library

  • <span>FB_ShareAccessHC</span>

    • Automatic mutex

    • Supports read-write separation (double buffering)

    • Pain Point Solved: Safe read-write sharing of data across multiple tasks

    • Technical Mechanism:

      • Mitsubishi requires manual use of<span>Dx Latch</span>

      • Siemens uses<span>DB Access Optimization</span>

<span>9.SM3_Robotics</span>(3S)

  • Function:

    Robot inverse kinematics calculation (6-axis articulated), trajectory interpolation.

  • Accuracy:

    Path repeatability error <0.02mm (automotive welding scenario).

  • Comparison:

    • Siemens:<span>SINUMERIK RUN MyRobot</span>

    • Mitsubishi:<span>CR800</span> controller dedicated library

10. <span>SM3_CNC</span>(3S)

  • Function:

    G-code parser (supports ISO6983 standard).

  • Optimization:

    Lookahead algorithm reduces corner jitter (suitable for 5-axis milling).

8. Basic Support Libraries

Library Name

Function

Development Volume Saved

<span>Standard</span>

IEC61131-3 standard functions (TON/CTU)

Saves 80% of basic coding

<span>SysTimeRtc</span>

High-precision clock (error <1s/month)

Avoids manual implementation of leap year logic

<span>Util</span>

String processing/array sorting

Reduces complex algorithm development

💎 9. Selection and Migration Recommendations

Cross-Platform Compatibility Solutions

Functional Requirements

Inovance Solution

Siemens Alternative

Mitsubishi Alternative

Multi-axis Synchronization

<span>CmpHCAxisControl</span>

<span>MC_Power+MC_Move</span>

<span>SV13/SV22 Instructions</span>

Data Tracing

<span>CmpLog+SysInfo</span>

<span>ALARM_8P</span> block

<span>SD Card Log Module</span>

Protocol Interoperability

<span>EtherNetIPServices</span>

<span>Open User Communication</span>

<span>MX Component</span>

10. System and Diagnostic Libraries

11. <span>SysHCPLcInfo</span> (Inovance)

  • Function:

    Reads PLC serial number, firmware version, memory usage (e.g., <span>SysHCPLcInfo.CPU_Usage</span>).

  • Diagnostic Application:

    Predictive maintenance (export abnormal logs via SD card).

  • Comparison:

    • Siemens:<span>Diagnostic Buffer</span> + <span>Web Server</span>

    • Mitsubishi:<span>QnUDECPU</span> SD memory card logs

12. <span>CmpHCUtils</span> (Inovance)

  • Function:

    Provides engineering unit conversion (e.g., mm → pulse count), CRC check, safe memory operations.

  • Scenario:

    Encoder position calibration, communication message verification.

High Integration Efficiency:

For example, <span>CmpHCAxisControl</span><code><span> + </span><code><span>IoDrvEtherCAT</span><code><span> achieves </span><strong><span>"Axis Control + Communication" one-stop development</span></strong>

Localized Support:

The log library <span>SysInfo</span><code><span> supports Chinese encoding (Siemens </span><code><span>ALARM_8P</span><code><span> only compatible with English).</span>

Commonly Used Lib Packages in the Inovance AM600 PLC Project

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