AXIS_REF_ETC_Delta_ASDA_A3.CommunicationStateMachine (METH) ¶ METHOD CommunicationStateMachine : BOOL InOut: Scope Name Type Return CommunicationStateMachine BOOL
AXIS_REF_ETC_Delta_ASDA_A3.DriveStateMachine (METH) ¶ METHOD DriveStateMachine : BOOL InOut: Scope Name Type Return DriveStateMachine BOOL
File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 13.12.2023, 09:14:32 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Drive_ETC_Delta_ASDA_A3.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Drive_ETC_Delta_ASDA_A3.clean.json version version 2.0.0.0 ProjectInformation Released bool True LastModificationDateTime date 13.12.2023, 09:14:21 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP16 Description See: Description Placeholder SM3_Drive_ETC_Delta_ASDA_A3 Project SM3_Drive_ETC_Delta_ASDA_A3 Title SM3_Drive_ETC_Delta_ASDA_A3 Version version 4.16.0.0
SMC_NCInterpreter (FB) ¶ FUNCTION_BLOCK FINAL SMC_NCInterpreter This function block is used to interpret a CNC program (Din 66025, G-code). The program is converted into a list of SMC_GeoInfo objects and stored in a queue of type SMC_OutQueue . In each call, usually one line of the program is interpreted. This function block should be called in a separate task with a priority lower than the priority of the bus task. It should be called together with the function blocks for reading the G-Code (e.g. SMC_ReadNCFile2 ) and for pre-processing the path (e.g. SMC_CheckVelocities ). It can be called multiple times per cycle. Note The interpreter must be called in the same task as the function block that fills the SMC_GSentenceQueue (input sentences ). Usually, the sentences are provided by SMC_ReadNCFile2 , SMC_ReadNCFromStream , or SMC_NCTokenParser . The maximum number of M-functions in a row is 64. If the G-Code contains more than 64 M-functions in a row, the error SMC_DEC_OUTQUEUE_RAN_EMPTY occurs. This restriction can be circumvented by inserting a G75 previous to the first M-function of the sequence. G4-elements count as M-functions, too. InOut: Scope Name Type Initial Comment Inout sentences SMC_GSentenceQueue The input queue of g-code sentences Input bExecute BOOL Execution starts on the rising edge. bAbort BOOL If TRUE , the current processing of this function block is aborted bAppend BOOL If TRUE , a rising edge of bExecute won’t lead to a reset of the out-queue. Instead, newly incoming data will be written to the end of the out-queue. piStartPosition SMC_POSINFO Start position of the path. Only the position of the axes (piStartPosition.dX/dY/dZ/dA/dB/dC/dA1/…/dA6) is used, the other members of piStartPosition are ignored. vStartToolLength SMC_Vector3d Start tool length. nSizeOutQueue UDINT This variable contains the size of the data buffer, the list of SMC_GEOINFO structure objects will be written to. This buffer must be able to hold at least five SMC_GEOINFO objects. Otherwise, the function block will not execute any actions at all. Its size may be predefined, but may be modified later only during a reset. It is recommended to create the buffer as described by the example below: ExampleBuf: Array[1..50] of SMC_GeoInfo; The appropriate buffer size will then be retrieved by use of the operator sizeof(ExampleBuf) . pbyBufferOutQueue POINTER TO ARRAY [0..0] OF SMC_GEOINFO This input must point to the first byte of the memory area that is allocated for the SMC_OUTQUEUE structure. This area must be at least as big as defined in nSizeOutQueue . Typically the allocation of the memory buffer is done in the declaration part of the IEC-program by defining an array of SMC_GEOINFO (e.g. BUF: ARRAY[1..50] OF SMC_GEOINFO ; for a buffer that can store 50 path elements). The value may be predefined, but may be modified later on only during a reset. bEnableSyntaxChecks BOOL TRUE Turns on syntax checks that will detect invalid G-code and stop with an error in this case. It is recommended to use the syntax checks. eOriConv SMC_ORI_CONVENTION SMC_ORI_CONVENTION.ADDAXES Defines the way the orientation in the A/B/C words is interpreted. For movement commands (such as G01, G02, …), the value determines how A/B/C are treated. For values other than SMC_ORI_CONVENTION .``ADDAXES``, the angles A/B/C may be normalized, even if no coordinate rotation has been programmed. For example with orientation convention ZYZ, a programmed orientation of A=90° B=0° C=0° may result in the (equivalent) rotation A=0° B=0° C=90° in the path element. For commands that set the decoder coordinate system (G54/G55/G56), the value determines how the coordinates A/B/C are treated. If the value is SMC_ORI_CONVENTION .``ADDAXES``, then A/B/C are treated as independent additional axes, for which offsets are set. For all other values, A/B/C are treated as an orientation, and the decoder coordinate system is rotated accordingly. Note If used with tool correction functions such as SMC_ToolLengthCorr , the same orientation convention has to be used there. dCircleTolerance LREAL Tolerance to decide whether the definition of a circle makes sense. case definition via target-position and radius: If the distance between start- and end-position (both projected onto the circle plane) is greater than 2 * the radius + MAX(fCircleTolerance, 1e-06) , the circle will be converted into a line. case definition via target- and center-position: Let x be the maximum of the distance between start- and center-position and the distance between target- and center-position (projecting everything onto the circle plane). If those distances differ by more than MAX(fCircleTolerance, 0.1 * x) , the circle will be converted into a line. pInterpreterStack POINTER TO BYTE Allows to supply a buffer for the interpreter stack. If 0, a default buffer of size 10240 Bytes is used. If <> 0, the given buffer will be used. This input is read each cycle. nInterpreterStackSizeBytes UDINT The size of the buffer pointed to by pInterpreterStack. Note that the size needs to be at least 1024 Bytes. dPrecision LREAL The precision of the path in technical units. This value indicates the precision of the positions read from the G-Code. For example, if the G-Code is given with 3 places after the decimal point, the precision should be set to 1e-3 units. The precision must be non-negative. The precision value is used for example by path preprocessors like SMC_ToolRadiusCorr and SMC_AvoidLoop . Output bDone BOOL This variable will be set to TRUE as soon as the input data has been processed completely. The function block will not perform any further actions until it gets reset. bBusy BOOL TRUE , while execution of function block is not finished. bError BOOL Signals that an error has occurred within the function block. wErrorID SMC_ERROR Error identification errorPos SMC_NC_SourcePosition The source-position where an error has been detected. poqDataOut POINTER TO SMC_OUTQUEUE Pointer to the SMC_OUTQUEUE structure that manages the decoded SMC_GEOINFO objects. iStatus SMC_DEC_STATUS The current status. iLineNumberDecoded DINT The variable contains the 0-based line number of the CNC file. GCodeText SMC_GCODE_TEXT The G-Code text of the current line. CallstackInfo SMC_NCCallstackInfo Information about the callstack of the current G-Code line. Used by SMC_DisplayNCCallstack . aActivePrograms ARRAY [0..(SoftMotion_NC2_Constants.IPR_CALLSTACK_SIZE - 1)] OF STRING The currently active programs and subprograms. aActivePrograms[0] holds the name of the (sub)program that is currently interpreted. If it is a sub-program, then aActivePrograms[1] holds the name of the calling (sub)program and so on. The list of active programs is terminated by an empty string. Methods: GetDCS Structure: GetDCS (Method)
Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. SM3_Basic ¶ Library Identification ¶ Placeholder: SM3_Basic Default Resolution: SM3_Basic, * (CODESYS) Namespace: SM3_Basic Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Basic SM3_Drive_CiA_DSP402 ¶ Library Identification ¶ Placeholder: SM3_Drive_CiA_DSP402 Default Resolution: SM3_Drive_CiA_DSP402, * (CODESYS) Namespace: SM3_Drive_CiA_DSP402 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_CiA_DSP402 SM3_Drive_ETC ¶ Library Identification ¶ Placeholder: SM3_Drive_ETC Default Resolution: SM3_Drive_ETC, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_ETC Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_ETC SM3_Drive_ETC_DS402_CyclicSync ¶ Library Identification ¶ Placeholder: SM3_Drive_ETC_DS402_CyclicSync Default Resolution: SM3_Drive_ETC_DS402_CyclicSync, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_ETC_DS402_CyclicSync Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_ETC_DS402_CyclicSync Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard
SMC_NC_IStackAddressResolver (ITF) ¶ INTERFACE SMC_NC_IStackAddressResolver Methods: GetAddress Structure: GetAddress (Method)
SM3_Drive_ETC_Delta_ASDA_B3 Library Documentation ¶ Company : CODESYS Title : SM3_Drive_ETC_Delta_ASDA_B3 Version : 4.16.0.0 Categories : Intern|SoftMotion Author : CODESYS Development GmbH Placeholder : SM3_Drive_ETC_Delta_ASDA_B3 Description [ 1 ] ¶ SoftMotion driver for Delta ASDA B3 over ETC Contents: ¶ AXIS_REF_Delta_ASDA_B3_Configuration_Phase (FunctionBlock) prv_Abort (Method) prv_CyclicAction (Method) prv_Start (Method) AXIS_REF_ETC_Delta_ASDA_B3 (FunctionBlock) DriverName (Property) DriverVersion (Property) ParameterAccess ReadAndProcessSpecificInput (Method) state-machine Indices and tables ¶ [ 1 ] Based on SM3_Drive_ETC_Delta_ASDA_B3.library, last modified 13.12.2023, 09:14:58. LibDoc 4.4.0.0-b.37 The content file SM3_Drive_ETC_Delta_ASDA_B3.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 13.12.2023, 09:15:11.
Parser ¶ Expressions Functions SMC_NC_GArgument (Struct) SMC_NC_GArgumentValue (Union) SMC_NC_GFunction (Struct) SMC_NC_GFunctionTable (Struct) SMC_NC_IFunction (Interface) Call (Method) GetSignature (Method) SMC_NCTokenParser (FunctionBlock) SMC_NC_SourcePosition (Struct) SymbolTable SMC_GVarType_ToString (Function) SMC_INCSymbolTable (Interface) GetSubprogramSignature (Method) LookupGlobalVar (Method) StoreSubprogramSignature (Method) SMC_NCSymbolResult (Enum) SMC_NCSymbolTable (FunctionBlock) GetSubprogramSignature (Method) LookupGlobalVar (Method) SetSubprogramError (Method) StoreSubprogramSignature (Method) SMC_NC_SubSignature (Struct)
AXIS_REF_Delta_ASDA_B3_Configuration_Phase (FB) ¶ FUNCTION_BLOCK AXIS_REF_Delta_ASDA_B3_Configuration_Phase 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_ETC_Delta_ASDA_B3 Methods: prv_Abort prv_CyclicAction prv_Start Structure: prv_Abort (Method) prv_CyclicAction (Method) prv_Start (Method)
SMC_ReadNCQueue (FB) ¶ FUNCTION_BLOCK SMC_ReadNCQueue This FB is used for files created with Codesys V2.3; To write the queue to a file or to read the queue from a file: the FBs SMC_WriteQueueToFile and SMC_ReadQueueFromFile from SM3_Debug library can be used. This function block will read an SMC_OUTQUEUE file, which has been created by the CNC editor, from the PLC file system and provide an OutQueue structure, which typically is processed by the decoder. InOut: Scope Name Type Initial Comment Input bExecute BOOL FALSE Rising edge: Starts execution. While TRUE , the function block stays active sFileName STRING(255) ‘’ File path pBuffer POINTER TO BYTE Pointer on a sufficiently large, free data area (buffer) that is allocated in the IEC application. dwBufferSize DWORD 0 Size of the buffer in byte Output bDone BOOL FALSE TRUE , if execution finished sucessfully. bBusy BOOL FALSE TRUE , while execution of function block is not finished bError BOOL FALSE Signals, that an error has occurred within the function block ErrorID SMC_ERROR 0 Error identification poqDataOut POINTER TO SMC_OUTQUEUE Pointer on queue that has been read in. iObjectsRead UDINT 0 Number of SMC_GEOINFO objects, which have been read and written to the queue up to now. Structure: CloseFile (Action)