SMC_LOGGERMODE (ENUM) ¶ TYPE SMC_LOGGERMODE : InOut: Name LOG_CONTINUOUS LOG_AT_CLOSE

SMC_PerfTimers (STRUCT) ¶ TYPE SMC_PerfTimers : STRUCT Performance timers of an axis; only filled if compiler define SoftMotionPerformance is set. InOut: Name Type Comment udiBI_ns UDINT Time of callback BeforeReadInputs in [ns] udiAI_ns UDINT Time of callback AfterReadInputs in [ns] udiBO_ns UDINT Time of callback BeforeWriteOutputs in [ns] udiAO_ns UDINT Time of callback AfterWriteOutputs in [ns]

SMC_SeriesSample (STRUCT) ¶ TYPE SMC_SeriesSample : STRUCT InOut: Name Type udiNumber UDINT fValue LREAL

SMC_ValueSelect (ENUM) ¶ TYPE SMC_ValueSelect : InOut: Name Initial set 0 actual 1

Movement ¶ MC_TA_REF (Struct) MC_TP_REF (Struct) MC_TV_REF (Struct) SMC_BACKLASH_MODE (Enum) SMC_BACKLASH_STARTSTATE (Enum) SMC_HOMING_MODE (Enum) SMC_TA (Struct) SMC_TP (Struct) SMC_TV (Struct)

MC_TA_REF (STRUCT) ¶ TYPE MC_TA_REF : STRUCT This STRUCT describes a trajectory that can later be executed by MC_AccelerationProfile . InOut: Name Type Initial Comment Number_of_pairs INT 0 This variable is not used and only present for compatibility reasons. Please use MC_AccelerationProfile .``ArraySize`` instead. IsAbsolute BOOL TRUE TRUE : Accelerations values are interpreted absolute (not relative). MC_TA_Array ARRAY [1..100] OF SMC_TA Time/Acceleration points

MC_TP_REF (STRUCT) ¶ TYPE MC_TP_REF : STRUCT This STRUCT describes a trajectory that can later be executed by MC_PositionProfile . InOut: Name Type Initial Comment Number_of_pairs INT 0 This variable is not used and only present for compatibility reasons. Please use MC_PositionProfile .``ArraySize`` instead. IsAbsolute BOOL TRUE TRUE : Positions are interpreted absolute (not relative). MC_TP_Array ARRAY [1..100] OF SMC_TP Time/Positions

MC_TV_REF (STRUCT) ¶ TYPE MC_TV_REF : STRUCT This STRUCT describes a trajectory that can later be executed by MC_VelocityProfile . InOut: Name Type Initial Comment Number_of_pairs INT 0 This variable is not used and only present for compatibility reasons. Please use MC_VelocityProfile .``ArraySize`` instead. IsAbsolute BOOL TRUE TRUE : Velocity values are absolute, not relative. MC_TV_Array ARRAY [1..100] OF SMC_TV Time/Velocity points

SMC_BACKLASH_MODE (ENUM) ¶ TYPE SMC_BACKLASH_MODE : The mode of backlash compensation. InOut: Name Initial Comment SMC_BL_AUTO 2 The direction in which the master axis moves determines the compensation direction SMC_BL_POSITIVE 1 Compensation in positive direction, independent of the movement of the master axis. SMC_BL_NEGATIVE -1 Compensation in negative direction, independent of the movement of the master axis. SMC_BL_OFF 0 No backlash compensation

SMC_MOVEMENTTYPE (ENUM) ¶ TYPE SMC_MOVEMENTTYPE : Deprecated. Use SMC_AXIS_TYPE instead. InOut: Name Initial rotary 0 linear 1