Function Blocks of REXYGEN
Reference manual
Version 2.50.10
2020-09-03
Plzeň (Pilsen), Czech Republic
2020-09-03
Plzeň (Pilsen), Czech Republic
1 Introduction
1.1 How to use this manual
1.2 The function block description format
1.3 Conventions for variables, blocks and subsystems naming
1.4 The signal quality corresponding with OPC
2 EXEC – Real-time executive configuration
ARC – The REXYGEN system archive
EXEC – Real-time executive
HMI – Human-Machine Interface Configuration
INFO – Description of Algorithm
IODRV – The REXYGEN system input/output driver
IOTASK – Driver-triggered task of the REXYGEN system
LPBRK – Loop break
MODULE – Extension module of the REXYGEN system
PROJECT – Additional Project Settings
QTASK – Quick task of the REXYGEN system
SLEEP – Timing in Simulink
SRTF – Set run-time flags
OSCALL – Operating system calls
TASK – Standard task of the REXYGEN system
TIODRV – The REXYGEN system input/output driver with tasks
WWW – Internal Web Server Content
3 INOUT – Input and output blocks
Display – Numeric display of input values
From, INSTD – Signal connection or input
Goto, OUTSTD – Signal source or output
GotoTagVisibility – Visibility of the signal source
Inport, Outport – Input and output port
SubSystem – Subsystem block
INQUAD, INOCT, INHEXD – Multi-input blocks
OUTQUAD, OUTOCT, OUTHEXD – Multi-output blocks
OUTRQUAD, OUTROCT, OUTRHEXD – Multi-output blocks with verification
OUTRSTD – Output block with verification
QFC – Quality flags coding
QFD – Quality flags decoding
VIN – Validation of the input signal
VOUT – Validation of the output signal
4 MATH – Math blocks
ABS_ – Absolute value
ADD – Addition of two signals
ADDQUAD, ADDOCT, ADDHEXD – Multi-input addition
CNB – Boolean (logic) constant
CNE – Enumeration constant
CNI – Integer constant
CNR – Real constant
DIF_ – Difference
DIV – Division of two signals
EAS – Extended addition and subtraction
EMD – Extended multiplication and division
FNX – Evaluation of single-variable function
FNXY – Evaluation of two-variables function
GAIN – Multiplication by a constant
GRADS – Gradient search optimization
IADD – Integer addition
ISUB – Integer subtraction
IMUL – Integer multiplication
IDIV – Integer division
IMOD – Remainder after integer division
LIN – Linear interpolation
MUL – Multiplication of two signals
POL – Polynomial evaluation
REC – Reciprocal value
REL – Relational operator
RTOI – Real to integer number conversion
SQR – Square value
SQRT_ – Square root
SUB – Subtraction of two signals
5 ANALOG – Analog signal processing
ABSROT – Processing data from absolute position sensor
ASW – Switch with automatic selection of input
AVG – Moving average filter
AVS – Motion control unit
BPF – Band-pass filter
CMP – Comparator with hysteresis
CNDR – Nonlinear conditioner
DEL – Delay with initialization
DELM – Time delay
DER – Derivation, filtering and prediction from the last n+1 samples
EVAR – Moving mean value and standard deviation
INTE – Controlled integrator
KDER – Derivation and filtering of the input signal
LPF – Low-pass filter
MINMAX – Running minimum and maximum
NSCL – Nonlinear scaling factor
RDFT – Running discrete Fourier transform
RLIM – Rate limiter
S1OF2 – One of two analog signals selector
SAI – Safety analog input
SEL – Selector switch for analog signals
SELQUAD, SELOCT, SELHEXD – Selector switch for analog signals
SHIFTOCT – Data shift register
SHLD – Sample and hold
SINT – Simple integrator
SPIKE – Spike filter
SSW – Simple switch
SWR – Selector with ramp
VDEL – Variable time delay
ZV4IS – Zero vibration input shaper
6 GEN – Signal generators
ANLS – Controlled generator of piecewise linear function
BINS – Controlled binary sequence generator
BIS – Binary sequence generator
MP – Manual pulse generator
PRBS – Pseudo-random binary sequence generator
SG, SGI – Signal generators
7 REG – Function blocks for control
ARLY – Advance relay
FLCU – Fuzzy logic controller unit
FRID – Frequency response identification
I3PM – Identification of a three parameter model
LC – Lead compensator
LLC – Lead-lag compensator
MCU – Manual control unit
PIDAT – PID controller with relay autotuner
PIDE – PID controller with defined static error
PIDGS – PID controller with gain scheduling
PIDMA – PID controller with moment autotuner
PIDU – PID controller unit
PIDUI – PID controller unit with variable parameters
POUT – Pulse output
PRGM – Setpoint programmer
PSMPC – Pulse-step model predictive controller
PWM – Pulse width modulation
RLY – Relay with hysteresis
SAT – Saturation with variable limits
SC2FA – State controller for 2nd order system with frequency autotuner
SCU – Step controller with position feedback
SCUV – Step controller unit with velocity input
SELU – Controller selector unit
SMHCC – Sliding mode heating/cooling controller
SMHCCA – Sliding mode heating/cooling controller with autotuner
SWU – Switch unit
TSE – Three-state element
8 LOGIC – Logic control
AND_ – Logical product of two signals
ANDQUAD, ANDOCT, ANDHEXD – Logical product of multiple signals
ATMT – Finite-state automaton
BDOCT, BDHEXD – Bitwise demultiplexers
BITOP – Bitwise operation
BMOCT, BMHEXD – Bitwise multiplexers
COUNT – Controlled counter
EATMT – Extended finite-state automaton
EDGE_ – Falling/rising edge detection in a binary signal
EQ – Equivalence of two signals
INTSM – Integer number bit shift and mask
ISSW – Simple switch for integer signals
INTSM – Integer number bit shift and mask
ITOI – Transformation of integer and binary numbers
NOT_ – Boolean complementation
OR_ – Logical sum of two signals
ORQUAD, OROCT, ORHEXD – Logical sum of multiple signals
RS – Reset-set flip-flop circuit
SR – Set-reset flip-flop circuit
TIMER_ – Multipurpose timer
9 TIME – Blocks for handling time
DATE_ – Current date
DATETIME – Get, set and convert time
TIME – Current time
WSCH – Weekly schedule
10 ARC – Data archiving
10.1 Functionality of the archiving subsystem
10.2 Generating alarms and events
ALB, ALBI – Alarms for Boolean value
ALN, ALNI – Alarms for numerical value
ARS – Archive store value
10.3 Trends recording
ACD – Archive compression using Delta criterion
TRND – Real-time trend recording
TRNDV – Real-time trend recording with vector input
10.4 Archive management
AFLUSH – Forced archive flushing
11 STRING – Blocks for string operations
CNS – String constant
CONCAT – Concat string by pattern
FIND – Find a Substring
ITOS – Integer number to string conversion
LEN – String length
MID – Substring Extraction
PJROCT – Parse JSON string (real output)
PJSOCT – Parse JSON string (string output)
REGEXP – Regular expresion parser
REPLACE – Replace substring
RTOS – Real Number to String Conversion
SELSOCT – Selector switch for string signals
STOR – String to real number conversion
12 PARAM – Blocks for parameter handling
GETPA – Block for remote array parameter acquirement
GETPR, GETPI, GETPB – Blocks for remote parameter acquirement
GETPS – Block for remote string parameter acquirement
PARA – Block with input-defined array parameter
PARE – Block with input-defined enumeration parameter
PARR, PARI, PARB – Blocks with input-defined parameter
PARS – Block with input-defined string parameter
SETPA – Block for remote array parameter setting
SETPR, SETPI, SETPB – Blocks for remote parameter setting
SETPS – Block for remote string parameter setting
SGSLP – Set, get, save and load parameters
SILO – Save input value, load output value
SILOS – Save input string, load output string
13 MODEL – Dynamic systems simulation
CDELSSM – Continuous state space model of a linear system with time delay
CSSM – Continuous state space model of a linear system
DDELSSM – Discrete state space model of a linear system with time delay
DSSM – Discrete state space model of a linear system
FOPDT – First order plus dead-time model
MDL – Process model
MDLI – Process model with input-defined parameters
MVD – Motorized valve drive
SOPDT – Second order plus dead-time model
14 MATRIX – Blocks for matrix and vector operations
CNA – Array (vector/matrix) constant
MB_DASUM – Sum of the absolute values
MB_DAXPY – Performs y := a*x + y for vectors x,y
MB_DCOPY – Copies vector x to vector y
MB_DDOT – Dot product of two vectors
MB_DGEMM – Performs C := alpha*op(A)*op(B) + beta*C, where op(X) = X or op(X) = X^T
MB_DGEMV – Performs y := alpha*A*x + beta*y or y := alpha*A^T*x + beta*y
MB_DGER – Performs A := alpha*x*y^T + A
MB_DNRM2 – Euclidean norm of a vector
MB_DROT – Plain rotation of a vector
MB_DSCAL – Scales a vector by a constant
MB_DSWAP – Interchanges two vectors
MB_DTRMM – Performs B := alpha*op(A)*B or B := alpha*B*op(A), where op(X) = X or op(X) = X^T for triangular matrix A
MB_DTRMV – Performs x := A*x or x := A^T*x for triangular matrix A
MB_DTRSV – Solves one of the system of equations A*x = b or A^T*x = b for triangular matrix A
ML_DGEBAK – Backward transformation to ML_DGEBAL of left or right eigenvectors
ML_DGEBAL – Balancing of a general real matrix
ML_DGEBRD – Reduces a general real matrix to bidiagonal form by an orthogonal transformation
ML_DGECON – Estimates the reciprocal of the condition number of a general real matrix
ML_DGEES – Computes the eigenvalues, the Schur form, and, optionally, the matrix of Schur vectors
ML_DGEEV – Computes the eigenvalues and, optionally, the left and/or right eigenvectors
ML_DGEHRD – Reduces a real general matrix A to upper Hessenberg form
ML_DGELQF – Computes an LQ factorization of a real M-by-N matrix A
ML_DGELSD – Computes the minimum-norm solution to a real linear least squares problem
ML_DGEQRF – Computes an QR factorization of a real M-by-N matrix A
ML_DGESDD – Computes the singular value decomposition (SVD) of a real M-by-N matrix A
ML_DLACPY – Copies all or part of one matrix to another matrix
ML_DLANGE – Computes one of the matrix norms of a general matrix
ML_DLASET – Initilizes the off-diagonal elements and the diagonal elements of a matrix to given values
ML_DTRSYL – Solves the real Sylvester matrix equation for quasi-triangular matrices A and B
MX_AT – Get Matrix/Vector element
MX_ATSET – Set Matrix/Vector element
MX_CNADD – Add scalar to each Matrix/Vector element
MX_CNMUL – Multiply a Matrix/Vector by a scalar
MX_CTODPA – Discretizes continuous model given by (A,B) to (Ad,Bd) using Pade approximations
MX_DIM – Matrix/Vector dimensions
MX_DIMSET – Set Matrix/Vector dimensions
MX_DSAGET – Set subarray of A into B
MX_DSAREF – Set reference to subarray of A into B
MX_DSASET – Set A into subarray of B
MX_DTRNSP – General matrix transposition: B := alpha*A^T
MX_DTRNSQ – Square matrix in-place transposition: A := alpha*A^T
MX_FILL – Fill real matrix or vector
MX_MAT – Matrix data storage block
MX_RAND – Randomly generated matrix or vector
MX_REFCOPY – Copies input references of matrices A and B to their output references
MX_SLFS – Save or load a Matrix/Vector into file or string
MX_VEC – Vector data storage block
MX_WRITE – Write a Matrix/Vector to the console/system log
RTOV – Vector multiplexer
SWVMR – Vector/matrix/reference signal switch
VTOR – Vector demultiplexer
15 SPEC – Special blocks
EPC – External program call
HTTP – HTTP GET or POST request (obsolete)
HTTP2 – Block for generating HTTP GET or POST requests
SMTP – Send e-mail message via SMTP
RDC – Remote data connection
REXLANG – User programmable block
16 LANG – Special blocks
PYTHON – User programmable block in Python
17 MQTT – Communication via MQTT protocol
MqttPublish – Publish MQTT message
MqttSubscribe – Subscribe to MQTT topic
18 MC_SINGLE – Motion control - single axis blocks
RM_Axis – Motion control axis
MC_AccelerationProfile, MCP_AccelerationProfile – Acceleration profile
MC_Halt, MCP_Halt – Stopping a movement (interruptible)
MC_HaltSuperimposed, MCP_HaltSuperimposed – Stopping a movement (superimposed and interruptible)
MC_Home, MCP_Home – Homing
MC_MoveAbsolute, MCP_MoveAbsolute – Move to position (absolute coordinate)
MC_MoveAdditive, MCP_MoveAdditive – Move to position (relative to previous motion)
MC_MoveRelative, MCP_MoveRelative – Move to position (relative to execution point)
MC_MoveSuperimposed, MCP_MoveSuperimposed – Superimposed move
MC_MoveContinuousAbsolute, MCP_MoveContinuousAbsolute – Move to position (absolute coordinate)
MC_MoveContinuousRelative, MCP_MoveContinuousRelative – Move to position (relative to previous motion)
MC_MoveVelocity, MCP_MoveVelocity – Move with constant velocity
MC_PositionProfile, MCP_PositionProfile – Position profile
MC_Power – Axis activation (power on/off)
MC_ReadActualPosition – Read actual position
MC_ReadAxisError – Read axis error
MC_ReadBoolParameter – Read axis parameter (bool)
MC_ReadParameter – Read axis parameter
MC_ReadStatus – Read axis status
MC_Reset – Reset axis errors
MC_SetOverride, MCP_SetOverride – Set override factors
MC_Stop, MCP_Stop – Stopping a movement
MC_TorqueControl, MCP_TorqueControl – Torque/force control
MC_VelocityProfile, MCP_VelocityProfile – Velocity profile
MC_WriteBoolParameter – Write axis parameter (bool)
MC_WriteParameter – Write axis parameter
RM_AxisOut – Axis output
RM_AxisSpline – Commanded values interpolation
RM_Track – Tracking and inching
19 MC_MULTI – Motion control - multi axis blocks
MC_CamIn, MCP_CamIn – Engage the cam
MC_CamOut – Disengage the cam
MCP_CamTableSelect – Cam definition
MC_CombineAxes, MCP_CombineAxes – Combine the motion of 2 axes into a third axis
MC_GearIn, MCP_GearIn – Engange the master/slave velocity ratio
MC_GearInPos, MCP_GearInPos – Engage the master/slave velocity ratio in defined position
MC_GearOut – Disengange the master/slave velocity ratio
MC_PhasingAbsolute, MCP_PhasingAbsolute – Phase shift in synchronized motion (absolute coordinates)
MC_PhasingRelative, MCP_PhasingRelative – Phase shift in synchronized motion (relative coordinates)
20 MC_COORD – Motion control - coordinated movement blocks
RM_AxesGroup – Axes group for coordinated motion control
RM_Feed – MC Feeder
RM_Gcode – CNC motion control
MC_AddAxisToGroup – Adds one axis to a group
MC_UngroupAllAxes – Removes all axes from the group
MC_GroupEnable – Changes the state of a group to GroupEnable
MC_GroupDisable – Changes the state of a group to GroupDisabled
MC_SetCartesianTransform – Sets Cartesian transformation
MC_ReadCartesianTransform – Reads the parameter of the cartesian transformation
MC_GroupSetPosition, MCP_GroupSetPosition – Sets the position of all axes in a group
MC_GroupReadActualPosition – Read actual position in the selected coordinate system
MC_GroupReadActualVelocity – Read actual velocity in the selected coordinate system
MC_GroupReadActualAcceleration – Read actual acceleration in the selected coordinate system
MC_GroupStop – Stopping a group movement
MC_GroupHalt – Stopping a group movement (interruptible)
MC_GroupInterrupt, MCP_GroupInterrupt – Read a group interrupt
MC_GroupContinue – Continuation of interrupted movement
MC_GroupReadStatus – Read a group status
MC_GroupReadError – Read a group error
MC_GroupReset – Reset axes errors
MC_MoveLinearAbsolute – Linear move to position (absolute coordinates)
MC_MoveLinearRelative – Linear move to position (relative to execution point)
MC_MoveCircularAbsolute – Circular move to position (absolute coordinates)
MC_MoveCircularRelative – Circular move to position (relative to execution point)
MC_MoveDirectAbsolute – Direct move to position (absolute coordinates)
MC_MoveDirectRelative – Direct move to position (relative to execution point)
MC_MovePath – General spatial trajectory generation
MC_GroupSetOverride – Set group override factors
21 CanDrv – Communication via CAN bus
CanItem – Secondary received CAN message
CanRecv – Receive CAN message
CanSend – Send CAN message
22 OpcUaDrv – Communication using OPC UA
OpcUaReadValue – Read value from OPC UA Server
OpcUaServerValue – Expose value as an OPC UA Node
OpcUaWriteValue – Write value to OPC UA Server
A Licensing options
B Licensing of individual function blocks
C Error codes of the REXYGEN system
Bibliography
1.1 How to use this manual
1.2 The function block description format
1.3 Conventions for variables, blocks and subsystems naming
1.4 The signal quality corresponding with OPC
2 EXEC – Real-time executive configuration
ARC – The REXYGEN system archive
EXEC – Real-time executive
HMI – Human-Machine Interface Configuration
INFO – Description of Algorithm
IODRV – The REXYGEN system input/output driver
IOTASK – Driver-triggered task of the REXYGEN system
LPBRK – Loop break
MODULE – Extension module of the REXYGEN system
PROJECT – Additional Project Settings
QTASK – Quick task of the REXYGEN system
SLEEP – Timing in Simulink
SRTF – Set run-time flags
OSCALL – Operating system calls
TASK – Standard task of the REXYGEN system
TIODRV – The REXYGEN system input/output driver with tasks
WWW – Internal Web Server Content
3 INOUT – Input and output blocks
Display – Numeric display of input values
From, INSTD – Signal connection or input
Goto, OUTSTD – Signal source or output
GotoTagVisibility – Visibility of the signal source
Inport, Outport – Input and output port
SubSystem – Subsystem block
INQUAD, INOCT, INHEXD – Multi-input blocks
OUTQUAD, OUTOCT, OUTHEXD – Multi-output blocks
OUTRQUAD, OUTROCT, OUTRHEXD – Multi-output blocks with verification
OUTRSTD – Output block with verification
QFC – Quality flags coding
QFD – Quality flags decoding
VIN – Validation of the input signal
VOUT – Validation of the output signal
4 MATH – Math blocks
ABS_ – Absolute value
ADD – Addition of two signals
ADDQUAD, ADDOCT, ADDHEXD – Multi-input addition
CNB – Boolean (logic) constant
CNE – Enumeration constant
CNI – Integer constant
CNR – Real constant
DIF_ – Difference
DIV – Division of two signals
EAS – Extended addition and subtraction
EMD – Extended multiplication and division
FNX – Evaluation of single-variable function
FNXY – Evaluation of two-variables function
GAIN – Multiplication by a constant
GRADS – Gradient search optimization
IADD – Integer addition
ISUB – Integer subtraction
IMUL – Integer multiplication
IDIV – Integer division
IMOD – Remainder after integer division
LIN – Linear interpolation
MUL – Multiplication of two signals
POL – Polynomial evaluation
REC – Reciprocal value
REL – Relational operator
RTOI – Real to integer number conversion
SQR – Square value
SQRT_ – Square root
SUB – Subtraction of two signals
5 ANALOG – Analog signal processing
ABSROT – Processing data from absolute position sensor
ASW – Switch with automatic selection of input
AVG – Moving average filter
AVS – Motion control unit
BPF – Band-pass filter
CMP – Comparator with hysteresis
CNDR – Nonlinear conditioner
DEL – Delay with initialization
DELM – Time delay
DER – Derivation, filtering and prediction from the last n+1 samples
EVAR – Moving mean value and standard deviation
INTE – Controlled integrator
KDER – Derivation and filtering of the input signal
LPF – Low-pass filter
MINMAX – Running minimum and maximum
NSCL – Nonlinear scaling factor
RDFT – Running discrete Fourier transform
RLIM – Rate limiter
S1OF2 – One of two analog signals selector
SAI – Safety analog input
SEL – Selector switch for analog signals
SELQUAD, SELOCT, SELHEXD – Selector switch for analog signals
SHIFTOCT – Data shift register
SHLD – Sample and hold
SINT – Simple integrator
SPIKE – Spike filter
SSW – Simple switch
SWR – Selector with ramp
VDEL – Variable time delay
ZV4IS – Zero vibration input shaper
6 GEN – Signal generators
ANLS – Controlled generator of piecewise linear function
BINS – Controlled binary sequence generator
BIS – Binary sequence generator
MP – Manual pulse generator
PRBS – Pseudo-random binary sequence generator
SG, SGI – Signal generators
7 REG – Function blocks for control
ARLY – Advance relay
FLCU – Fuzzy logic controller unit
FRID – Frequency response identification
I3PM – Identification of a three parameter model
LC – Lead compensator
LLC – Lead-lag compensator
MCU – Manual control unit
PIDAT – PID controller with relay autotuner
PIDE – PID controller with defined static error
PIDGS – PID controller with gain scheduling
PIDMA – PID controller with moment autotuner
PIDU – PID controller unit
PIDUI – PID controller unit with variable parameters
POUT – Pulse output
PRGM – Setpoint programmer
PSMPC – Pulse-step model predictive controller
PWM – Pulse width modulation
RLY – Relay with hysteresis
SAT – Saturation with variable limits
SC2FA – State controller for 2nd order system with frequency autotuner
SCU – Step controller with position feedback
SCUV – Step controller unit with velocity input
SELU – Controller selector unit
SMHCC – Sliding mode heating/cooling controller
SMHCCA – Sliding mode heating/cooling controller with autotuner
SWU – Switch unit
TSE – Three-state element
8 LOGIC – Logic control
AND_ – Logical product of two signals
ANDQUAD, ANDOCT, ANDHEXD – Logical product of multiple signals
ATMT – Finite-state automaton
BDOCT, BDHEXD – Bitwise demultiplexers
BITOP – Bitwise operation
BMOCT, BMHEXD – Bitwise multiplexers
COUNT – Controlled counter
EATMT – Extended finite-state automaton
EDGE_ – Falling/rising edge detection in a binary signal
EQ – Equivalence of two signals
INTSM – Integer number bit shift and mask
ISSW – Simple switch for integer signals
INTSM – Integer number bit shift and mask
ITOI – Transformation of integer and binary numbers
NOT_ – Boolean complementation
OR_ – Logical sum of two signals
ORQUAD, OROCT, ORHEXD – Logical sum of multiple signals
RS – Reset-set flip-flop circuit
SR – Set-reset flip-flop circuit
TIMER_ – Multipurpose timer
9 TIME – Blocks for handling time
DATE_ – Current date
DATETIME – Get, set and convert time
TIME – Current time
WSCH – Weekly schedule
10 ARC – Data archiving
10.1 Functionality of the archiving subsystem
10.2 Generating alarms and events
ALB, ALBI – Alarms for Boolean value
ALN, ALNI – Alarms for numerical value
ARS – Archive store value
10.3 Trends recording
ACD – Archive compression using Delta criterion
TRND – Real-time trend recording
TRNDV – Real-time trend recording with vector input
10.4 Archive management
AFLUSH – Forced archive flushing
11 STRING – Blocks for string operations
CNS – String constant
CONCAT – Concat string by pattern
FIND – Find a Substring
ITOS – Integer number to string conversion
LEN – String length
MID – Substring Extraction
PJROCT – Parse JSON string (real output)
PJSOCT – Parse JSON string (string output)
REGEXP – Regular expresion parser
REPLACE – Replace substring
RTOS – Real Number to String Conversion
SELSOCT – Selector switch for string signals
STOR – String to real number conversion
12 PARAM – Blocks for parameter handling
GETPA – Block for remote array parameter acquirement
GETPR, GETPI, GETPB – Blocks for remote parameter acquirement
GETPS – Block for remote string parameter acquirement
PARA – Block with input-defined array parameter
PARE – Block with input-defined enumeration parameter
PARR, PARI, PARB – Blocks with input-defined parameter
PARS – Block with input-defined string parameter
SETPA – Block for remote array parameter setting
SETPR, SETPI, SETPB – Blocks for remote parameter setting
SETPS – Block for remote string parameter setting
SGSLP – Set, get, save and load parameters
SILO – Save input value, load output value
SILOS – Save input string, load output string
13 MODEL – Dynamic systems simulation
CDELSSM – Continuous state space model of a linear system with time delay
CSSM – Continuous state space model of a linear system
DDELSSM – Discrete state space model of a linear system with time delay
DSSM – Discrete state space model of a linear system
FOPDT – First order plus dead-time model
MDL – Process model
MDLI – Process model with input-defined parameters
MVD – Motorized valve drive
SOPDT – Second order plus dead-time model
14 MATRIX – Blocks for matrix and vector operations
CNA – Array (vector/matrix) constant
MB_DASUM – Sum of the absolute values
MB_DAXPY – Performs y := a*x + y for vectors x,y
MB_DCOPY – Copies vector x to vector y
MB_DDOT – Dot product of two vectors
MB_DGEMM – Performs C := alpha*op(A)*op(B) + beta*C, where op(X) = X or op(X) = X^T
MB_DGEMV – Performs y := alpha*A*x + beta*y or y := alpha*A^T*x + beta*y
MB_DGER – Performs A := alpha*x*y^T + A
MB_DNRM2 – Euclidean norm of a vector
MB_DROT – Plain rotation of a vector
MB_DSCAL – Scales a vector by a constant
MB_DSWAP – Interchanges two vectors
MB_DTRMM – Performs B := alpha*op(A)*B or B := alpha*B*op(A), where op(X) = X or op(X) = X^T for triangular matrix A
MB_DTRMV – Performs x := A*x or x := A^T*x for triangular matrix A
MB_DTRSV – Solves one of the system of equations A*x = b or A^T*x = b for triangular matrix A
ML_DGEBAK – Backward transformation to ML_DGEBAL of left or right eigenvectors
ML_DGEBAL – Balancing of a general real matrix
ML_DGEBRD – Reduces a general real matrix to bidiagonal form by an orthogonal transformation
ML_DGECON – Estimates the reciprocal of the condition number of a general real matrix
ML_DGEES – Computes the eigenvalues, the Schur form, and, optionally, the matrix of Schur vectors
ML_DGEEV – Computes the eigenvalues and, optionally, the left and/or right eigenvectors
ML_DGEHRD – Reduces a real general matrix A to upper Hessenberg form
ML_DGELQF – Computes an LQ factorization of a real M-by-N matrix A
ML_DGELSD – Computes the minimum-norm solution to a real linear least squares problem
ML_DGEQRF – Computes an QR factorization of a real M-by-N matrix A
ML_DGESDD – Computes the singular value decomposition (SVD) of a real M-by-N matrix A
ML_DLACPY – Copies all or part of one matrix to another matrix
ML_DLANGE – Computes one of the matrix norms of a general matrix
ML_DLASET – Initilizes the off-diagonal elements and the diagonal elements of a matrix to given values
ML_DTRSYL – Solves the real Sylvester matrix equation for quasi-triangular matrices A and B
MX_AT – Get Matrix/Vector element
MX_ATSET – Set Matrix/Vector element
MX_CNADD – Add scalar to each Matrix/Vector element
MX_CNMUL – Multiply a Matrix/Vector by a scalar
MX_CTODPA – Discretizes continuous model given by (A,B) to (Ad,Bd) using Pade approximations
MX_DIM – Matrix/Vector dimensions
MX_DIMSET – Set Matrix/Vector dimensions
MX_DSAGET – Set subarray of A into B
MX_DSAREF – Set reference to subarray of A into B
MX_DSASET – Set A into subarray of B
MX_DTRNSP – General matrix transposition: B := alpha*A^T
MX_DTRNSQ – Square matrix in-place transposition: A := alpha*A^T
MX_FILL – Fill real matrix or vector
MX_MAT – Matrix data storage block
MX_RAND – Randomly generated matrix or vector
MX_REFCOPY – Copies input references of matrices A and B to their output references
MX_SLFS – Save or load a Matrix/Vector into file or string
MX_VEC – Vector data storage block
MX_WRITE – Write a Matrix/Vector to the console/system log
RTOV – Vector multiplexer
SWVMR – Vector/matrix/reference signal switch
VTOR – Vector demultiplexer
15 SPEC – Special blocks
EPC – External program call
HTTP – HTTP GET or POST request (obsolete)
HTTP2 – Block for generating HTTP GET or POST requests
SMTP – Send e-mail message via SMTP
RDC – Remote data connection
REXLANG – User programmable block
16 LANG – Special blocks
PYTHON – User programmable block in Python
17 MQTT – Communication via MQTT protocol
MqttPublish – Publish MQTT message
MqttSubscribe – Subscribe to MQTT topic
18 MC_SINGLE – Motion control - single axis blocks
RM_Axis – Motion control axis
MC_AccelerationProfile, MCP_AccelerationProfile – Acceleration profile
MC_Halt, MCP_Halt – Stopping a movement (interruptible)
MC_HaltSuperimposed, MCP_HaltSuperimposed – Stopping a movement (superimposed and interruptible)
MC_Home, MCP_Home – Homing
MC_MoveAbsolute, MCP_MoveAbsolute – Move to position (absolute coordinate)
MC_MoveAdditive, MCP_MoveAdditive – Move to position (relative to previous motion)
MC_MoveRelative, MCP_MoveRelative – Move to position (relative to execution point)
MC_MoveSuperimposed, MCP_MoveSuperimposed – Superimposed move
MC_MoveContinuousAbsolute, MCP_MoveContinuousAbsolute – Move to position (absolute coordinate)
MC_MoveContinuousRelative, MCP_MoveContinuousRelative – Move to position (relative to previous motion)
MC_MoveVelocity, MCP_MoveVelocity – Move with constant velocity
MC_PositionProfile, MCP_PositionProfile – Position profile
MC_Power – Axis activation (power on/off)
MC_ReadActualPosition – Read actual position
MC_ReadAxisError – Read axis error
MC_ReadBoolParameter – Read axis parameter (bool)
MC_ReadParameter – Read axis parameter
MC_ReadStatus – Read axis status
MC_Reset – Reset axis errors
MC_SetOverride, MCP_SetOverride – Set override factors
MC_Stop, MCP_Stop – Stopping a movement
MC_TorqueControl, MCP_TorqueControl – Torque/force control
MC_VelocityProfile, MCP_VelocityProfile – Velocity profile
MC_WriteBoolParameter – Write axis parameter (bool)
MC_WriteParameter – Write axis parameter
RM_AxisOut – Axis output
RM_AxisSpline – Commanded values interpolation
RM_Track – Tracking and inching
19 MC_MULTI – Motion control - multi axis blocks
MC_CamIn, MCP_CamIn – Engage the cam
MC_CamOut – Disengage the cam
MCP_CamTableSelect – Cam definition
MC_CombineAxes, MCP_CombineAxes – Combine the motion of 2 axes into a third axis
MC_GearIn, MCP_GearIn – Engange the master/slave velocity ratio
MC_GearInPos, MCP_GearInPos – Engage the master/slave velocity ratio in defined position
MC_GearOut – Disengange the master/slave velocity ratio
MC_PhasingAbsolute, MCP_PhasingAbsolute – Phase shift in synchronized motion (absolute coordinates)
MC_PhasingRelative, MCP_PhasingRelative – Phase shift in synchronized motion (relative coordinates)
20 MC_COORD – Motion control - coordinated movement blocks
RM_AxesGroup – Axes group for coordinated motion control
RM_Feed – MC Feeder
RM_Gcode – CNC motion control
MC_AddAxisToGroup – Adds one axis to a group
MC_UngroupAllAxes – Removes all axes from the group
MC_GroupEnable – Changes the state of a group to GroupEnable
MC_GroupDisable – Changes the state of a group to GroupDisabled
MC_SetCartesianTransform – Sets Cartesian transformation
MC_ReadCartesianTransform – Reads the parameter of the cartesian transformation
MC_GroupSetPosition, MCP_GroupSetPosition – Sets the position of all axes in a group
MC_GroupReadActualPosition – Read actual position in the selected coordinate system
MC_GroupReadActualVelocity – Read actual velocity in the selected coordinate system
MC_GroupReadActualAcceleration – Read actual acceleration in the selected coordinate system
MC_GroupStop – Stopping a group movement
MC_GroupHalt – Stopping a group movement (interruptible)
MC_GroupInterrupt, MCP_GroupInterrupt – Read a group interrupt
MC_GroupContinue – Continuation of interrupted movement
MC_GroupReadStatus – Read a group status
MC_GroupReadError – Read a group error
MC_GroupReset – Reset axes errors
MC_MoveLinearAbsolute – Linear move to position (absolute coordinates)
MC_MoveLinearRelative – Linear move to position (relative to execution point)
MC_MoveCircularAbsolute – Circular move to position (absolute coordinates)
MC_MoveCircularRelative – Circular move to position (relative to execution point)
MC_MoveDirectAbsolute – Direct move to position (absolute coordinates)
MC_MoveDirectRelative – Direct move to position (relative to execution point)
MC_MovePath – General spatial trajectory generation
MC_GroupSetOverride – Set group override factors
21 CanDrv – Communication via CAN bus
CanItem – Secondary received CAN message
CanRecv – Receive CAN message
CanSend – Send CAN message
22 OpcUaDrv – Communication using OPC UA
OpcUaReadValue – Read value from OPC UA Server
OpcUaServerValue – Expose value as an OPC UA Node
OpcUaWriteValue – Write value to OPC UA Server
A Licensing options
B Licensing of individual function blocks
C Error codes of the REXYGEN system
Bibliography
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