SMC_CAMTable_UDINT_256_2 (STRUCT) ¶ TYPE SMC_CAMTable_UDINT_256_2 : STRUCT This STRUCT represents a non equidistant curve table. The table can handle 256 elements of type UDINT . Note For information about technical and table units please see the documentation of SMC_CAMTable_LREAL_128_2 . InOut: Name Type Comment Table ARRAY [0..255] OF ARRAY [0..1] OF UDINT Array of master/slave position pairs in table units. Index 0 refers to the master, index 1 to the slave. The master values in the array must be filled in ascending order and must start with the master start position and end with the master end position. For each master value, the corresponding slave value must be set. fEditorMasterMin REAL The minimum master value in technical units. fEditorMasterMax REAL The maximum master value in technical units. fEditorSlaveMin REAL The minimum slave value in technical units. fEditorSlaveMax REAL The maximum slave value in technical units. fTableMasterMin REAL The minimum master value in table units. fTableMasterMax REAL The maximum master value in table units. fTableSlaveMin REAL The minimum slave value in table units. fTableSlaveMax REAL The maximum slave value in table units.

SMC_CAMTable_UINT_128_1 (STRUCT) ¶ TYPE SMC_CAMTable_UINT_128_1 : STRUCT This STRUCT represents an equidistant curve table. The table can handle 128 elements of type UINT . Note For information about technical and table units please see the documentation of SMC_CAMTable_LREAL_128_1 . InOut: Name Type Comment Table ARRAY [0..127] OF UINT Array of slave positions in table units. The array must start with the slave position related to the master start position and end with the slave position related to the master end position (see xStart and xEnd of MC_CAM_REF ). fEditorMasterMin REAL The minimum master value in technical units. fEditorMasterMax REAL The maximum master value in technical units. fEditorSlaveMin REAL The minimum slave value in technical units. fEditorSlaveMax REAL The maximum slave value in technical units. fTableMasterMin REAL The minimum master value in table units. fTableMasterMax REAL The maximum master value in table units. fTableSlaveMin REAL The minimum slave value in table units. fTableSlaveMax REAL The maximum slave value in table units.

SMC_CAMTable_UINT_128_2 (STRUCT) ¶ TYPE SMC_CAMTable_UINT_128_2 : STRUCT This STRUCT represents a non equidistant curve table. The table can handle 128 elements of type UINT . Note For information about technical and table units please see the documentation of SMC_CAMTable_LREAL_128_2 . InOut: Name Type Comment Table ARRAY [0..127] OF ARRAY [0..1] OF UINT Array of master/slave position pairs in table units. Index 0 refers to the master, index 1 to the slave. The master values in the array must be filled in ascending order and must start with the master start position and end with the master end position. For each master value, the corresponding slave value must be set. fEditorMasterMin REAL The minimum master value in technical units. fEditorMasterMax REAL The maximum master value in technical units. fEditorSlaveMin REAL The minimum slave value in technical units. fEditorSlaveMax REAL The maximum slave value in technical units. fTableMasterMin REAL The minimum master value in table units. fTableMasterMax REAL The maximum master value in table units. fTableSlaveMin REAL The minimum slave value in table units. fTableSlaveMax REAL The maximum slave value in table units.

SMC_CAMTable_UINT_256_1 (STRUCT) ¶ TYPE SMC_CAMTable_UINT_256_1 : STRUCT This STRUCT represents an equidistant curve table. The table can handle 256 elements of type UINT . Note For information about technical and table units please see the documentation of SMC_CAMTable_LREAL_128_1 . InOut: Name Type Comment Table ARRAY [0..255] OF UINT Array of slave positions in table units. The array must start with the slave position related to the master start position and end with the slave position related to the master end position (see xStart and xEnd of MC_CAM_REF ). fEditorMasterMin REAL The minimum master value in technical units. fEditorMasterMax REAL The maximum master value in technical units. fEditorSlaveMin REAL The minimum slave value in technical units. fEditorSlaveMax REAL The maximum slave value in technical units. fTableMasterMin REAL The minimum master value in table units. fTableMasterMax REAL The maximum master value in table units. fTableSlaveMin REAL The minimum slave value in table units. fTableSlaveMax REAL The maximum slave value in table units.

SMC_CAMTable_UINT_256_2 (STRUCT) ¶ TYPE SMC_CAMTable_UINT_256_2 : STRUCT This STRUCT represents a non equidistant curve table. The table can handle 256 elements of type UINT . Note For information about technical and table units please see the documentation of SMC_CAMTable_LREAL_128_2 . InOut: Name Type Comment Table ARRAY [0..255] OF ARRAY [0..1] OF UINT Array of master/slave position pairs in table units. Index 0 refers to the master, index 1 to the slave. The master values in the array must be filled in ascending order and must start with the master start position and end with the master end position. For each master value, the corresponding slave value must be set. fEditorMasterMin REAL The minimum master value in technical units. fEditorMasterMax REAL The maximum master value in technical units. fEditorSlaveMin REAL The minimum slave value in technical units. fEditorSlaveMax REAL The maximum slave value in technical units. fTableMasterMin REAL The minimum master value in table units. fTableMasterMax REAL The maximum master value in table units. fTableSlaveMin REAL The minimum slave value in table units. fTableSlaveMax REAL The maximum slave value in table units.

SMC_CAMTappet (STRUCT) ¶ TYPE SMC_CAMTappet : STRUCT This STRUCT describes the tappets of a cam table as is referenced by MC_CAM_REF . InOut: Name Type Initial Comment ctt SMC_CAMTAPPETTYPE cta SMC_CAMTAPPETACTION dwDelay DWORD In case of cta = TAPPETACTION.TAPPETACTION_time , this value determines the delay time in µs. dwDuration DWORD In case of cta = TAPPETACTION.TAPPETACTION_time , this value determines the time in µs, for which the tappet is switched to on. iGroupID INT Group or track ID of the tappet output that is switched. x LREAL Master position where tappet is switched. dwActive DWORD 16#FFFFFFFF Internal variable

SMC_CAMXYVA (STRUCT) ¶ TYPE SMC_CAMXYVA : STRUCT A XYVA-cam is represented by an array of variables of type SMC_CAMXYVA describing each point of a cam. InOut: Name Type Comment dX LREAL master position dY LREAL slave position dV LREAL first derivative dY/dX; slave velocity dA LREAL second derivative d²Y/dX²; slave acceleration

SMC_CAM_TYPE (ENUM) ¶ TYPE SMC_CAM_TYPE : Attributes: qualified_only InOut: Name Initial Comment POLY 0 Polynomial description (5th degree). Deprecated, don’t use. X 1 Equidistant, one-dimensional table of slave positions XY 2 Non-equidistant, two-dimensional table of master/slave positions XYVA 3 Polynomial description consisting of master position X, slave position Y, slave velocity V and slave acceleration A SEGMENT 4 Generic segment description

Diagnostics ¶ SMC_CommunicationState (Enum) SMC_LOGGERMODE (Enum) SMC_PerfTimers (Struct) SMC_SeriesSample (Struct) SMC_SeriesStats (Struct)

SMC_CommunicationState (ENUM) ¶ TYPE SMC_CommunicationState : The communication state of an axis, as returned by SMC_CheckAxisCommunication . InOut: Name SMC_COMSTATE_NOT_STARTED SMC_COMSTATE_VARIABLE_INITIALIZATION SMC_COMSTATE_BASE_COM_INITIALIZATION SMC_COMSTATE_DRIVE_INITIALIZATION SMC_COMSTATE_DRIVE_WAITING_FOR_SYNC SMC_COMSTATE_INITIALIZATION_DONE SMC_COMSTATE_OPERATIONAL SMC_COMSTATE_REINITIALIZATION SMC_COMSTATE_ERROR SMC_COMSTATE_UNKNOWN