SMC3_ETC ¶ CoE SMC3_ETC_ReadParameter_CoE (FunctionBlock) SMC3_ETC_WriteParameter_CoE (FunctionBlock) visu templates
CoE ¶ SMC3_ETC_ReadParameter_CoE (FunctionBlock) SMC3_ETC_WriteParameter_CoE (FunctionBlock)
SMC3_ETC_ReadParameter_CoE (FB) ¶ FUNCTION_BLOCK SMC3_ETC_ReadParameter_CoE This function block allows to read CANopen over EtherCAT (CoE) objects of a SoftMotion axis. InOut: Scope Name Type Comment Input xExecute BOOL Starts reading on a rising edge xAbort BOOL Aborts an ongoing read request uiIndex UINT The object index, e.g. 16#6061 usiSubIndex USINT The object subindex, e.g. 0 Inout Axis AXIS_REF_ETC_SM3 The SoftMotion axis. Output xDone BOOL Whether the read request has terminated successfully xBusy BOOL Whether the read request is still in progress xError BOOL Whether an error has occurred usiDataLength USINT The length of the data read in bytes (between 1 and 4) dwValue DWORD The value of the object. Only valid if xDone is TRUE. dwErrorCode DWORD The SDO abort code eError SMC3_ETC_CO_ERROR The error from the etherCAT stack
SMC3_ETC_WriteParameter_CoE (FB) ¶ FUNCTION_BLOCK SMC3_ETC_WriteParameter_CoE This function block allows to write CANopen over EtherCAT (CoE) objects of a SoftMotion axis. InOut: Scope Name Type Comment Input xExecute BOOL Starts writing on a rising edge xAbort BOOL Aborts an ongoing write request uiIndex UINT The object index, e.g. 16#6060 usiSubIndex USINT The object subindex, e.g. 0 usiDataLength USINT The length of the data to write in bytes (between 1 and 4) dwValue DWORD The value to write Inout Axis AXIS_REF_ETC_SM3 The SoftMotion axis. Output xDone BOOL Whether the write request has terminated successfully xBusy BOOL Whether the write request is still in progress xError BOOL Whether an error has occurred dwErrorCode DWORD The SDO abort code eError SMC3_ETC_CO_ERROR The error from the etherCAT stack
SMC_ETC_InterpolateAxisPosition (FUN) ¶ FUNCTION SMC_ETC_InterpolateAxisPosition : SMC_Error Determines the axis position at a given time. The time is given as a EtherCAT distributed clock (DC) system time. Note Only intended for timestamps during the past cycle. That means that the timestamp is expected to be in the range DcClockReference - TaskInterval … DcClockReference. DCClockReference is the time at which the EtherCAT frame reached the first slave with DC enabled. Outside this range, linear interpolation is used with decreasing accuracy. In the interval of the past cycle, the actual velocity is used if (and only if) it is transmitted by PDO. In this case, cubic interpolation is used, otherwise linear interpolation. For increased accuracy, transmitting the actual velocity is recommended. InOut: Scope Name Type Comment Inout Const Axis AXIS_REF_ETC_BASE_SM3 Input Timestamp_ns ULINT The timestamp at which the axis position is requested. This is the EtherCAT DC system time in nanoseconds, expected to be less than the timestamp at which the actual position of the axis has been latched. Return SMC_ETC_InterpolateAxisPosition SMC_Error Output Position LREAL The position of the axis at the given timestamp.
SMC3_Drive_Beckhoff_EL7031_ConfigurationPhase (FB) ¶ FUNCTION_BLOCK SMC3_Drive_Beckhoff_EL7031_ConfigurationPhase EXTENDS FB_Template_EdgeAbortTimeout InOut: Scope Name Type Input pAxis POINTER TO AXIS_REF_ETC_Beckhoff_EL7031 Methods: prv_Abort prv_CyclicAction prv_Start Structure: prv_Abort (Method) prv_CyclicAction (Method) prv_Start (Method)
SMC3_Drive_Beckhoff_EL7031_ConfigurationPhase.prv_Abort (METH) ¶ METHOD prv_Abort : BOOL InOut: Scope Name Type Return prv_Abort BOOL
SMC3_Drive_Beckhoff_EL7031_ConfigurationPhase.prv_CyclicAction (METH) ¶ METHOD prv_CyclicAction : BOOL InOut: Scope Name Type Return prv_CyclicAction BOOL
SMC3_Drive_Beckhoff_EL7031_ConfigurationPhase.prv_Start (METH) ¶ METHOD prv_Start : BOOL InOut: Scope Name Type Return prv_Start BOOL