AXIS_REF_CAN_Schneider_Lexium05.wStatusWord (PROP) ¶ PROPERTY wStatusWord : WORD
SMC_SMOOTHPATHADDAXMODE (ENUM) ¶ TYPE SMC_SMOOTHPATHADDAXMODE : Mode for handling the additional axes by SMC_SmoothPath InOut: Name Comment SPAA_LATE Shift additional axes’ position to end position of inserted spline SPAA_BROAD Shift additional axes’ position at the first spline to start, at last spline to the end SPAA_NONE Do not consider additional axes SPAA_EVEN Distribute positions of additional axes proportional to element lengths SPAA_EXACT Cut ABC axes’ position functions like X/Y/Z and connect smoothly
AXIS_REF_CAN_Schneider_Lexium05.CommunicationStateMachine (METH) ¶ METHOD CommunicationStateMachine : BOOL InOut: Scope Name Type Return CommunicationStateMachine BOOL
LexiumDriveType (ENUM) ¶ TYPE LexiumDriveType : InOut: Name Comment SMC_Lexium05 SMC_LexiumSD3_28 SMC_Lexium15LP, SMC_Lexium15MP, SMC_Lexium32 SMC_LexiumUnknown SMC_LexiumSD3_18,
SMC_SMOOTHPATHMODE (ENUM) ¶ TYPE SMC_SMOOTHPATHMODE : Defines the element type applied for the smoothing of the axes. InOut: Name Comment SP_SPLINE3 This mode inserts a spline of 3rd order, with different length of tangents that define the spline. In case of SP_SPLINE3 , this length is dependent from the length of the neighbour object. SP_SPLINE5 This mode inserts a spline of 5th order. SP_SPLINE3_CV This mode inserts a spline of 3rd order, with different length of tangents that define the spline. In case of SP_SPLINE3_CV , this length is dependent from the length of the part of the neighbor object that has been cut off. In case of two adjacent line objects, SP_SPLINE3_CV will stay inside the convex hull of the original path. SP_SPLINE5_CV This 5th oder spline is similar with 3rd order case. There’s no guarantee that the curve will stay inside the convex hull. SP_SPLINE5_MIN_CURVATURE Blending with polynomial of 5th degree of minimum curvature
SMC3_CAN_Schneider_Lexium05 ¶ SMC3_CAN_Schneider_Lexium05_ConfigurationPhase (FunctionBlock) prv_Abort (Method) prv_CyclicAction (Method) prv_Start (Method) SMC3_CAN_Schneider_Lexium05_SpecificInputs (Struct) SMC3_CAN_Schneider_Lexium05_SpecificOutputs (Struct)
SMC3_CAN_Schneider_Lexium05_ConfigurationPhase (FB) ¶ FUNCTION_BLOCK SMC3_CAN_Schneider_Lexium05_ConfigurationPhase EXTENDS FB_Template_EdgeAbortTimeout InOut: Scope Name Type Comment Inherited from Input xExecute BOOL Rising edge: Starts action. Falling edge: Resets outputs. If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values ( xDone , xError , eError ) are present at the outputs for exactly one cycle. FB_Template_Edge Output xDone BOOL TRUE : Action has been successfully completed. FB_Template_Edge xBusy BOOL TRUE : Function block in operation. FB_Template_Edge xError BOOL TRUE : Error has occurred. Function block aborts action. FALSE : No error FB_Template_Edge eError WORD Local library error ID FB_Template_Edge Input xAbort BOOL TRUE : The action is stopped immediately and all outputs are reset to their initial values. FB_Template_EdgeAbort udiTimeOut UDINT The time (µs) after which an FB (e.g. requiring an external acknowledgement) aborts operation due to a timeout with error message. FB_Template_EdgeAbortTimeout pAxis POINTER TO AXIS_REF_CAN_Schneider_Lexium05 Methods: prv_Abort prv_CyclicAction prv_Start Structure: prv_Abort (Method) prv_CyclicAction (Method) prv_Start (Method)
SMC_Seg (STRUCT) ¶ TYPE SMC_Seg : STRUCT This structure is used internally by the SMC_Interpolator . It represents a path segment of fixed length in which a certain acceleration shape is used. InOut: Name Type Comment eType SMC_SEGMENTTYPE The type of the segment. dLength LREAL The length of the segment dVelStart LREAL The start velocity of the segment (non-negative) dVelEnd LREAL The end velocity of the segment (non-negative) dAccStart LREAL The start acceleration (signed) dAccEnd LREAL The end acceleration (signed) dJerk LREAL The jerk (signed), only used for changing acceleration
SMC3_CAN_Schneider_Lexium05_ConfigurationPhase.prv_Abort (METH) ¶ METHOD prv_Abort : BOOL InOut: Scope Name Type Return prv_Abort BOOL
SMC3_CAN_Schneider_Lexium05_ConfigurationPhase.prv_CyclicAction (METH) ¶ METHOD prv_CyclicAction : BOOL InOut: Scope Name Type Return prv_CyclicAction BOOL