FREE_ENCODER_REF ¶ FREE_ENCODER_REF (FunctionBlock)

FREE_ENCODER_REF (FB) ¶ FUNCTION_BLOCK FREE_ENCODER_REF EXTENDS ENCODER_REF_SM3 InOut: Scope Name Type Initial Comment Inherited from Input wAxisStructID WORD 16#FE12 AXIS_REF_SM3 nAxisState SMC_AXIS_STATE power_off State of the axis according to the PLCopen state diagram: 0: power_off 1: errorstop 2: stopping 3: standstill 4: discrete_motion 5: continuous_motion 6: synchronized_motion 7: homing Parameter number: 1000 AXIS_REF_SM3 bRegulatorOn BOOL FALSE Parameter number: 1010 AXIS_REF_SM3 bDriveStart BOOL FALSE Parameter number: 1011 AXIS_REF_SM3 bCommunication BOOL FALSE TRUE : Communication OK Parameter number: 1012 AXIS_REF_SM3 wCommunicationState WORD 16#FFFF Parameter number: 1013 AXIS_REF_SM3 uiDriveInterfaceError UINT Drive interface error number Parameter number: 1014 AXIS_REF_SM3 bRegulatorRealState BOOL FALSE Parameter number: 1015 AXIS_REF_SM3 bDriveStartRealState BOOL FALSE Parameter number: 1016 AXIS_REF_SM3 wDriveId WORD 0 Parameter number: 1021 AXIS_REF_SM3 iOwner INT 0 Parameter number: 1022 AXIS_REF_SM3 fCycleTimeSpent LREAL Parameter number: 1024 AXIS_REF_SM3 fTaskCycle LREAL 0.005 Parameter number: 1025 AXIS_REF_SM3 bError BOOL FALSE Parameter number: 1030 AXIS_REF_SM3 dwErrorID DWORD 0 Drive specific error identifier, parameter number: 1031 AXIS_REF_SM3 bErrorAckn BOOL FALSE Parameter number: 1032 AXIS_REF_SM3 bDisableErrorLogging BOOL FALSE Parameter number: 1036 AXIS_REF_SM3 fbeFBError ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR Parameter number: 1035 AXIS_REF_SM3 dwRatioTechUnitsDenom DWORD 1 Parameter number 1051 AXIS_REF_SM3 iRatioTechUnitsNum DINT 1 Parameter number 1052 AXIS_REF_SM3 nDirection MC_Direction positive Parameter number 1053 AXIS_REF_SM3 fScalefactor LREAL 1 Parameter number 1054 AXIS_REF_SM3 fFactorVel LREAL 1 Parameter number 1055 AXIS_REF_SM3 fFactorAcc LREAL 1 Parameter number: 1056 AXIS_REF_SM3 fFactorTor LREAL 1 Parameter number: 1057 AXIS_REF_SM3 fFactorJerk LREAL 1 Factor jerk Parameter number: 1058 AXIS_REF_SM3 fFactorCur LREAL 1 Parameter number: 1059 AXIS_REF_SM3 iMovementType INT SMC_AXIS_TYPE.finite Parameter number: 1060 AXIS_REF_SM3 fPositionPeriod LREAL 1000 Parameter number: 1061 AXIS_REF_SM3 eRampType SMC_RAMPTYPE trapez Parameter number: 1062 AXIS_REF_SM3 byControllerMode BYTE SMC_position Parameter number:1091 AXIS_REF_SM3 byRealControllerMode BYTE SMC_position Parameter number: 1092 AXIS_REF_SM3 fSetPosition LREAL 0 Parameter number: 1100, 1 AXIS_REF_SM3 fActPosition LREAL 0 Parameter number: 1101 AXIS_REF_SM3 fAimPosition LREAL 0 Parameter number: 1105 AXIS_REF_SM3 fSavePosition LREAL 0 Parameter number: 1107 AXIS_REF_SM3 fSetVelocity LREAL 0 Parameter number: 1110, 11 AXIS_REF_SM3 fActVelocity LREAL 0 Parameter number: 1111, 10 AXIS_REF_SM3 fMaxVelocity LREAL 0 Maximum velocity of the drive (remote parameter) in [u/s] Parameter number: 1112,9 AXIS_REF_SM3 fSWMaxVelocity LREAL 0 Maximum velocity (software limit) in [u/s] Parameter number: 1113 AXIS_REF_SM3 bConstantVelocity BOOL FALSE Parameter number: 1115 AXIS_REF_SM3 fSaveVelocity LREAL 0 Parameter number: 1117 AXIS_REF_SM3 fSetAcceleration LREAL 0 Parameter number: 1120 AXIS_REF_SM3 fActAcceleration LREAL 0 Parameter number: 1121 AXIS_REF_SM3 fMaxAcceleration LREAL 0 Maximum acceleration of the drive (remote parameter) in [u/s²] Parameter number: 1122, 13 AXIS_REF_SM3 fSWMaxAcceleration LREAL 0 Maximum acceleration (software limit) in [u/s²] Parameter number: 1123 AXIS_REF_SM3 bAccelerating BOOL FALSE Parameter number: 1125 AXIS_REF_SM3 fSaveAcceleration LREAL 0 Parameter number: 1127 AXIS_REF_SM3 fMaxDeceleration LREAL 0 Maximum deceleration of the drive (remote parameter) in [u/s²] Parameter number: 1132, 15 AXIS_REF_SM3 fSWMaxDeceleration LREAL 0 Maximum deceleration (software limit) in [u/s²] Parameter number: 1133 AXIS_REF_SM3 bDecelerating BOOL FALSE Parameter number: 1135 AXIS_REF_SM3 fSaveDeceleration LREAL 0 Parameter number: 1137 AXIS_REF_SM3 fSetJerk LREAL 0 Parameter number: 1140 AXIS_REF_SM3 fActJerk LREAL 0 Parameter number: 1141 AXIS_REF_SM3 fMaxJerk LREAL 0 Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16 AXIS_REF_SM3 fSWMaxJerk LREAL 0 Maximum jerk (software limit) in [u/s³] Parameter number: 1143 AXIS_REF_SM3 fRampJerk LREAL 100000 Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144 AXIS_REF_SM3 fSaveJerk LREAL 0 Parameter number: 1147 AXIS_REF_SM3 fSetCurrent LREAL 0 Parameter number: 1150 AXIS_REF_SM3 fActCurrent LREAL 0 Parameter number: 1151 AXIS_REF_SM3 fMaxCurrent LREAL 100 Maximum current in [A] Parameter number: 1152 AXIS_REF_SM3 fSWMaxCurrent LREAL 0 Maximum user defined current in [A] Parameter number: 1153 AXIS_REF_SM3 fSetTorque LREAL 0 The set torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1160 AXIS_REF_SM3 fActTorque LREAL 0 Actual torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1161 AXIS_REF_SM3 fMaxTorque LREAL 0 The maximum torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1162 AXIS_REF_SM3 fSWMaxTorque LREAL FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf) The maximum torque (software limit) in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1163 AXIS_REF_SM3 fSWLimitPositive LREAL 0 Position limit in positive direction in [u] Parameter number: 1200, 2 AXIS_REF_SM3 fSWLimitNegative LREAL 0 Position limit in negative direction in [u] Parameter number: 1201, 3 AXIS_REF_SM3 usiSWEndSwitchState USINT 0 Parameter number: 1204 AXIS_REF_SM3 bSWLimitEnable BOOL FALSE Parameter number: 1205 AXIS_REF_SM3 bHWLimitEnable BOOL TRUE Parameter number: 1206 AXIS_REF_SM3 bStartReference BOOL FALSE Parameter number: 1210 AXIS_REF_SM3 fReference LREAL 0 Parameter number: 1211 AXIS_REF_SM3 bStartReferenceRealState BOOL FALSE Parameter number: 1212 AXIS_REF_SM3 fOffsetPosition LREAL 0 Parameter number: 1215 AXIS_REF_SM3 dwPosOffsetForResiduals DWORD 0 Parameter number: 1230 AXIS_REF_SM3 dwOneTurn DWORD 0 Parameter number: 1231 AXIS_REF_SM3 dwLastPosition DWORD 0 Parameter number: 1232 AXIS_REF_SM3 bySwitchingState SMC_SWITCHING_STATE SMC_ST_INITIALIZING Parameter number: 1233 AXIS_REF_SM3 iRestNumerator DINT 0 Parameter number: 1234 AXIS_REF_SM3 iTurn INT 0 Parameter number: 1235 AXIS_REF_SM3 dwPosOffsetForResidualsHoming DWORD 0 Parameter number: 1237 AXIS_REF_SM3 dwActPosition DWORD 0 Parameter number: 1238 AXIS_REF_SM3 dwBusBandWidth DWORD 0 The bus band width, 0 if the bus has 32 bit, 2^k otherwise where 0 < k < 32 is the bus bit depth. Parameter number: 1240 AXIS_REF_SM3 dwBusModuloMask DWORD 16#FFFFFFFF The value (2^k - 1) where k is the bus bit depth. Parameter number ? AXIS_REF_SM3 eBrakeControl SMC3_BrakeSetState SMC_BRAKE_AUTO Parameter number: 1017 AXIS_REF_SM3 bBrakeClosedRealState BOOL FALSE Parameter number: 1018 AXIS_REF_SM3 bOldError BOOL Parameter number: 1033 AXIS_REF_SM3 bVirtual BOOL TRUE : Virtual drive. Parameter number: 1040 AXIS_REF_SM3 bLogical BOOL Parameter number: 1041 AXIS_REF_SM3 fSetActTimeLagCycles LREAL 3 Parameter number: 1070 AXIS_REF_SM3 diSetPosition DINT 0 Parameter number: 1108 AXIS_REF_SM3 diActPosition DINT 0 Parameter number: 1109 AXIS_REF_SM3 diSetVelocity DINT 0 Parameter number: 1118 AXIS_REF_SM3 diActVelocity DINT 0 Parameter number: 1119 AXIS_REF_SM3 diSetAcceleration DINT 0 Parameter number: 1128 AXIS_REF_SM3 diActAcceleration DINT 0 Parameter number: 1129 AXIS_REF_SM3 diSetCurrent DINT 0 Parameter number: 1158 AXIS_REF_SM3 diActCurrent DINT 0 Parameter number: 1159 AXIS_REF_SM3 diSetTorque DINT 0 Parameter number: 1168 AXIS_REF_SM3 diActTorque DINT 0 Parameter number: 1169 AXIS_REF_SM3 fSWLimitDeceleration LREAL 0 Deceleration in [u/s²] with which the system will brake in case of a software limit. Parameter number: 1203 AXIS_REF_SM3 xWaitForHaltWhenStopInterruptsHome BOOL TRUE : When MC_Home is interrupted by MC_Stop , then``MC_Stop.bDone`` is delayed until the drive reports that it has successfully halted. bStartReferenceRealState = FALSE Parameter number: 1213 AXIS_REF_SM3 fSWErrorMaxDistance LREAL 0 Distance in which the drive has to reach standstill after an error has occurred. Parameter number: 1250 AXIS_REF_SM3 eCheckPositionLag SMC3_CheckPositionLagMode 0 Parameter number: 1207 AXIS_REF_SM3 fMaxPositionLag LREAL Parameter number: 1208 AXIS_REF_SM3 bPositionLagActive BOOL Parameter number: 1209 AXIS_REF_SM3 bModuloDoneByDrive BOOL Parameter number: 1242 AXIS_REF_SM3 diFollowingError DINT Parameter number: 1243 AXIS_REF_SM3 fFollowingError LREAL Parameter number: 1244 AXIS_REF_SM3 aCaptDesc ARRAY [0..7] OF SMC3_CaptureDescription Parameter number: 1400 AXIS_REF_SM3 bRestarting BOOL FALSE AXIS_REF_SM3 xPersistentDataLoaded BOOL FALSE AXIS_REF_SM3 strDriveInterfaceError STRING(255) AXIS_REF_SM3 adatAcyclic ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel AXIS_REF_SM3 nAbortCounter UDINT Internal: counts the number of aborts. This counter simply wraps to 0 when exceeding 2^32-1, so use accordingly. Increased in method SetOwner(). AXIS_REF_SM3 vMinRequiredVersion VERSION The minimum version of SM3_Basic that the driver requires. AXIS_REF_SM3 iRampType1 SMC_TG_IRAMPTYPE Instance of ramp type interface, used for Robotics, acceleration ramp Note: only set for ramp type trapez and quadratic, or custom ramps. AXIS_REF_SM3 iRampType2 SMC_TG_IRAMPTYPE Instance of ramp type interface, used for Robotics, deceleration ramp Note: only set for ramp type trapez and quadratic, or custom ramps. AXIS_REF_SM3 bAvoidReversalOnHaltStop BOOL Parameter number: 1260 AXIS_REF_SM3 bConsiderLimitsOfAbortedMotionOnHaltStop BOOL Parameter number: 1270 AXIS_REF_SM3 bUpdateIOsInStop BOOL Update the IOs if the application is stopped. AXIS_REF_SM3 overrideFactors SMRB.DynFactors STRUCT(fVel := 1, fAcc := 1, fJerk := 1, fTorque := 1) AXIS_REF_SM3 m_superimposed SMC_SuperimposedData Internal: information of superimposed movements AXIS_REF_SM3 fLastActPosition LREAL The act position of the previous cycle AXIS_REF_SM3 fLastActVelocity LREAL The act velocity of the previous cycle AXIS_REF_SM3 Output strDriver STRING(16) AXIS_REF_SM3 dwDriverVersion DWORD AXIS_REF_SM3 Input diEncoderPosition DINT bDelayActivation BOOL During startup, communication state 90 will not be reached as long as this value is TRUE Properties: ChildNodeCount , inherited from AXIS_REF_SM3 Connector , inherited from AXIS_REF_SM3 Enable , inherited from AXIS_REF_SM3 FirstChildNode , inherited from AXIS_REF_SM3 Index , inherited from AXIS_REF_SM3 IsDeviceDiagInitialized , inherited from AXIS_REF_SM3 IsRootNode , inherited from AXIS_REF_SM3 NextSiblingNode , inherited from AXIS_REF_SM3 ParentNode , inherited from AXIS_REF_SM3 SiblingNodeCount , inherited from AXIS_REF_SM3 Methods: CheckCurrentSupportedCommunicationState , inherited from AXIS_REF_SM3 CheckSupportedCommunicationState , inherited from AXIS_REF_SM3 GetActValuesForCycle , inherited from AXIS_REF_SM3 GetDeviceErrorAsync , inherited from AXIS_REF_SM3 GetDeviceInfo , inherited from AXIS_REF_SM3 GetDeviceState , inherited from AXIS_REF_SM3 GetSetValuesForCycle , inherited from AXIS_REF_SM3 GetSpecificDeviceErrorAsync , inherited from AXIS_REF_SM3 GetSpecificDeviceState , inherited from AXIS_REF_SM3 SetCommunicationState , inherited from AXIS_REF_SM3 SkipNextInputUpdate , inherited from AXIS_REF_SM3 SkipNextOutputUpdate , inherited from AXIS_REF_SM3 WriteSetValues , inherited from AXIS_REF_SM3

SMC_CycleCounter ¶ SMC_CycleCounter (Alias) SMC_CycleCounter_Dec (Function) SMC_CycleCounter_Dist (Function) SMC_CycleCounter_Inc (Function) SMC_CycleCounter_Less (Function)

AXIS_REF_LOGICAL ¶ AXIS_REF_LOGICAL_SM3 (FunctionBlock)

AXIS_REF_LOGICAL_SM3 (FB) ¶ FUNCTION_BLOCK AXIS_REF_LOGICAL_SM3 EXTENDS AXIS_REF_SM3 InOut: Scope Name Type Initial Comment Inherited from Input wAxisStructID WORD 16#FE12 AXIS_REF_SM3 nAxisState SMC_AXIS_STATE power_off State of the axis according to the PLCopen state diagram: 0: power_off 1: errorstop 2: stopping 3: standstill 4: discrete_motion 5: continuous_motion 6: synchronized_motion 7: homing Parameter number: 1000 AXIS_REF_SM3 bRegulatorOn BOOL FALSE Parameter number: 1010 AXIS_REF_SM3 bDriveStart BOOL FALSE Parameter number: 1011 AXIS_REF_SM3 bCommunication BOOL FALSE TRUE : Communication OK Parameter number: 1012 AXIS_REF_SM3 wCommunicationState WORD 16#FFFF Parameter number: 1013 AXIS_REF_SM3 uiDriveInterfaceError UINT Drive interface error number Parameter number: 1014 AXIS_REF_SM3 bRegulatorRealState BOOL FALSE Parameter number: 1015 AXIS_REF_SM3 bDriveStartRealState BOOL FALSE Parameter number: 1016 AXIS_REF_SM3 wDriveId WORD 0 Parameter number: 1021 AXIS_REF_SM3 iOwner INT 0 Parameter number: 1022 AXIS_REF_SM3 fCycleTimeSpent LREAL Parameter number: 1024 AXIS_REF_SM3 fTaskCycle LREAL 0.005 Parameter number: 1025 AXIS_REF_SM3 bError BOOL FALSE Parameter number: 1030 AXIS_REF_SM3 dwErrorID DWORD 0 Drive specific error identifier, parameter number: 1031 AXIS_REF_SM3 bErrorAckn BOOL FALSE Parameter number: 1032 AXIS_REF_SM3 bDisableErrorLogging BOOL FALSE Parameter number: 1036 AXIS_REF_SM3 fbeFBError ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR Parameter number: 1035 AXIS_REF_SM3 dwRatioTechUnitsDenom DWORD 1 Parameter number 1051 AXIS_REF_SM3 iRatioTechUnitsNum DINT 1 Parameter number 1052 AXIS_REF_SM3 nDirection MC_Direction positive Parameter number 1053 AXIS_REF_SM3 fScalefactor LREAL 1 Parameter number 1054 AXIS_REF_SM3 fFactorVel LREAL 1 Parameter number 1055 AXIS_REF_SM3 fFactorAcc LREAL 1 Parameter number: 1056 AXIS_REF_SM3 fFactorTor LREAL 1 Parameter number: 1057 AXIS_REF_SM3 fFactorJerk LREAL 1 Factor jerk Parameter number: 1058 AXIS_REF_SM3 fFactorCur LREAL 1 Parameter number: 1059 AXIS_REF_SM3 iMovementType INT SMC_AXIS_TYPE.finite Parameter number: 1060 AXIS_REF_SM3 fPositionPeriod LREAL 1000 Parameter number: 1061 AXIS_REF_SM3 eRampType SMC_RAMPTYPE trapez Parameter number: 1062 AXIS_REF_SM3 byControllerMode BYTE SMC_position Parameter number:1091 AXIS_REF_SM3 byRealControllerMode BYTE SMC_position Parameter number: 1092 AXIS_REF_SM3 fSetPosition LREAL 0 Parameter number: 1100, 1 AXIS_REF_SM3 fActPosition LREAL 0 Parameter number: 1101 AXIS_REF_SM3 fAimPosition LREAL 0 Parameter number: 1105 AXIS_REF_SM3 fSavePosition LREAL 0 Parameter number: 1107 AXIS_REF_SM3 fSetVelocity LREAL 0 Parameter number: 1110, 11 AXIS_REF_SM3 fActVelocity LREAL 0 Parameter number: 1111, 10 AXIS_REF_SM3 fMaxVelocity LREAL 0 Maximum velocity of the drive (remote parameter) in [u/s] Parameter number: 1112,9 AXIS_REF_SM3 fSWMaxVelocity LREAL 0 Maximum velocity (software limit) in [u/s] Parameter number: 1113 AXIS_REF_SM3 bConstantVelocity BOOL FALSE Parameter number: 1115 AXIS_REF_SM3 fSaveVelocity LREAL 0 Parameter number: 1117 AXIS_REF_SM3 fSetAcceleration LREAL 0 Parameter number: 1120 AXIS_REF_SM3 fActAcceleration LREAL 0 Parameter number: 1121 AXIS_REF_SM3 fMaxAcceleration LREAL 0 Maximum acceleration of the drive (remote parameter) in [u/s²] Parameter number: 1122, 13 AXIS_REF_SM3 fSWMaxAcceleration LREAL 0 Maximum acceleration (software limit) in [u/s²] Parameter number: 1123 AXIS_REF_SM3 bAccelerating BOOL FALSE Parameter number: 1125 AXIS_REF_SM3 fSaveAcceleration LREAL 0 Parameter number: 1127 AXIS_REF_SM3 fMaxDeceleration LREAL 0 Maximum deceleration of the drive (remote parameter) in [u/s²] Parameter number: 1132, 15 AXIS_REF_SM3 fSWMaxDeceleration LREAL 0 Maximum deceleration (software limit) in [u/s²] Parameter number: 1133 AXIS_REF_SM3 bDecelerating BOOL FALSE Parameter number: 1135 AXIS_REF_SM3 fSaveDeceleration LREAL 0 Parameter number: 1137 AXIS_REF_SM3 fSetJerk LREAL 0 Parameter number: 1140 AXIS_REF_SM3 fActJerk LREAL 0 Parameter number: 1141 AXIS_REF_SM3 fMaxJerk LREAL 0 Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16 AXIS_REF_SM3 fSWMaxJerk LREAL 0 Maximum jerk (software limit) in [u/s³] Parameter number: 1143 AXIS_REF_SM3 fRampJerk LREAL 100000 Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144 AXIS_REF_SM3 fSaveJerk LREAL 0 Parameter number: 1147 AXIS_REF_SM3 fSetCurrent LREAL 0 Parameter number: 1150 AXIS_REF_SM3 fActCurrent LREAL 0 Parameter number: 1151 AXIS_REF_SM3 fMaxCurrent LREAL 100 Maximum current in [A] Parameter number: 1152 AXIS_REF_SM3 fSWMaxCurrent LREAL 0 Maximum user defined current in [A] Parameter number: 1153 AXIS_REF_SM3 fSetTorque LREAL 0 The set torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1160 AXIS_REF_SM3 fActTorque LREAL 0 Actual torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1161 AXIS_REF_SM3 fMaxTorque LREAL 0 The maximum torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1162 AXIS_REF_SM3 fSWMaxTorque LREAL FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf) The maximum torque (software limit) in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1163 AXIS_REF_SM3 fSWLimitPositive LREAL 0 Position limit in positive direction in [u] Parameter number: 1200, 2 AXIS_REF_SM3 fSWLimitNegative LREAL 0 Position limit in negative direction in [u] Parameter number: 1201, 3 AXIS_REF_SM3 usiSWEndSwitchState USINT 0 Parameter number: 1204 AXIS_REF_SM3 bSWLimitEnable BOOL FALSE Parameter number: 1205 AXIS_REF_SM3 bHWLimitEnable BOOL TRUE Parameter number: 1206 AXIS_REF_SM3 bStartReference BOOL FALSE Parameter number: 1210 AXIS_REF_SM3 fReference LREAL 0 Parameter number: 1211 AXIS_REF_SM3 bStartReferenceRealState BOOL FALSE Parameter number: 1212 AXIS_REF_SM3 fOffsetPosition LREAL 0 Parameter number: 1215 AXIS_REF_SM3 dwPosOffsetForResiduals DWORD 0 Parameter number: 1230 AXIS_REF_SM3 dwOneTurn DWORD 0 Parameter number: 1231 AXIS_REF_SM3 dwLastPosition DWORD 0 Parameter number: 1232 AXIS_REF_SM3 bySwitchingState SMC_SWITCHING_STATE SMC_ST_INITIALIZING Parameter number: 1233 AXIS_REF_SM3 iRestNumerator DINT 0 Parameter number: 1234 AXIS_REF_SM3 iTurn INT 0 Parameter number: 1235 AXIS_REF_SM3 dwPosOffsetForResidualsHoming DWORD 0 Parameter number: 1237 AXIS_REF_SM3 dwActPosition DWORD 0 Parameter number: 1238 AXIS_REF_SM3 dwBusBandWidth DWORD 0 The bus band width, 0 if the bus has 32 bit, 2^k otherwise where 0 < k < 32 is the bus bit depth. Parameter number: 1240 AXIS_REF_SM3 dwBusModuloMask DWORD 16#FFFFFFFF The value (2^k - 1) where k is the bus bit depth. Parameter number ? AXIS_REF_SM3 eBrakeControl SMC3_BrakeSetState SMC_BRAKE_AUTO Parameter number: 1017 AXIS_REF_SM3 bBrakeClosedRealState BOOL FALSE Parameter number: 1018 AXIS_REF_SM3 bOldError BOOL Parameter number: 1033 AXIS_REF_SM3 bVirtual BOOL TRUE : Virtual drive. Parameter number: 1040 AXIS_REF_SM3 bLogical BOOL Parameter number: 1041 AXIS_REF_SM3 fSetActTimeLagCycles LREAL 3 Parameter number: 1070 AXIS_REF_SM3 diSetPosition DINT 0 Parameter number: 1108 AXIS_REF_SM3 diActPosition DINT 0 Parameter number: 1109 AXIS_REF_SM3 diSetVelocity DINT 0 Parameter number: 1118 AXIS_REF_SM3 diActVelocity DINT 0 Parameter number: 1119 AXIS_REF_SM3 diSetAcceleration DINT 0 Parameter number: 1128 AXIS_REF_SM3 diActAcceleration DINT 0 Parameter number: 1129 AXIS_REF_SM3 diSetCurrent DINT 0 Parameter number: 1158 AXIS_REF_SM3 diActCurrent DINT 0 Parameter number: 1159 AXIS_REF_SM3 diSetTorque DINT 0 Parameter number: 1168 AXIS_REF_SM3 diActTorque DINT 0 Parameter number: 1169 AXIS_REF_SM3 fSWLimitDeceleration LREAL 0 Deceleration in [u/s²] with which the system will brake in case of a software limit. Parameter number: 1203 AXIS_REF_SM3 xWaitForHaltWhenStopInterruptsHome BOOL TRUE : When MC_Home is interrupted by MC_Stop , then``MC_Stop.bDone`` is delayed until the drive reports that it has successfully halted. bStartReferenceRealState = FALSE Parameter number: 1213 AXIS_REF_SM3 fSWErrorMaxDistance LREAL 0 Distance in which the drive has to reach standstill after an error has occurred. Parameter number: 1250 AXIS_REF_SM3 eCheckPositionLag SMC3_CheckPositionLagMode 0 Parameter number: 1207 AXIS_REF_SM3 fMaxPositionLag LREAL Parameter number: 1208 AXIS_REF_SM3 bPositionLagActive BOOL Parameter number: 1209 AXIS_REF_SM3 bModuloDoneByDrive BOOL Parameter number: 1242 AXIS_REF_SM3 diFollowingError DINT Parameter number: 1243 AXIS_REF_SM3 fFollowingError LREAL Parameter number: 1244 AXIS_REF_SM3 aCaptDesc ARRAY [0..7] OF SMC3_CaptureDescription Parameter number: 1400 AXIS_REF_SM3 bRestarting BOOL FALSE AXIS_REF_SM3 xPersistentDataLoaded BOOL FALSE AXIS_REF_SM3 strDriveInterfaceError STRING(255) AXIS_REF_SM3 adatAcyclic ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel AXIS_REF_SM3 nAbortCounter UDINT Internal: counts the number of aborts. This counter simply wraps to 0 when exceeding 2^32-1, so use accordingly. Increased in method SetOwner(). AXIS_REF_SM3 vMinRequiredVersion VERSION The minimum version of SM3_Basic that the driver requires. AXIS_REF_SM3 iRampType1 SMC_TG_IRAMPTYPE Instance of ramp type interface, used for Robotics, acceleration ramp Note: only set for ramp type trapez and quadratic, or custom ramps. AXIS_REF_SM3 iRampType2 SMC_TG_IRAMPTYPE Instance of ramp type interface, used for Robotics, deceleration ramp Note: only set for ramp type trapez and quadratic, or custom ramps. AXIS_REF_SM3 bAvoidReversalOnHaltStop BOOL Parameter number: 1260 AXIS_REF_SM3 bConsiderLimitsOfAbortedMotionOnHaltStop BOOL Parameter number: 1270 AXIS_REF_SM3 bUpdateIOsInStop BOOL Update the IOs if the application is stopped. AXIS_REF_SM3 overrideFactors SMRB.DynFactors STRUCT(fVel := 1, fAcc := 1, fJerk := 1, fTorque := 1) AXIS_REF_SM3 m_superimposed SMC_SuperimposedData Internal: information of superimposed movements AXIS_REF_SM3 fLastActPosition LREAL The act position of the previous cycle AXIS_REF_SM3 fLastActVelocity LREAL The act velocity of the previous cycle AXIS_REF_SM3 Output strDriver STRING(16) AXIS_REF_SM3 dwDriverVersion DWORD AXIS_REF_SM3 Input eValueReference SMC_ValueSelect 2010 usiFilterDepthPosition LREAL 2020 usiFilterDepthVelocity LREAL 2021 fTimeShiftCycles LREAL 2022 fLogicalOffsetPosition LREAL 2000 Output pRealAxis POINTER TO AXIS_REF_SM3 Properties: ChildNodeCount , inherited from AXIS_REF_SM3 Connector , inherited from AXIS_REF_SM3 Enable , inherited from AXIS_REF_SM3 FirstChildNode , inherited from AXIS_REF_SM3 Index , inherited from AXIS_REF_SM3 IsDeviceDiagInitialized , inherited from AXIS_REF_SM3 IsRootNode , inherited from AXIS_REF_SM3 NextSiblingNode , inherited from AXIS_REF_SM3 ParentNode , inherited from AXIS_REF_SM3 SiblingNodeCount , inherited from AXIS_REF_SM3 Methods: CheckCurrentSupportedCommunicationState , inherited from AXIS_REF_SM3 CheckSupportedCommunicationState , inherited from AXIS_REF_SM3 GetActValuesForCycle , inherited from AXIS_REF_SM3 GetDeviceErrorAsync , inherited from AXIS_REF_SM3 GetDeviceInfo , inherited from AXIS_REF_SM3 GetDeviceState , inherited from AXIS_REF_SM3 GetSetValuesForCycle , inherited from AXIS_REF_SM3 GetSpecificDeviceErrorAsync , inherited from AXIS_REF_SM3 GetSpecificDeviceState , inherited from AXIS_REF_SM3 SetCommunicationState , inherited from AXIS_REF_SM3 SkipNextInputUpdate , inherited from AXIS_REF_SM3 SkipNextOutputUpdate , inherited from AXIS_REF_SM3 WriteSetValues , inherited from AXIS_REF_SM3

AXIS_REF_MAPPING ¶ AXIS_REF_MAPPING_SM3 (FunctionBlock)

AXIS_REF_MAPPING_SM3 (FB) ¶ FUNCTION_BLOCK AXIS_REF_MAPPING_SM3 EXTENDS AXIS_REF_VIRTUAL_SM3 InOut: Scope Name Type Initial Comment Inherited from Input wAxisStructID WORD 16#FE12 AXIS_REF_SM3 nAxisState SMC_AXIS_STATE power_off State of the axis according to the PLCopen state diagram: 0: power_off 1: errorstop 2: stopping 3: standstill 4: discrete_motion 5: continuous_motion 6: synchronized_motion 7: homing Parameter number: 1000 AXIS_REF_SM3 bRegulatorOn BOOL FALSE Parameter number: 1010 AXIS_REF_SM3 bDriveStart BOOL FALSE Parameter number: 1011 AXIS_REF_SM3 bCommunication BOOL FALSE TRUE : Communication OK Parameter number: 1012 AXIS_REF_SM3 wCommunicationState WORD 16#FFFF Parameter number: 1013 AXIS_REF_SM3 uiDriveInterfaceError UINT Drive interface error number Parameter number: 1014 AXIS_REF_SM3 bRegulatorRealState BOOL FALSE Parameter number: 1015 AXIS_REF_SM3 bDriveStartRealState BOOL FALSE Parameter number: 1016 AXIS_REF_SM3 wDriveId WORD 0 Parameter number: 1021 AXIS_REF_SM3 iOwner INT 0 Parameter number: 1022 AXIS_REF_SM3 fCycleTimeSpent LREAL Parameter number: 1024 AXIS_REF_SM3 fTaskCycle LREAL 0.005 Parameter number: 1025 AXIS_REF_SM3 bError BOOL FALSE Parameter number: 1030 AXIS_REF_SM3 dwErrorID DWORD 0 Drive specific error identifier, parameter number: 1031 AXIS_REF_SM3 bErrorAckn BOOL FALSE Parameter number: 1032 AXIS_REF_SM3 bDisableErrorLogging BOOL FALSE Parameter number: 1036 AXIS_REF_SM3 fbeFBError ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR Parameter number: 1035 AXIS_REF_SM3 dwRatioTechUnitsDenom DWORD 1 Parameter number 1051 AXIS_REF_SM3 iRatioTechUnitsNum DINT 1 Parameter number 1052 AXIS_REF_SM3 nDirection MC_Direction positive Parameter number 1053 AXIS_REF_SM3 fScalefactor LREAL 1 Parameter number 1054 AXIS_REF_SM3 fFactorVel LREAL 1 Parameter number 1055 AXIS_REF_SM3 fFactorAcc LREAL 1 Parameter number: 1056 AXIS_REF_SM3 fFactorTor LREAL 1 Parameter number: 1057 AXIS_REF_SM3 fFactorJerk LREAL 1 Factor jerk Parameter number: 1058 AXIS_REF_SM3 fFactorCur LREAL 1 Parameter number: 1059 AXIS_REF_SM3 iMovementType INT SMC_AXIS_TYPE.finite Parameter number: 1060 AXIS_REF_SM3 fPositionPeriod LREAL 1000 Parameter number: 1061 AXIS_REF_SM3 eRampType SMC_RAMPTYPE trapez Parameter number: 1062 AXIS_REF_SM3 byControllerMode BYTE SMC_position Parameter number:1091 AXIS_REF_SM3 byRealControllerMode BYTE SMC_position Parameter number: 1092 AXIS_REF_SM3 fSetPosition LREAL 0 Parameter number: 1100, 1 AXIS_REF_SM3 fActPosition LREAL 0 Parameter number: 1101 AXIS_REF_SM3 fAimPosition LREAL 0 Parameter number: 1105 AXIS_REF_SM3 fSavePosition LREAL 0 Parameter number: 1107 AXIS_REF_SM3 fSetVelocity LREAL 0 Parameter number: 1110, 11 AXIS_REF_SM3 fActVelocity LREAL 0 Parameter number: 1111, 10 AXIS_REF_SM3 fMaxVelocity LREAL 0 Maximum velocity of the drive (remote parameter) in [u/s] Parameter number: 1112,9 AXIS_REF_SM3 fSWMaxVelocity LREAL 0 Maximum velocity (software limit) in [u/s] Parameter number: 1113 AXIS_REF_SM3 bConstantVelocity BOOL FALSE Parameter number: 1115 AXIS_REF_SM3 fSaveVelocity LREAL 0 Parameter number: 1117 AXIS_REF_SM3 fSetAcceleration LREAL 0 Parameter number: 1120 AXIS_REF_SM3 fActAcceleration LREAL 0 Parameter number: 1121 AXIS_REF_SM3 fMaxAcceleration LREAL 0 Maximum acceleration of the drive (remote parameter) in [u/s²] Parameter number: 1122, 13 AXIS_REF_SM3 fSWMaxAcceleration LREAL 0 Maximum acceleration (software limit) in [u/s²] Parameter number: 1123 AXIS_REF_SM3 bAccelerating BOOL FALSE Parameter number: 1125 AXIS_REF_SM3 fSaveAcceleration LREAL 0 Parameter number: 1127 AXIS_REF_SM3 fMaxDeceleration LREAL 0 Maximum deceleration of the drive (remote parameter) in [u/s²] Parameter number: 1132, 15 AXIS_REF_SM3 fSWMaxDeceleration LREAL 0 Maximum deceleration (software limit) in [u/s²] Parameter number: 1133 AXIS_REF_SM3 bDecelerating BOOL FALSE Parameter number: 1135 AXIS_REF_SM3 fSaveDeceleration LREAL 0 Parameter number: 1137 AXIS_REF_SM3 fSetJerk LREAL 0 Parameter number: 1140 AXIS_REF_SM3 fActJerk LREAL 0 Parameter number: 1141 AXIS_REF_SM3 fMaxJerk LREAL 0 Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16 AXIS_REF_SM3 fSWMaxJerk LREAL 0 Maximum jerk (software limit) in [u/s³] Parameter number: 1143 AXIS_REF_SM3 fRampJerk LREAL 100000 Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144 AXIS_REF_SM3 fSaveJerk LREAL 0 Parameter number: 1147 AXIS_REF_SM3 fSetCurrent LREAL 0 Parameter number: 1150 AXIS_REF_SM3 fActCurrent LREAL 0 Parameter number: 1151 AXIS_REF_SM3 fMaxCurrent LREAL 100 Maximum current in [A] Parameter number: 1152 AXIS_REF_SM3 fSWMaxCurrent LREAL 0 Maximum user defined current in [A] Parameter number: 1153 AXIS_REF_SM3 fSetTorque LREAL 0 The set torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1160 AXIS_REF_SM3 fActTorque LREAL 0 Actual torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1161 AXIS_REF_SM3 fMaxTorque LREAL 0 The maximum torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1162 AXIS_REF_SM3 fSWMaxTorque LREAL FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf) The maximum torque (software limit) in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1163 AXIS_REF_SM3 fSWLimitPositive LREAL 0 Position limit in positive direction in [u] Parameter number: 1200, 2 AXIS_REF_SM3 fSWLimitNegative LREAL 0 Position limit in negative direction in [u] Parameter number: 1201, 3 AXIS_REF_SM3 usiSWEndSwitchState USINT 0 Parameter number: 1204 AXIS_REF_SM3 bSWLimitEnable BOOL FALSE Parameter number: 1205 AXIS_REF_SM3 bHWLimitEnable BOOL TRUE Parameter number: 1206 AXIS_REF_SM3 bStartReference BOOL FALSE Parameter number: 1210 AXIS_REF_SM3 fReference LREAL 0 Parameter number: 1211 AXIS_REF_SM3 bStartReferenceRealState BOOL FALSE Parameter number: 1212 AXIS_REF_SM3 fOffsetPosition LREAL 0 Parameter number: 1215 AXIS_REF_SM3 dwPosOffsetForResiduals DWORD 0 Parameter number: 1230 AXIS_REF_SM3 dwOneTurn DWORD 0 Parameter number: 1231 AXIS_REF_SM3 dwLastPosition DWORD 0 Parameter number: 1232 AXIS_REF_SM3 bySwitchingState SMC_SWITCHING_STATE SMC_ST_INITIALIZING Parameter number: 1233 AXIS_REF_SM3 iRestNumerator DINT 0 Parameter number: 1234 AXIS_REF_SM3 iTurn INT 0 Parameter number: 1235 AXIS_REF_SM3 dwPosOffsetForResidualsHoming DWORD 0 Parameter number: 1237 AXIS_REF_SM3 dwActPosition DWORD 0 Parameter number: 1238 AXIS_REF_SM3 dwBusBandWidth DWORD 0 The bus band width, 0 if the bus has 32 bit, 2^k otherwise where 0 < k < 32 is the bus bit depth. Parameter number: 1240 AXIS_REF_SM3 dwBusModuloMask DWORD 16#FFFFFFFF The value (2^k - 1) where k is the bus bit depth. Parameter number ? AXIS_REF_SM3 eBrakeControl SMC3_BrakeSetState SMC_BRAKE_AUTO Parameter number: 1017 AXIS_REF_SM3 bBrakeClosedRealState BOOL FALSE Parameter number: 1018 AXIS_REF_SM3 bOldError BOOL Parameter number: 1033 AXIS_REF_SM3 bVirtual BOOL TRUE : Virtual drive. Parameter number: 1040 AXIS_REF_SM3 bLogical BOOL Parameter number: 1041 AXIS_REF_SM3 fSetActTimeLagCycles LREAL 3 Parameter number: 1070 AXIS_REF_SM3 diSetPosition DINT 0 Parameter number: 1108 AXIS_REF_SM3 diActPosition DINT 0 Parameter number: 1109 AXIS_REF_SM3 diSetVelocity DINT 0 Parameter number: 1118 AXIS_REF_SM3 diActVelocity DINT 0 Parameter number: 1119 AXIS_REF_SM3 diSetAcceleration DINT 0 Parameter number: 1128 AXIS_REF_SM3 diActAcceleration DINT 0 Parameter number: 1129 AXIS_REF_SM3 diSetCurrent DINT 0 Parameter number: 1158 AXIS_REF_SM3 diActCurrent DINT 0 Parameter number: 1159 AXIS_REF_SM3 diSetTorque DINT 0 Parameter number: 1168 AXIS_REF_SM3 diActTorque DINT 0 Parameter number: 1169 AXIS_REF_SM3 fSWLimitDeceleration LREAL 0 Deceleration in [u/s²] with which the system will brake in case of a software limit. Parameter number: 1203 AXIS_REF_SM3 xWaitForHaltWhenStopInterruptsHome BOOL TRUE : When MC_Home is interrupted by MC_Stop , then``MC_Stop.bDone`` is delayed until the drive reports that it has successfully halted. bStartReferenceRealState = FALSE Parameter number: 1213 AXIS_REF_SM3 fSWErrorMaxDistance LREAL 0 Distance in which the drive has to reach standstill after an error has occurred. Parameter number: 1250 AXIS_REF_SM3 eCheckPositionLag SMC3_CheckPositionLagMode 0 Parameter number: 1207 AXIS_REF_SM3 fMaxPositionLag LREAL Parameter number: 1208 AXIS_REF_SM3 bPositionLagActive BOOL Parameter number: 1209 AXIS_REF_SM3 bModuloDoneByDrive BOOL Parameter number: 1242 AXIS_REF_SM3 diFollowingError DINT Parameter number: 1243 AXIS_REF_SM3 fFollowingError LREAL Parameter number: 1244 AXIS_REF_SM3 aCaptDesc ARRAY [0..7] OF SMC3_CaptureDescription Parameter number: 1400 AXIS_REF_SM3 bRestarting BOOL FALSE AXIS_REF_SM3 xPersistentDataLoaded BOOL FALSE AXIS_REF_SM3 strDriveInterfaceError STRING(255) AXIS_REF_SM3 adatAcyclic ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel AXIS_REF_SM3 nAbortCounter UDINT Internal: counts the number of aborts. This counter simply wraps to 0 when exceeding 2^32-1, so use accordingly. Increased in method SetOwner(). AXIS_REF_SM3 vMinRequiredVersion VERSION The minimum version of SM3_Basic that the driver requires. AXIS_REF_SM3 iRampType1 SMC_TG_IRAMPTYPE Instance of ramp type interface, used for Robotics, acceleration ramp Note: only set for ramp type trapez and quadratic, or custom ramps. AXIS_REF_SM3 iRampType2 SMC_TG_IRAMPTYPE Instance of ramp type interface, used for Robotics, deceleration ramp Note: only set for ramp type trapez and quadratic, or custom ramps. AXIS_REF_SM3 bAvoidReversalOnHaltStop BOOL Parameter number: 1260 AXIS_REF_SM3 bConsiderLimitsOfAbortedMotionOnHaltStop BOOL Parameter number: 1270 AXIS_REF_SM3 bUpdateIOsInStop BOOL Update the IOs if the application is stopped. AXIS_REF_SM3 overrideFactors SMRB.DynFactors STRUCT(fVel := 1, fAcc := 1, fJerk := 1, fTorque := 1) AXIS_REF_SM3 m_superimposed SMC_SuperimposedData Internal: information of superimposed movements AXIS_REF_SM3 fLastActPosition LREAL The act position of the previous cycle AXIS_REF_SM3 fLastActVelocity LREAL The act velocity of the previous cycle AXIS_REF_SM3 Output strDriver STRING(16) AXIS_REF_SM3 dwDriverVersion DWORD AXIS_REF_SM3 Properties: ChildNodeCount , inherited from AXIS_REF_SM3 Connector , inherited from AXIS_REF_SM3 Enable , inherited from AXIS_REF_SM3 FirstChildNode , inherited from AXIS_REF_SM3 Index , inherited from AXIS_REF_SM3 IsDeviceDiagInitialized , inherited from AXIS_REF_SM3 IsRootNode , inherited from AXIS_REF_SM3 NextSiblingNode , inherited from AXIS_REF_SM3 ParentNode , inherited from AXIS_REF_SM3 SiblingNodeCount , inherited from AXIS_REF_SM3 Methods: CheckCurrentSupportedCommunicationState , inherited from AXIS_REF_SM3 CheckSupportedCommunicationState , inherited from AXIS_REF_SM3 GetActValuesForCycle , inherited from AXIS_REF_SM3 GetDeviceErrorAsync , inherited from AXIS_REF_SM3 GetDeviceInfo , inherited from AXIS_REF_SM3 GetDeviceState , inherited from AXIS_REF_SM3 GetSetValuesForCycle , inherited from AXIS_REF_SM3 GetSpecificDeviceErrorAsync , inherited from AXIS_REF_SM3 GetSpecificDeviceState , inherited from AXIS_REF_SM3 SetCommunicationState , inherited from AXIS_REF_SM3 SkipNextInputUpdate , inherited from AXIS_REF_SM3 SkipNextOutputUpdate , inherited from AXIS_REF_SM3 WriteSetValues , inherited from AXIS_REF_SM3

AXIS_REF_VIRTUAL ¶ AXIS_REF_VIRTUAL_SM3 (FunctionBlock)

SMC_GetTravelTime (FB) ¶ FUNCTION_BLOCK SMC_GetTravelTime Returns when the axis will pass through a given position in a given direction. The function block returns the duration after a single call with Enable=TRUE, provided no error has occurred and the position will be reached during the configured forecast duration. An error is returned in the following situations: SMC_AXIS_IS_NO_AXIS_REF if an invalid axis is passed to the function block. SMC_FB_CALLED_FROM_WRONG_TASK if the function block is not called in the bus task of the axis. SMC_AXIS_NOT_FOLLOWING_SETVALUES if the drive is not under control of SoftMotion, e.g. during quick stop, drive controlled homing or controller mode SMC_nocontrol. SMC_WRONG_CONTROLLER_MODE if the controller mode is not SMC_position or SMC_velocity. Note Reading the duration requires setting a forecast duration using SMC_SetForecast . The Axis must be within the forecast duration of the Position for the Duration output to be valid. If the axis does not move, then Valid is FALSE even if the axis is exactly at the given position. While the calculated Duration has sub-cycle accuracy, a position that is passed twice in one cycle will not be detected. InOut: Scope Name Type Initial Comment Inout Const Axis AXIS_REF_SM3 Reference to the axis Input Enable BOOL Get the duration continuously while enabled. Position LREAL The axis position. Direction SMC_CAMTAPPETTYPE SMC_CAMTAPPETTYPE.TAPPET_all The direction from which the position needs to be passed. If the position is reached from a different direction, it will not be returned by this function block. Output Valid BOOL Whether the duration output is valid. Duration LREAL The duration in seconds until the position is passed, relative to the start of the current cycle. The duration has sub-cycle accuracy. A value of 0s means that the position has been reached with the set values of the previous cycle. A value equal to the task interval means that the position will be reached with the set values computed in this cycle. Error BOOL Whether an error has occurred. ErrorId SMC_ERROR The error identifier.

SMC_SetAdditionalConversionFactors (FB) ¶ FUNCTION_BLOCK SMC_SetAdditionalConversionFactors Sets conversion factors for the dynamics of an axis. Set values are multiplied by the factors before being sent to the drive. Actual values are divided by the factors after having been received from the drive. InOut: Scope Name Type Initial Comment Inout Axis AXIS_REF_SM3 Reference to the axis. Input Execute BOOL Factors are set on a rising edge. TorqueFactor LREAL 1 The conversion factor for the torque. Must not be 0. Output Done BOOL Signals that the factors have been set. Busy BOOL Signals that the function block is working. Error BOOL Signals an error. ErrorID SMC_ERROR Error identification