SMC_CamEditor (FB) ¶ FUNCTION_BLOCK SMC_CamEditor This function block is used to display cam tables in the visualization. Important This function block does not work without either a TargetVisu or a WebVisu . InOut: Scope Name Type Initial Comment Input bEnable BOOL FALSE : No modification of the cam table is possible. Output bCAMchanged BOOL TRUE : Cam has been changed in the visualization. bError BOOL FALSE TRUE : Error has occurred within the function block. nErrorID SMC_ERROR Error identification Inout cam MC_CAM_REF Structure: DoBeforeLeave (Action)

SMC_FollowVelocity (FB) ¶ FUNCTION_BLOCK SMC_FollowVelocity This function block writes set velocities to the axis without doing any checks. Note This function block does not support forecasts that are set up by SMC_SetForecast . InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Input bExecute BOOL Rising edge: Starts the execution of the function block. fSetVelocity LREAL Set velocity in technical units per second. Output bBusy BOOL TRUE : Execution of function block has not been finished. bCommandAborted BOOL TRUE : Command has been aborted by another command. bError BOOL TRUE : Error has occurred within the function block. iErrorID SMC_ERROR Error identification

SMC_SetTorque (FB) ¶ FUNCTION_BLOCK SMC_SetTorque This function block applies the given torque to the axis. In controller mode SMC_torque , this is the set torque that the drive will produce. In controller mode SMC_velocity or SMC_position , the torque value can be used by the servo drive to improve the controller loop. The given torque should be the expected torque of the drive. This is also called torque feed forward control. In controller mode SMC_nocontrol , the function block has no effect, no error is reported. By default, the torque is expected to be provided at the motor shaft, not the gear box output. A conversion factor can be set using SMC_SetAdditionalConversionFactors .. Note This function block does not support forecasts that are set up by SMC_SetForecast . InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Reference to axis Input bEnable BOOL TRUE : Enables the execution of the function block. fTorque LREAL Torque in Nm (for rotary motors) or N (for linear motors). Output bBusy BOOL TRUE : Execution of function block has not been finished yet. bError BOOL TRUE : Error has occurred within the function block. nErrorID SMC_ERROR Error identification

SMC_TrackAxis (FB) ¶ FUNCTION_BLOCK SMC_TrackAxis This function block tracks a master axis. The slave axis will try to follow the master as closely as possible while repecting the given maximum velocity, acceleration, deceleration, and jerk. During execution, the axis is in state synchronized_motion . The function block will keep ownership of the axis until it is aborted by another movement. The ownership is kept even if the master is in standstill and the function block is in sync. Note This function block does not support forecasts that are set up by SMC_SetForecast . InOut: Scope Name Type Comment Inout Master AXIS_REF_SM3 Slave AXIS_REF_SM3 Input bExecute BOOL Rising edge: Starts the execution of the function block. Velocity LREAL Maximum velocity in technical units per second [u/s]. Must be positive. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute . Acceleration LREAL Maximum acceleration in [u/s²]. Must be positive. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute . Deceleration LREAL Maximum magnitude of deceleration in [u/s²]. Must be positive. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute . Jerk LREAL Maximum magnitude of jerk in [u/s³]. Must be positive if the axis has a jerk limited velocity profile. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute . Output bBusy BOOL TRUE : Execution of the function block has not been finished. bCommandAborted BOOL TRUE : Command has been aborted by another command. bError BOOL TRUE : Error has occurred within the function block. iErrorID SMC_ERROR Error identification bInSync BOOL Whether the axis is in sync with the given set values.

SMC_TrackSetValues (FB) ¶ FUNCTION_BLOCK SMC_TrackSetValues This function block tracks a given signal. The axis will try to follow the signal as closely as possible while repecting the given maximum velocity, acceleration, deceleration, and jerk. The tracked signal is given in form of the position, velocity, acceleration, and jerk at the end of each bus task cycle. In contrast to SMC_FollowPosition , SMC_FollowPositionVelocity , and SMC_FollowSetValues , the given set position, velocity, acceleration and jerk is not simply applied to the axis. Instead, the axis tries to reach the desired values in the shortest time. At the same time, it will respect the input Velocity, Acceleration, Deceleration, and Jerk. During execution, the axis is in state synchronized_motion . The function block will keep ownership of the axis until it is aborted by another movement. The ownership is kept even if the tracked signal is stationary and the function block is in sync. The position of the tracked signal ( fSetPosition ) may either be linear or modulo, with the modulo period given in input SignalModuloPeriod . Independently, the axis may either be finite or modulo. The modulo period of the signal and the axis may be different. Note This function block does not support forecasts that are set up by SMC_SetForecast . MC_SetPosition allows changing the coordinate system of an axis. The fSetPosition for this function block is expected to be provided in the coordinate system that was active when this function block was started. InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Input bExecute BOOL Rising edge: Starts the execution of the function block. fSetPosition LREAL Set position in [u] fSetVelocity LREAL Set velocity in [u/s] fSetAcceleration LREAL Set acceleration in [u/s²] fSetJerk LREAL Set jerk in [u/s³] Velocity LREAL Maximum velocity in technical units per second [u/s]. Must be positive. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute . Acceleration LREAL Maximum acceleration in [u/s²]. Must be positive. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute . Deceleration LREAL Maximum magnitude of deceleration in [u/s²]. Must be positive. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute . Jerk LREAL Maximum magnitude of jerk in [u/s³]. Must be positive if the axis has a jerk limited velocity profile. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute . SignalModuloPeriod LREAL The modulo period of the signal or 0 if the signal is linear. Must not be negative. Output bBusy BOOL TRUE : Execution of the function block is not finished. bCommandAborted BOOL TRUE : Command has been aborted by another command. bError BOOL TRUE : Error has occurred within the function block. iErrorID SMC_ERROR Error identification bInSync BOOL Whether the axis is in sync with the given set values.

MC_CamIn (FB) ¶ FUNCTION_BLOCK MC_CamIn Executes a given cam table. Note MC_CamIn should be called after the motion FB controlling the Master axis has been called. Otherwise, the Slave axis will lag behind the Master axis. InOut: Scope Name Type Initial Comment Inout Master AXIS_REF_SM3 Reference to master axis. Master need not be stationary. Slave AXIS_REF_SM3 Reference to slave axis Input Execute BOOL Rising edge: Starts the execution of the function block. MasterOffset LREAL Offset on master table in master cam table units. SlaveOffset LREAL Offset on slave table in slave axis units. Mechanical analogy to the slave offset is a cam plate, which is welded with additional constant layer thickness. Therefore slave positions have a constant offset. The offset can be interpreted as an axis offset of the master axis on the assumption that the slave cam is linearly guided. MasterScaling LREAL 1 Scaling factor for master profile. Must not be 0. SlaveScaling LREAL 1 Scaling factor for slave profile. Must not be 0. MasterStartDistance LREAL The master distance (in master cam table units) from the MasterSyncPosition where the slave axis starts synchronization. Only used in StartMode ramp_in_dist . If MasterStartDistance is 0 (or negative), then the slave movement is started immediately, provided that the master is not in standstill. If BufferMode <> Aborting, then the MasterStartDistance must be 0 (or negative). MasterSyncPosition LREAL The master position in the cam table where the slave axis has to be synchronized to the master. Must be a valid position in the cam table, otherwise the error SMC_CI_MASTER_SYNC_POSITION_OUT_OF_SCALE will be reported. Only used in StartMode ramp_in_dist . AvoidReversal BOOL FALSE : Signals that the reversal of the slave is physically possible and acceptable. TRUE : Signals that a reversal of the modulo slave has to be avoided, e.g. because it is physically impossible or might lead to damage. It works only with modulo slave axes. If a reversal cannot be avoided, the axis is stopped with an error. Only used in StartMode ramp_in_dist . Behavior: If the slave axis is a modulo axis and the master velocity (times the slope of the cam table at the MasterSyncPosition ) is not opposite to the slave velocity, then MC_CamIn tries to avoid a reversal of the slave. It tries to “stretch” the slave movement by increasing the distance the slave travels by up to 5 slave periods. If this “stretching” is not successful, i.e. does not avoid a reversal, an error is reported. If the slave velocity is opposite to the master velocity times the slope of the cam table at the MasterSyncPosition , an error is reported. If the slave axis is not a modulo axis, an error is reported on the rising edge of the Execute input. StartMode MC_StartMode absolute Start mode Possible values: absolute , relative : The Slave will immediately be InSync and follow the trajectory defined by cam table and Master . Depending on the current state of the Slave , this can lead to a jump in position, velocity, and/or acceleration. If the StartMode is absolute , the value of SlaveAbsolute set by MC_CamTableSelect will be used. If the StartMode is relative , relative coordinates will be used for the slave position, effectively overwriting of the value of SlaveAbsolute . ramp_in , ramp_in_pos , ramp_in_neg : The Slave will synchronize to the cam as fast as possible using the configured VelocityDiff , Acceleration , Deceleration , and Jerk . If the Slave is a modulo axis, ramp_in_pos and ramp_in_neg define the direction for ramping in. For a finite Slave , all three StartModes behave the same. ramp_in_dist : The Slave will synchronize to the cam so that it follows the trajectory defined by cam table and Master as soon as the Master reaches the MasterSyncPosition . Synchronization will start when the Master is within the MasterStartDistance of the MasterSyncPosition . Please note that the ramping-in StartModes only have an effect on a rising edge of input Execute. If the cam table is changed by modifying input CamTableID , no ramping-in is performed. CamTableID MC_CAM_ID Identification of the cam table. The input is connected with the output of MC_CamTableSelect . While camming is active, this input can be used to change cam tables on the fly without a new rising edge on Execute . Compared to restarting camming with a rising edge on Execute , there are a few differences: If ramping with StartMode ramp_in , ramp_in_pos , or ramp_in_neg is active, it is not aborted. Even if the StartMode is ramp_in , ramp_in_pos , or ramp_in_neg , no new ramping in is initiated. If EndOfProfile has been set in the same cycle, the new cam table is automatically offset so that no gap occurs between the two tables. Please note that when using distance based ramping in ( StartMode ramp_in_dist ), the error SMC_CI_CAM_CHANGED_DURING_RAMP_IN_DIST is returned if the CamTableID changes while ramping in is still active. BufferMode MC_BUFFER_MODE Defines the chronological sequence of the FB relative to the previous block. Only the BufferModes Aborting , Buffered and BlendingPrevious are supported. BlendingPrevious means that the configured velocity (including the direction) of the previous movement is used as the blending velocity, even if this movement has the opposite direction. If the function block is Busy, then only BufferMode=Aborting is allowed. VelocityDiff LREAL Maximum velocity difference in u/s for `` StartMode``s ramp_in , ramp_in_pos , and ramp_in_neg . Acceleration LREAL Acceleration in u/s² for `` StartMode``s ramp_in , ramp_in_pos , and ramp_in_neg . Deceleration LREAL Deceleration in u/s² for `` StartMode``s ramp_in , ramp_in_pos , and ramp_in_neg . Jerk LREAL Jerk in u/s³ for `` StartMode``s ramp_in , ramp_in_pos , and ramp_in_neg . TappetHysteresis LREAL Size of the hysteresis for tappets in u. A positive value means that the tappet cannot fire immediately after it has fired. The master position first needs to move away from the tappet by more than the value given for TappetHysteresis . For example, if the master is an encoder, the master position may oscillate by a few increments around the tappet position. Without a hysteresis, the tappet may fire all the time. Output InSync BOOL Indicates that the Slave follows the cam profile. Busy BOOL Execution of the function block has not finished. Active BOOL Indicates that the FB has control on the axis CommandAborted BOOL Command has been aborted by another command Error BOOL Signals that an error has occured within the function block. ErrorID SMC_ERROR Error identification EndOfProfile BOOL Indicates that the Master has reached a border of the cam table. (This can be either the start or the end of the cam table, depending on the Master direction.) For periodic cams, the output is set for one cycle for each new period. For non-periodic cams, the output stays TRUE while the Master is outside the cam range. The Slave will remain in synchronized_motion . If the Slave is not in standstill when EndOfProfile is reached, another movement must be commanded that takes control of the Slave . MC_CamIn does not stop the Slave on EndOfProfile . A buffered movement that has been commanded after this movement is started as soon as EndOfProfile is set. This behavior is the same for periodic and non-periodic cams. Note: With StartMode ramp_in , ramp_in_pos , or ramp_in_neg and depending on the configured VelocityDiff , Acceleration , Deceleration , and Jerk , it is possible that the Master reaches EndOfProfile before the slave is InSync . Tappets SMC_TappetData Tappets: Has to be evaluated by SMC_GetTappetValue function blocks.

MC_CamOut (FB) ¶ FUNCTION_BLOCK MC_CamOut This function block disengages the slave axis from the master axis immediately. Note It is assumed that this command is followed by another command, as for instance MC_Stop , MC_GearIn . If there is no further command following, the default condition should be: maintain last velocity. InOut: Scope Name Type Initial Comment Inout Slave AXIS_REF_SM3 Reference to slave axis Input Execute BOOL FALSE Rising edge: Starts the execution of the function block. Output Done BOOL FALSE TRUE : Cam has been disengaged. Busy BOOL FALSE TRUE : Execution of function block has not been finished. Error BOOL FALSE TRUE : Error has occurred within the function block. ErrorID SMC_ERROR 0 Error identification

MC_GearIn (FB) ¶ FUNCTION_BLOCK MC_GearIn The function block couples the slave axis to the master axis, and applies a certain velocity ratio between master and slave. When MC_GearIn is started, the slave axis is ramped up to the given ratio of the master velocity. Coupling takes place once this is achieved. The distance travelled during the coupling is not compensated for. Note MC_GearIn should be called after the motion FB controlling the Master axis has been called. Otherwise, the Slave axis will lag behind the Master axis. While MC_GearIn is in operation, the velocity ratio can be changed by sequential MC_GearIn commands. To do this, no preceding call of MC_GearOut is necessary. InGear is set as soon as the desired velocity ratio is reached. Once InGear is set, the type of coupling depends on the current control mode. In the standard case, i.e. in the position control mode, the coupling is performed with the position values. For example, with a ratio of 1:2, the slave is moved by exactly half the distance of the master. If velocity control mode is used, then the coupling is performed with the velocity values. For example, with a ratio of 1:2, the slave will move with half the master velocity in each cycle. Ratio Reached : Velocity ratio has been reached. InOut: Scope Name Type Initial Comment Inout Master AXIS_REF_SM3 Reference to master axis. Master needs not to be stationary. Slave AXIS_REF_SM3 Reference to slave axis Input Execute BOOL Rising edge: Starts the execution of the function block. RatioNumerator DINT 1 Numerator of the quotient for the desired velocity ratio RatioDenominator UDINT 1 Denominator of the quotient for the desired velocity ratio Acceleration LREAL Maximum acceleration for ramping up in [u/s²] Deceleration LREAL Maximum deceleration for ramping up in [u/s²] Jerk LREAL Maximum jerk for ramping up in [u/s³] BufferMode MC_BUFFER_MODE Defines the chronological sequence of the FB relative to the previous block. Only the BufferModes Aborting , Buffered and BlendingPrevious are supported. BlendingPrevious means that the configured velocity (including the direction) of the previous movement is used as the blending velocity, even if this movement has the opposite direction. If the function block is Busy, then only BufferMode=Aborting is allowed. Output InGear BOOL TRUE : Coupling has taken place. The slave moves with the given velocity ratio of the master. Busy BOOL TRUE : Function block is in operation. Active BOOL Indicates that the FB has control on the axis CommandAborted BOOL FALSE TRUE : Execution has been interrupted by another function block instance operating on the axis. Error BOOL TRUE : Error has occurred. ErrorID SMC_ERROR Error identification

MC_GearInPos (FB) ¶ FUNCTION_BLOCK MC_GearInPos MC_GearInPos couples the slave axis to the master axis taking into account a specific positional relationship. Important In certain cases, it may be impossible to avoid a reversal of the slave. (Even if the slave velocity is not opposite to the master.) One example is a slave with a small positive velocity and a large negative acceleration. It may not be possible to ramp down the acceleration fast enough to prevent the velocity from becoming negative. Note MC_GearInPos should be called after the motion FB controlling the Master axis has been called. Otherwise, the Slave axis will lag behind the Master axis. Timing diagram With BufferMode Aborting, any previous motion is continued until the master crosses the position MasterSyncPosition – MasterStartDistance in the correct direction. At that point in time the output StartSync is set. When a stop command is executed on the slave axis before the synchronization has happened, it will inhibit the synchronization and the function block issues CommandAborted = TRUE . If the MasterStartDistance is not specified (indicated by a non-positive value), the function block calculates the setting start distancepoint so that synchronization starts at the current master position. With BufferMode Buffered or BlendingPrevious, the input MasterStartDistance cannot be provided (i.e. must be set to 0). The reason for this is that as soon as the previous movement finished, MC_GearInPos must take over the axis and continue the movement, it cannot wait until the master sync position has been reached. (If the master is in standstill when the previous movement is finished, then an error SMC_GIP_CANNOT_START_SYNC is reported.) Timing Diagram of MC_GearInPos ¶ Different examples of gearing ¶ InOut: Scope Name Type Initial Comment Inout Master AXIS_REF_SM3 Reference to master axis Slave AXIS_REF_SM3 Reference to slave axis Input Execute BOOL Rising edge: Starts the execution of the function block. RatioNumerator DINT 1 Gear ratio numerator RatioDenominator DINT 1 Gear ratio denominator MasterSyncPosition LREAL Master position where the axes run in sync. SlaveSyncPosition LREAL Slave position where the axes run in sync. MasterStartDistance LREAL Master distance for the gear in procedure (where the slave axis will be started for getting into synchronization). In other words, the slave is brought into sync with the master during this distance, i.e. from MasterSyncPosition - MasterStartDistance until MasterSyncPosition . If MasterStartDistance is 0 (or negative), then the slave movement is started immediately, provided that the master is not in standstill. If BufferMode <> Aborting, then the MasterStartDistance must be 0 (or negative). BufferMode MC_BUFFER_MODE Defines the chronological sequence of the FB relative to the previous block. Only the BufferModes Aborting , Buffered and BlendingPrevious are supported. BlendingPrevious means that the configured velocity (including the direction) of the previous movement is used as the blending velocity, even if this movement has the opposite direction. If the function block is Busy, then only BufferMode=Aborting is allowed. AvoidReversal BOOL FALSE : Signals that the reversal of the slave is physically possible and acceptable. TRUE : Signals that a reversal of the modulo slave has to be avoided, e.g. because it is physically impossible or might lead to damage. It works only with modulo slave axes. If a reversal cannot be avoided, the axis is stopped with an error. Behavior: If the slave axis is a modulo axis and the master velocity (times the sign of the gear ratio) is not opposite to the slave velocity , then MC_GearInPos tries to avoid a reversal of the slave. It tries to “stretch” the slave movement by increasing the distance the slave travels by up to 5 slave periods. If this “stretching” is not successful, an error is reported. If the slave velocity is opposite to the master velocity times the sign of the gear ratio, an error is reported. If the slave axis is not a modulo axis, an error is reported on the rising edge of the Execute input. Output StartSync BOOL TRUE : Commanded gearing has been started. InSync BOOL TRUE : Cmmanded gearing has been completed. Busy BOOL TRUE : Execution of the function block has not been finished. Active BOOL Indicates that the FB has control on the axis CommandAborted BOOL FALSE TRUE : Execution has been interrupted by another function block instance operating on the axis. Error BOOL TRUE : Error has occurred within the function block. ErrorID SMC_ERROR Error identification

MC_GearOut (FB) ¶ FUNCTION_BLOCK MC_GearOut This function block disengages the slave axis from the master axis. Note It is assumed that this command is followed by another command, as for instance MC_Stop , MC_GearIn . If no further command follows, the default condition is: maintain last velocity. InOut: Scope Name Type Comment Inout Slave AXIS_REF_SM3 Reference to slave axis Input Execute BOOL Rising edge: Starts the execution of the function block. Output Done BOOL TRUE : Cam has been disengaged. Busy BOOL TRUE : Execution of the function block has not been finished. Error BOOL TRUE : Error has occurred within the function block. ErrorID SMC_ERROR Error identification