Axis_REF_CAN_SML (FB) ¶ FUNCTION_BLOCK Axis_REF_CAN_SML EXTENDS Axis_REF_SML Base driver for all axes connected via CAN. 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 Axis_REF_SML eSetOpmode SML_OPMODE The set opmode, parameter 2000 Axis_REF_SML eActOpmode SML_OPMODE The actual opmode, parameter 2001 Axis_REF_SML bRegulatorOn BOOL Regulator (power) on/off, parameter 1010 Axis_REF_SML bDriveStart BOOL Deactivate ( TRUE ) or activate ( FALSE ) software halt/quickstop, parameter 1011 Axis_REF_SML bCommunication BOOL Whether communication is OK, parameter 1012 Axis_REF_SML wCommunicationState WORD 16#FFFF The state of the communication state machine, parameter 1013 Axis_REF_SML uiDriveInterfaceError UINT Drive interface error number, parameter 1014 Axis_REF_SML strDriveInterfaceError STRING Axis_REF_SML bRegulatorRealState BOOL Effective state of the power stage of the axis, parameter 1015 Axis_REF_SML bDriveStartRealState BOOL Effective state of the software halt/quickstop of the axis ( TRUE : deactivated, FALSE : activated), parameter 1016 Axis_REF_SML bError BOOL Axis error, parameter 1030 Axis_REF_SML bErrorAckn BOOL Acknowledge error (fault reset), parameter 1032 Axis_REF_SML dwRatioTechUnitsDenom DWORD The number of increments [inc] that correspond to iRatioTechUnits units, parameter 1051 Axis_REF_SML iRatioTechUnitsNum DINT The number of technical units [u] that correspond to dwRatioTechUnitsDenom increments, parameter 1052 Axis_REF_SML fScalefactor LREAL The factor by which the position in [u] is multiplied to convert to axis units, [inc/u], parameter 1054 Axis_REF_SML 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. Axis_REF_SML 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. Axis_REF_SML iMovementType SML_MovementType The movement type: SML_MT_MODULO or SML_MT_FINITE , parameter 1060 Axis_REF_SML fModuloPeriodU LREAL Length of a modulo period in [u], parameter 1061 Axis_REF_SML eRampType SML_RAMPTYPE Velocity ramp type, parameter 1062 Axis_REF_SML fActPosition LREAL Actual position in [u], only needed for modulo axes, parameter 1101 Axis_REF_SML diActPosition DINT Actual position in [inc], only needed for modulo axes, parameter 1109 Axis_REF_SML rpHomeOffset SML_RmtPrm The home offset in [u], parameter 1211 Axis_REF_SML dwModuloOffsetInt DWORD Offset of start of closest modulo period, integral part, parameter 1230 Axis_REF_SML udiModuloPeriodIncInt UDINT Length of a modulo period in [inc], integral part, parameter 1231 Axis_REF_SML udiModuloPeriodIncNum UDINT Length of a modulo period in [inc], numerator of fractional part, parameter 1234 Axis_REF_SML udiModuloOffsetNum UDINT Offset of start of closest modulo period, numerator of fractional part, parameter 1235 Axis_REF_SML bNewSetPoint BOOL Tells the axis that a new set point has been given, only used in position mode, parameter 2010 Axis_REF_SML bRelativeSetPoint BOOL Tells the axis whether the set point is relative, only used in position mode, parameter 2011 Axis_REF_SML bStartHoming BOOL Tells the axis to start homing, only used in homing mode, parameter 2012 Axis_REF_SML bHalt BOOL Tells the axis to halt using a quick stop, used in all modes, parameter 2013 Axis_REF_SML bSetPointAck BOOL Set if the new set point has been acknowledged, only used in position mode, parameter 2020 Axis_REF_SML bTargetReached BOOL Set if the target is reached, only set in position and homing mode, parameter 2021 Axis_REF_SML bInVelocity BOOL Set if it has reached the commanded velocity, only set in velocity mode, parameter 2022 Axis_REF_SML bHomingDone BOOL Set if homing has been performed successfully (implies bTargetReached), only set in homing mode, parameter 2023 Axis_REF_SML bErrorInOperation BOOL Set if an error occured, used in all modes, parameter 2024 Axis_REF_SML rpTargetPosDist SML_RmtPrm The target position or distance in [u], parameter 2030 Axis_REF_SML rpTargetVelocity SML_RmtPrm The target velocity in [u/s], used in velocity mode, parameter 2040 Axis_REF_SML rpProfileVelocity SML_RmtPrm The profile velocity in [u/s], used in position mode, parameter 2050 Axis_REF_SML rpProfileAcceleration SML_RmtPrm The profile acceleration in [u/s²], parameter 2060 Axis_REF_SML rpProfileDeceleration SML_RmtPrm The profile deceleration in [u/s²], parameter 2070 Axis_REF_SML rpQuickStopDeceleration SML_RmtPrm The deceleration for a quick stop in [u/s²], parameter 2090 Axis_REF_SML fModuloOffsetInc LREAL The modulo offset in increments, built from dwModuloOffsetInt and udiModuloOffsetNum , parameter 2100 Axis_REF_SML bInvertHomeOffset BOOL Whether the home offset is inverted when writing it to or reading it from the drive, parameter 2200 Axis_REF_SML 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. Axis_REF_SML 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. Axis_REF_SML usiLogicalDevice USINT The 0-based logical device index (6000) Axis_REF_SML Methods: CommunicationStateMachine GetMappedAxisParameter GetParamType Structure: CommunicationStateMachine (Method) Parameters GetMappedAxisParameter (Method) GetParamType (Method)
