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
SMC_RAMPTYPE (ENUM) ¶ TYPE SMC_RAMPTYPE : InOut: Name Initial trapez 0 sinsquare 1 quadratic_ramp 2 quadratic_smooth_ramp 3
SMC_SWITCHING_STATE (ENUM) ¶ TYPE SMC_SWITCHING_STATE : InOut: Name Initial SMC_ST_SWITCHED_OFF 0 SMC_ST_SWITCHING_ON 1 SMC_ST_SWITCHED_ON 2 SMC_ST_SWITCHING_OFF 3 SMC_ST_UNEXPECTED_SWITCHED_OFF 4 SMC_ST_HOMING 5 SMC_ST_INITIALIZING 255
SMC_BacklashCompensation (FB) ¶ FUNCTION_BLOCK SMC_BacklashCompensation This function block can be used to compensate the backlash which arises for example at a belt drive or in a gear-box. For this purpose a (usually virtual) master axis gets mirrored on the real slave axis, whose backlash should be compensated. The function block works similar to a phasing function block, the phase depends on the direction of the master axis. If the master axis starts in a certain direction, the slave axis does the same plus an additional movement (distance: fBacklash ) in this direction; if the master axis inverts, the slave axis also turns around and additionally covers the double distance fBacklash in this new direction. Take care that the master axis and the slave axis are at the same position when the module starts working, because otherwise the slave axis would be positioned on the master axis. InOut: Scope Name Type Initial Comment Inout Master AXIS_REF_SM3 Reference to master axis Slave AXIS_REF_SM3 Reference to slave axis Input bExecute BOOL Rising edge: Starts the execution of the function block. It stays active until the slave axis gets interrupted by another movement, or if an error occurs. fBacklash LREAL Distance/Backlash to be compensated. fCompensationVel LREAL Additional velocity, which should be used for the compensation. fCompensationAcc LREAL Additional acceleration, which should be used for the compensation. fCompensationDec LREAL Additional deceleration, which should be used for the compensation. fCompensationJerk LREAL Additional jerk, which should be used for the compensation. eBacklashMode SMC_BACKLASH_MODE SMC_BL_AUTO The mode of backlash compensation. SMC_BL_AUTO : Direction in which the master axis moves; determines the compensation direction. SMC_BL_POSITIVE : Compensation in positive direction, independent on the movement of the master axis. SMC_BL_NEGATIVE : Compensation in negative direction, independent on the movement of the master axis. SMC_BL_OFF : No compensation eBacklashStartState SMC_BACKLASH_STARTSTATE SMC_BL_START_NONE The start condition of the axis. SMC_BL_START_NEGATIVE : 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_POSITIVE : The slave axis is under traction in positive direction, that is: a movement in positive direction needs no compensation; in case of a movement in negative direction the double fBacklash -distance will be made up. SMC_BL_START_NONE : The slave axis is not under traction; a movement in positive or negative direction will cause a corresponding compensating movement of distance fBacklash . Output bBusy BOOL TRUE : Execution of the function block is not finished yet. bCommandAborted BOOL TRUE : Command has been aborted by another command. bError BOOL TRUE : Error has occured within the function block. iErrorID SMC_ERROR Error identification bCompensating BOOL TRUE : While compensating a backlash.
SMC_GetOverride (FB) ¶ FUNCTION_BLOCK SMC_GetOverride This function block returns the velocity, acceleration and jerk override factors of an axis. InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Reference to the axis Input Enable BOOL TRUE : The override factors are read continuously Output Valid BOOL TRUE : The override factors are read successfully Busy BOOL TRUE : Function block is in operation Error BOOL TRUE : Error has occurred during execution ErrorID SMC_ERROR Error identification VelFactor LREAL The override factor for the velocity AccFactor LREAL The override factor for the acceleration/deceleration JerkFactor LREAL The override factor for the jerk