SMC_BACKLASH_STARTSTATE (ENUM) ¶ TYPE SMC_BACKLASH_STARTSTATE : Describes the status of the axis at the time when backlash compensation module starts. InOut: Name Initial Comment SMC_BL_START_NEGATIVE -1 The slave axis is under traction in negative direction, that is: a movement in negative direction needs no compensation; in case of a movement in positive direction the double fBacklash distance will be made up. SMC_BL_START_NONE 0 The slave axis is not under traction; a movement in positive or negative direction will cause a corresponding compensating movement of distance fBacklash . SMC_BL_START_POSITIVE 1 The slave axis is under traction in positive direction, that is: a movement in positive direction needs no compensation; in case if a movement in negative direction the double fBacklash distance will be made up.
SMC_HOMING_MODE (ENUM) ¶ TYPE SMC_HOMING_MODE : Defines the homing sequence. Used in function block SMC_Homing . InOut: Name Initial Comment FAST_BSLOW_S_STOP 0 Move with fast velocity onto the reference switch; invert and move with slow velocity out of the reference switch; execute “set position”; stop FAST_BSLOW_STOP_S 1 Move with fast velocity onto the reference switch; invert and move with slow velocity out of the reference switch; stop; execute “set position” FAST_BSLOW_I_S_STOP 2 Move with fast velocity onto the reference switch; invert and move with slow velocity out of the reference switch; wait for the index pulse; execute “set position”; stop FAST_SLOW_S_STOP 4 Move with fast velocity onto the reference switch; move with slow velocity out of the reference switch; execute “set position”; stop FAST_SLOW_STOP_S 5 Move with fast velocity onto the reference switch; move with slow velocity out of the reference switch; stop; execute “set position” FAST_SLOW_I_S_STOP 6 Move with fast velocity onto the reference switch; move with slow velocity out of the reference switch; wait for the index pulse; execute “set position”; stop
SMC_TA (STRUCT) ¶ TYPE SMC_TA : STRUCT This STRUCT defines one point on the trajectory defined by MC_TA_REF and consists of a pair of time and acceleration values. InOut: Name Type Initial Comment delta_time TIME TIME#0ms Period of time between reaching the last and the current point acceleration LREAL 0 (Absolute-/relative-)acceleration at this point
SMC_TP (STRUCT) ¶ TYPE SMC_TP : STRUCT This STRUCT defines one point on the trajectory defined by MC_TP_REF and consists of a pair of time and position values. InOut: Name Type Initial Comment delta_time TIME TIME#0ms Period of time between reaching the last and the current point position LREAL 0 (Absolute-/relative-)position at this point
SMC_TV (STRUCT) ¶ TYPE SMC_TV : STRUCT This STRUCT defines one point on the trajectory defined by MC_TV_REF and consists of a pair of time and velocity values. InOut: Name Type Initial Comment delta_time TIME TIME#0ms Period of time between reaching the last and the current point. velocity LREAL 0 (Absolute/Relative) velocity at this point
DriveInterface ¶ AXIS_REF AXIS_REF_SM3 (FunctionBlock) CAA-Device-Diagnosis CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceErrorAsync (Method) GetDeviceInfo (Method) GetDeviceState (Method) GetSpecificDeviceErrorAsync (Method) GetSpecificDeviceState (Method) INode ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property) IsDeviceDiagInitialized (Property) SetCommunicationState (Method) GetActValuesForCycle (Method) GetSetValuesForCycle (Method) Help-functions SMC3_DetectDriveError (Action) SkipNextInputUpdate (Method) SkipNextOutputUpdate (Method) WriteSetValues (Method) IAxisRef (Interface) GetAxisRefPointer (Method) SMC3_ReinitDrive (FunctionBlock) SMC_AxisChangeSettings (FunctionBlock) SMC_AxisReadSettings (FunctionBlock) 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_MAPPING AXIS_REF_MAPPING_SM3 (FunctionBlock) AXIS_REF_VIRTUAL AXIS_REF_VIRTUAL_SM3 (FunctionBlock) ENCODER_REF ENCODER_REF_SM3 (FunctionBlock) FREE_ENCODER_REF FREE_ENCODER_REF (FunctionBlock)
SMC3_ParamCommunicationMethod_Enum (ENUM) ¶ TYPE SMC3_ParamCommunicationMethod_Enum : InOut: Name SMC3_PCM_AXIS_REF_PARAM SMC3_PCM_DRIVE_PARAM
SMC_AXIS_STATE (ENUM) ¶ TYPE SMC_AXIS_STATE : Possible axis states according to PLCopen Note 1 : From any state. An error in the axis has occured. Note 2 : From any state. MC_Power .Enable = FALSE . There is no error in the axis. Note 3 : MC_Reset and MC_Power .Status = FALSE Note 4 : MC_Reset and MC_Power .Status = TRUE and MC_Power .Enable = TRUE Note 5 : MC_Power .Enable = TRUE and MC_Power .Status = TRUE Note 6 : MC_Stop .Done = TRUE and MC_Stop .Execute = FALSE InOut: Name Initial Comment power_off 0 PLCopen calls this state: “Disabled” errorstop 1 stopping 2 standstill 3 discrete_motion 4 continuous_motion 5 synchronized_motion 6 homing 7
SMC_AXIS_TYPE (ENUM) ¶ TYPE SMC_AXIS_TYPE : The type (finite or modulo) of SoftMotion axes. Attributes: qualified_only InOut: Name Initial modulo 0 finite 1
SMC_CONTROLLER_MODE (ENUM) ¶ TYPE SMC_CONTROLLER_MODE : This ENUM describes the mode in which the motor is controlled. InOut: Name Initial Comment SMC_nocontrol 0 nocontrol: SoftMotion does not send cyclic data to the drive, making it possible to control the drive by other means. SMC_torque 1 Torque-mode SMC_velocity 2 Velocity-mode SMC_position 3 Position-mode SMC_current 4 Current-mode