MC_HaltSuperImposed (FB) ¶ FUNCTION_BLOCK FINAL MC_HaltSuperImposed Halts any superimposed movement of the axis. The underlying movement is not aborted. The function block MC_HaltSuperImposed must be called after the function block of the original movement. If a movement command is called after MC_HaltSuperImposed , the error SMC_MSI_INVALID_EXECUTION_ORDER is returned. An active instance of MC_HaltSuperImposed can be aborted by a second instance of MC_HaltSuperImposed . An active instance can also be aborted by the same instance when it is called with a new rising edge on the input Execute . If no superimposed movement is active when this function block is called, it reports done in immediately. The Deceleration and Jerk inputs are additional values (not absolute values), which are added to the original movement. The original function block will always complete its movement within the same duration and with no consideration for any instance of MC_HaltSuperImposed acting at the same time. InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Reference to the axis Input Execute BOOL A rising edge starts the function block. Deceleration LREAL Maximum deceleration of the superimposed movement Jerk LREAL Maximum jerk of the superimposed movement Output Done BOOL TRUE : Superimposed movement has been halted. Busy BOOL TRUE : Function block is in operation. CommandAborted BOOL TRUE : Execution has been interrupted by another function block instance operating on Axis . Error BOOL TRUE : Error has occurred. ErrorID SMC_ERROR Error identification
MC_Home (FB) ¶ FUNCTION_BLOCK MC_Home MC_Home causes the axis to perform the “search home” sequence. The details of this sequence are manufacturer dependent and can be set by the axis parameters. The Position input is used to set the absolute position when a reference signal is detected. The function block terminates with standstill . Note This function block does not support forecasts that are set up by SMC_SetForecast . InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Input Execute BOOL Rising edge: Starts the execution of the function block. Position LREAL Absolute position when the reference signal is detected [u]. Output Done BOOL TRUE : standstill has been achieved. Busy BOOL TRUE : Execution of function block has not been finished. CommandAborted BOOL TRUE : Command has been aborted by another command. Error BOOL TRUE : Error has occurred within the function block. ErrorID SMC_ERROR Error identification
MC_Jog (FB) ¶ FUNCTION_BLOCK MC_Jog MC_Jog causes a continuous motion on the axis. InOut: Scope Name Type Initial Comment Inout Axis AXIS_REF_SM3 Reference to axis Input JogForward BOOL TRUE : Axis is moved with the specified dynamic values Velocity , Acceleration , Deceleration and Jerk in a positive direction. No motion is executed if JogBackward is TRUE at the same time. JogBackward BOOL TRUE : Axis is moved with the specified dynamic values Velocity , Acceleration , Deceleration and Jerk in a negative direction. No motion is executed if JogForward is TRUE at the same time. Velocity LREAL Velocity in [u/s] Acceleration LREAL Acceleration in [u/s²] Deceleration LREAL Deceleration in [u/s²] Jerk LREAL Jerk in [u/s³] Output Busy BOOL FALSE TRUE : Function block is in operation during an active motion after JogForward or JogBackward has been set. FALSE : Axis has been decelerated to velocity value zero after JogForward or JogBackward has been set to FALSE . CommandAborted BOOL FALSE TRUE : Execution is interrupted by another function block instance operating on Axis . CommandAborted remains set as long as JogForward or JogBackward has been set but for at least one cycle`. Error BOOL TRUE : Error has occurred while JogForward or JogBackward has been set for at least one cycle. ErrorId SMC_Error Error identification
Parameter access ¶ MC_ReadBoolParameter (FunctionBlock) MC_ReadParameter (FunctionBlock) MC_WriteBoolParameter (FunctionBlock) MC_WriteParameter (FunctionBlock) SMC_ParameterNumber_CoE (Function) SMC_ParameterNumber_SoE (Function)
MC_ReadBoolParameter (FB) ¶ FUNCTION_BLOCK MC_ReadBoolParameter MC_ReadBoolParameter returns the value of the SoftMotion parameter specified in input ParameterNumber . The boolean variable Value contains the read value. InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Reference to axis Input Enable BOOL TRUE : Enables the execution of the function block. While TRUE , the output value provides the parameter value continuously for reading out. ParameterNumber DINT You can find a description of the most used parameter numbers in AXIS_REF_SM3 . Negative values are fieldbus specific parameters. See SMC_ParameterNumber_CoE and SMC_ParameterNumber_SoE to translate fieldbus object identifiers to parameter numbers. Output Valid BOOL TRUE : Specified parameter is available. Busy BOOL TRUE : Execution of the function block has not finished yet. Error BOOL TRUE : Error has occurred during execution. ErrorID SMC_ERROR Error identification Value BOOL Boolean value of the parameter specified in input``ParameterNumber``.
MC_ReadParameter (FB) ¶ FUNCTION_BLOCK MC_ReadParameter MC_ReadParameter returns the value of the SoftMotion parameter specified in input ParameterNumber . If necessary, the returned variable Value will be converted to LREAL . InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Reference to axis Input Enable BOOL TRUE : Enables the execution of the function block. While TRUE , the output value provides the parameter value continuously for reading out. ParameterNumber DINT You can find a description of the most used parameter numbers in AXIS_REF_SM3 . Negative values are fieldbus specific parameters. See SMC_ParameterNumber_CoE and SMC_ParameterNumber_SoE to translate fieldbus object identifiers to parameter numbers. Output Valid BOOL TRUE : Parameter is available. Busy BOOL TRUE : Execution of the function block has not been finished yet. Error BOOL TRUE : Error has occurred during execution. ErrorID SMC_ERROR Error identification Value LREAL Value of the parameter specified in input``ParameterNumber``.
MC_WriteBoolParameter (FB) ¶ FUNCTION_BLOCK MC_WriteBoolParameter MC_WriteBoolParameter writes the value of the SoftMotion parameter specified in ParameterNumber . The boolean variable Value contains the value for writing. InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Reference to axis Input Execute BOOL Rising edge: starts the execution of MC_WriteBoolParameter . ParameterNumber DINT You can find a description of the most used parameter numbers in AXIS_REF_SM3 . Negative values are fieldbus specific parameters. See SMC_ParameterNumber_CoE and SMC_ParameterNumber_SoE to translate fieldbus object identifiers to parameter numbers. Value BOOL Boolean value to be written. Output Done BOOL TRUE : Parameter has been written successfully. Busy BOOL TRUE : Execution of the function block has not been finished. Error BOOL TRUE : Error has occurred during execution. ErrorID SMC_ERROR Error identification
MC_WriteParameter (FB) ¶ FUNCTION_BLOCK MC_WriteParameter MC_WriteParameter writes the value of the SoftMotion parameter specified in ParameterNumber . InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Reference to axis Input Execute BOOL Rising edge: starts the execution of MC_WriteParameter . ParameterNumber DINT You can find a description of the most used parameter numbers in AXIS_REF_SM3 . Negative values are fieldbus specific parameters. See SMC_ParameterNumber_CoE and SMC_ParameterNumber_SoE to translate fieldbus object identifiers to parameter numbers. Value LREAL Output Done BOOL TRUE : Parameter has been written successfully. Busy BOOL TRUE : Execution of the function block has not been finished. Error BOOL TRUE : Error has occurred during execution. ErrorID SMC_ERROR Error identification
SMC_ParameterNumber_CoE (FUN) ¶ FUNCTION SMC_ParameterNumber_CoE : DINT This function translates from a CANopen object index/subindex pair to a SoftMotion parameter number that can be used with function blocks like MC_ReadParameter , MC_ReadBoolParameter , MC_WriteParameter , and MC_WriteBoolParameter . InOut: Scope Name Type Comment Input index UINT The object index, e.g. 16#6061 subIndex USINT The object subindex, e.g. 0 dataLength USINT The data length in bytes (1, 2, or 4). Only used when writing a parameter. Return SMC_ParameterNumber_CoE DINT
SMC_ParameterNumber_SoE (FUN) ¶ FUNCTION SMC_ParameterNumber_SoE : DINT This function translates from a SoE (servodrive over EtherCAT) object (IDN + element) to a SoftMotion parameter number that can be used with function blocks like MC_ReadParameter , MC_ReadBoolParameter , MC_WriteParameter , and MC_WriteBoolParameter . InOut: Scope Name Type Comment Input IDN UINT The IDN element USINT 2: Name, 3: Attribute, 4: Unit, 5: Minimum, 6: Maximum, 0 or 7: Value dataLength USINT The data length in bytes (1, 2, or 4). Only used when writing a parameter. Return SMC_ParameterNumber_SoE DINT