SMC_TG_InterpolateableProfile.Duration (METH) ¶ METHOD Duration : LREAL InOut: Scope Name Type Return Duration LREAL

SMC_TG_InterpolateableProfile.Extrapolate (METH) ¶ METHOD PUBLIC Extrapolate Like Interpolate, but can also handle negative time values, and time values > duration. InOut: Scope Name Type Inout dyn SMC_TG_DynState Input fTime LREAL

SMC_TG_InterpolateableProfile.Interpolate (METH) ¶ METHOD Interpolate InOut: Scope Name Type Inout dyn SMC_TG_DynState Input fTime LREAL

SMC_TG_InterpolateableProfile.Profile_ATo0 (METH) ¶ METHOD Profile_ATo0 InOut: Scope Name Type Inout Const lim SMC_Q_LIMITS Input fV0_in LREAL fA0_in LREAL Output fDuration LREAL

SMC_TG_InterpolateableProfile.Profile_VA_1 (METH) ¶ METHOD Profile_VA_1 second part of trajectory-calculation without distance calculates ramp and writes: fRamp2Dur bRamp2IsOnePhase (fRamp2Jerk) ramp2 fQAfterRamp2 fVAfterRamp2 fQAfterCorrEnd fV1 InOut: Scope Name Type Inout Const lim SMC_Q_LIMITS Input fV1_in LREAL ramp SMC_TG_IRamp Output fDuration LREAL

SMC_TG_InterpolateableProfile.Reset (METH) ¶ METHOD Reset

SML_StartupDrive (FB) ¶ FUNCTION_BLOCK SML_StartupDrive Helper function block for commissioning. This function block contains the most used function blocks for commissioning like MC_Power_SML , MC_MoveVelocity_SML , MC_Home_SML , MC_ReadParameter_SML It comes with a visualization template that makes it very easy to use. InOut: Scope Name Type Comment Inout Axis AXIS_REF_SML Reference to the axis Output fActPosition LREAL The actual position of the axis [u], used in the visualization template.

Base ¶ Axis_REF_SML (FunctionBlock) Config ReadStandardConfigParameters (Method) ReinitAxis (Method) Error SML_ClearFBError (Function) SML_ErrorText (Function) SML_Language (Enum) SML_AXIS_STATE (Enum) SML_Constants (GVL) SML_ERROR (Enum) SML_FBError (Struct) SML_Globals (GVL) SML_MOVEMENTTYPE (Enum) SML_OPMODE (Enum) SML_Ramptype (Enum)

Axis_REF_SML (FB) ¶ FUNCTION_BLOCK Axis_REF_SML EXTENDS Axis_REF_Base_SML The Axis_REF_SML function block serves as the interface for all public function blocks that work on the axis. It contains the parameters and other members needed by every Axis_REF implementation. InOut: Scope Name Type Initial Comment Inherited from Input fbeFBError ARRAY [0..(g_SML_NUMBER_FB_ERRORS - 1)] OF SML_FBERROR FB error Id numbers, parameter 1035 Axis_REF_Base_SML nAxisState SML_AXIS_STATE The axis state, parameter 1000 eSetOpmode SML_OPMODE The set opmode, parameter 2000 eActOpmode SML_OPMODE The actual opmode, parameter 2001 bRegulatorOn BOOL Regulator (power) on/off, parameter 1010 bDriveStart BOOL Deactivate ( TRUE ) or activate ( FALSE ) software halt/quickstop, parameter 1011 bCommunication BOOL Whether communication is OK, parameter 1012 wCommunicationState WORD 16#FFFF The state of the communication state machine, parameter 1013 uiDriveInterfaceError UINT Drive interface error number, parameter 1014 strDriveInterfaceError STRING bRegulatorRealState BOOL Effective state of the power stage of the axis, parameter 1015 bDriveStartRealState BOOL Effective state of the software halt/quickstop of the axis ( TRUE : deactivated, FALSE : activated), parameter 1016 bError BOOL Axis error, parameter 1030 bErrorAckn BOOL Acknowledge error (fault reset), parameter 1032 dwRatioTechUnitsDenom DWORD The number of increments [inc] that correspond to iRatioTechUnits units, parameter 1051 iRatioTechUnitsNum DINT The number of technical units [u] that correspond to dwRatioTechUnitsDenom increments, parameter 1052 fScalefactor LREAL The factor by which the position in [u] is multiplied to convert to axis units, [inc/u], parameter 1054 fScalefactorVel LREAL The factor by which the velocity in [u/s] is multiplied to co convert to axis units, [?/u], parameter 1055. Built from fScalefactor (1054) and fConstVelFactor (2210) during initialization. May be overwritten by the user. fScalefactorAcc LREAL The factor by which the set acceleration is multiplied to co convert to axis units, [?/u], parameter 1056. Built from fScalefactor (1054) and fConstAccFactor (2220) during initialization. May be overwritten by the user. iMovementType SML_MovementType The movement type: SML_MT_MODULO or SML_MT_FINITE , parameter 1060 fModuloPeriodU LREAL Length of a modulo period in [u], parameter 1061 eRampType SML_RAMPTYPE Velocity ramp type, parameter 1062 fActPosition LREAL Actual position in [u], only needed for modulo axes, parameter 1101 diActPosition DINT Actual position in [inc], only needed for modulo axes, parameter 1109 rpHomeOffset SML_RmtPrm The home offset in [u], parameter 1211 dwModuloOffsetInt DWORD Offset of start of closest modulo period, integral part, parameter 1230 udiModuloPeriodIncInt UDINT Length of a modulo period in [inc], integral part, parameter 1231 udiModuloPeriodIncNum UDINT Length of a modulo period in [inc], numerator of fractional part, parameter 1234 udiModuloOffsetNum UDINT Offset of start of closest modulo period, numerator of fractional part, parameter 1235 bNewSetPoint BOOL Tells the axis that a new set point has been given, only used in position mode, parameter 2010 bRelativeSetPoint BOOL Tells the axis whether the set point is relative, only used in position mode, parameter 2011 bStartHoming BOOL Tells the axis to start homing, only used in homing mode, parameter 2012 bHalt BOOL Tells the axis to halt using a quick stop, used in all modes, parameter 2013 bSetPointAck BOOL Set if the new set point has been acknowledged, only used in position mode, parameter 2020 bTargetReached BOOL Set if the target is reached, only set in position and homing mode, parameter 2021 bInVelocity BOOL Set if it has reached the commanded velocity, only set in velocity mode, parameter 2022 bHomingDone BOOL Set if homing has been performed successfully (implies bTargetReached), only set in homing mode, parameter 2023 bErrorInOperation BOOL Set if an error occured, used in all modes, parameter 2024 rpTargetPosDist SML_RmtPrm The target position or distance in [u], parameter 2030 rpTargetVelocity SML_RmtPrm The target velocity in [u/s], used in velocity mode, parameter 2040 rpProfileVelocity SML_RmtPrm The profile velocity in [u/s], used in position mode, parameter 2050 rpProfileAcceleration SML_RmtPrm The profile acceleration in [u/s²], parameter 2060 rpProfileDeceleration SML_RmtPrm The profile deceleration in [u/s²], parameter 2070 rpQuickStopDeceleration SML_RmtPrm The deceleration for a quick stop in [u/s²], parameter 2090 fModuloOffsetInc LREAL The modulo offset in increments, built from dwModuloOffsetInt and udiModuloOffsetNum , parameter 2100 bInvertHomeOffset BOOL Whether the home offset is inverted when writing it to or reading it from the drive, parameter 2200 fConstVelFactor LREAL A constant factor multiplied to the velocity scale factor (parameter 1055), dimensionless. Example: the drive expects the velocity in inc/(64*s) instead of inc/s. Then this parameter should be set to 64. The value is only used during initialization to compute fScalefactorVel (1055). Parameter 2210. fConstAccFactor LREAL A constant factor multiplied to the acceleration scale factor (parameter 1056), dimensionless. Example: the drive expects the velocity in 16*inc/(s) instead of inc/s. Then this parameter should be set to 1/16. The value is only used during initialization to compute fScalefactorAcc (1056). Parameter 2220. usiLogicalDevice USINT The 0-based logical device index (6000) Methods: ReadStandardConfigParameters ReinitAxis Structure: Config ReadStandardConfigParameters (Method) ReinitAxis (Method)

Config ¶ ReadStandardConfigParameters (Method) ReinitAxis (Method)