MC_ReadKinTransform (FB) ¶ FUNCTION_BLOCK MC_ReadKinTransform This function block reads the kinematic transformation that is active between the axis coordinate system (ACS) and the machine coordinate system (MCS). InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axis Input Enable BOOL Gets the kinematic transformation reference of the axis group continuously while enabled Output Valid BOOL TRUE if valid outputs are available Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification KinTransform TRAFO.MC_KIN_REF_SM3 The kinematic transformation
GeoPrimLinear (STRUCT) ¶ TYPE GeoPrimLinear EXTENDS ElemPrimBase : STRUCT Element for linear cartesian interpolation between two points, each with a separate coordinate system. InOut: Name Type Comment Inherited from pef0 POINTER TO ElemFun Pointer to a copy of the previous element. If set, can be evaluated at x = 0 to obtain the start position of this element. ElemPrimBase pef1 POINTER TO ElemFun Pointer to a copy of the subsequent element. If set, can be evaluated at x = pef1^.l to obtain the end position of this element. ElemPrimBase pTrace0 POINTER TO ElemFunTrace ElemPrimBase pTrace1 POINTER TO ElemFunTrace ElemPrimBase fS SM3M.SMC_Frame The (initial) start frame. (The actual start position of the element may change after the element is cut. This position will stay the same.) fToolOffsetS SM3M.SMC_Frame The tool offset belonging to the (initial) start position. Only used for start positions in dynamic coordinate systems. vD SM3M.SMC_VECTOR3D The (initial) target position. (The actual target position of the element may change after the element is cut. This position will stay the same.)
SMC_GroupAddOffset (FB) ¶ FUNCTION_BLOCK SMC_GroupAddOffset This function block adds an offset to a position. The offset and the position may be given in different coordinate systems. If one of the coordinate systems is dynamic, the conversion between the coordinate systems is done at the time at the end of the bus task cycle. The resulting position PositionOut is expressed in the same coordinate system as the offset ( CoordSystemOffset ). Note The same effect can be achieved with SMC_GroupConvertPosition by first converting PostionIn from coordinate system CoordSystemPositionIn to CoordSystemOffset and then adding the offset. The coordinate system used is not necessarily the one of the currently active movement. It is always the coordinate system that would be used for new movements. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Input Enable BOOL Converts the position while enabled PositionIn SMC_POS_REF The position to which the offset is added CoordSystemPositionIn SMC_COORD_SYSTEM Coordinate system of PositionIn Offset SMC_POS_REF Offset to be added CoordSystemOffset SMC_COORD_SYSTEM Coordinate system of Offset aRef TRAFO.AXISPOS_REF The reference position of the axes. Only used if CoordSystemOffset = ACS and CoordSystemPositionIn <> ACS . config TRAFO.CONFIGDATA The kinematic configuration. Only used if CoordSystemOffset = ACS and CoordSystemPositionIn <> ACS . UseToolOffsetParameter BOOL Whether to use the ToolOffset parameter. If set to FALSE, the last tool offset set by SMC_GroupSetTool is used. ToolOffset MC_COORD_REF The tool offset used for converting the position. Note that error SMC_AXIS_GROUP_TOOL_OFFSET_INCOMPATIBLE_WITH_KINEMATICS is returned if the tool offset is not compatible. Output Valid BOOL TRUE if valid outputs are available Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification PositionOut SMC_POS_REF The position with the offset in coordinate system CoordSystemOffset
Kinematics ¶ MC_SetKinTransform (FunctionBlock) SMC_KinConfigActivateAutomaticPeriods (FunctionBlock) SMC_SetKinConfiguration (FunctionBlock)
Trigger ¶ SMC_GroupPrepareTrigger (FunctionBlock) SMC_GroupReadTrigger (FunctionBlock) SMC_TRIGGER_ID (Alias) SMC_TRIGGER_INFO (Struct) SMC_TRIGGER_STATUS (Enum) SMC_TriggerPosition (Union) SMC_TriggerPositionType (Enum) SMC_TriggerPosition_Plane (Struct)
GeoPrimArc (STRUCT) ¶ TYPE GeoPrimArc EXTENDS ElemPrimBase : STRUCT InOut: Name Type Comment Inherited from pef0 POINTER TO ElemFun Pointer to a copy of the previous element. If set, can be evaluated at x = 0 to obtain the start position of this element. ElemPrimBase pef1 POINTER TO ElemFun Pointer to a copy of the subsequent element. If set, can be evaluated at x = pef1^.l to obtain the end position of this element. ElemPrimBase pTrace0 POINTER TO ElemFunTrace ElemPrimBase pTrace1 POINTER TO ElemFunTrace ElemPrimBase dR LREAL The radius vC SM3M.SMC_VECTOR3D The center in local coordinates dPhiStart LREAL The starting angle dApexByLength LREAL The (signed) apex divided by the arc length. This value does not change if the element is cut. This information is essential if the element is cut to length zero. dHelixDistByLength LREAL The (signed) helix distance divided by the arc length. This value does not change if the element is cut. This information is essential if the element is cut to length zero. K_local SM3M.SMC_Matrix3 The local coordinate system of the arc, expressed in MCS
AxisGroup ¶ AXIS_GROUP_REF_SM3 (FunctionBlock)
AXIS_GROUP_REF_SM3 (FB) ¶ FUNCTION_BLOCK AXIS_GROUP_REF_SM3 IMPLEMENTS SMC_IAxisGroup Represents an axis group. The axis group is the central handle referenced by all motion and administrative function blocks. An axis group consists of references to the grouped axes, several transformations (kinematics, product coordinate system, …) and several internal state variables.
Diagnostics ¶ MC_GroupReadActualAcceleration (FunctionBlock) MC_GroupReadActualPosition (FunctionBlock) MC_GroupReadActualVelocity (FunctionBlock) MC_GroupReadConfiguration (FunctionBlock) MC_GroupReadError (FunctionBlock) MC_GroupReadStatus (FunctionBlock) MC_ReadCoordinateTransform (FunctionBlock) MC_ReadKinTransform (FunctionBlock) SMC_GroupAddOffset (FunctionBlock) SMC_GroupConvertPosition (FunctionBlock) SMC_GroupGetContinuePosition (FunctionBlock) SMC_GroupGetContinueToolOffset (FunctionBlock) SMC_GroupReadPathAcceleration (FunctionBlock) SMC_GroupReadPathDynamics (FunctionBlock) SMC_GroupReadPathVelocity (FunctionBlock) SMC_GroupReadPlanningStatistics (FunctionBlock) SMC_GroupReadPositionInMovement (FunctionBlock) SMC_GroupReadRemainingTrajectoryDuration (FunctionBlock) SMC_GroupReadSetAcceleration (FunctionBlock) SMC_GroupReadSetJerk (FunctionBlock) SMC_GroupReadSetPosition (FunctionBlock) SMC_GroupReadSetVelocity (FunctionBlock) SMC_GroupTargetPosition (FunctionBlock) SMC_ReadKinTransformForAxis (FunctionBlock)
MC_GroupReadActualAcceleration (FB) ¶ FUNCTION_BLOCK MC_GroupReadActualAcceleration This function block returns the current acceleration of an axis group in the selected coordinate system. This is an administrative FB, since no movement is generated. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Input Enable BOOL Get the acceleration of the axis group in the selected coordinate system while enabled CoordSystem SMC_COORD_SYSTEM Applicable coordinate system Output Valid BOOL TRUE if valid outputs are available Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification Acceleration SMC_POS_REF Current acceleration of the group. If a cartesian coordinate system is selected, Acceleration.c contains the cartesian acceleration: (X,Y,Z) is the acceleration vector in u/s², (A,B,C) is the angular acceleration around the x, y, z axis in °/s².