AXIS_REF_ETC_KEB_ITMotorB.ConvertTransmitDriveParameter (METH) ¶ METHOD ConvertTransmitDriveParameter : BOOL InOut: Scope Name Type Input diParameterNumber DINT fValue LREAL bUseDword BOOL pdwValue POINTER TO DWORD Return ConvertTransmitDriveParameter BOOL
AXIS_REF_ETC_KEB_ITMotorB.GetMappedDriveParameter (METH) ¶ METHOD GetMappedDriveParameter : BOOL InOut: Scope Name Type Input bRead BOOL diParameterNumber DINT Return GetMappedDriveParameter BOOL Output diDriveParameterNumber DINT usiDataLength USINT
AXIS_REF_ETC_KEB_ITMotorB.GetParamDirectValue (METH) ¶ METHOD GetParamDirectValue : BOOL InOut: Scope Name Type Input diParameterNumber DINT Return GetParamDirectValue BOOL Output dwValue DWORD fValue LREAL bUseDword BOOL
state machine ¶ CommunicationStateMachine (Method) DriveStateMachine (Method)
SMC_Interpolator2Dir (FB) ¶ FUNCTION_BLOCK FINAL SMC_Interpolator2Dir This function block is similar to function block SMC_Interpolator , regarding function and allocation of inputs and outputs, but it is able to interpolate a path also in the opposite direction. Reverse interpolation: If dOverride has a negative value, SMC_Interpolator2Dir interpolates in the opposite direction. For example, if this input is assigned to an analog velocity input of a hand wheel, you can move forward and backward with the desired velocity. The use of the function block depends on the following preconditions: If input bStartAtEnd is TRUE , the path has to be stored completely in structure poqDataIn . If the path does not fit completely, you can define how many elements of the queue are reserved for moving backward. ( SMC_QueueSetReservedEntries ) For example, if you want to move 10 elements backwards, you must reserve 13 (10 + 3) elements (three elements are reserved as a safety buffer). The queue needs to be large enough, because the reserved elements are no longer available for the look ahead. The use of SMC_Interpolator2Dir requires the additional call of SMC_Interpolator2Dir_SlowTask in a task with lower priority. See SMC_Interpolator for a description of all inputs and outputs. InOut: Scope Name Type Initial Input bExecute BOOL poqDataIn POINTER TO SMC_OUTQUEUE bSlow_Stop BOOL bEmergency_Stop BOOL bWaitAtNextStop BOOL dOverride LREAL 1 iVelMode SMC_INT_VELMODE TRAPEZOID dwIpoTime DWORD dLastWayPos LREAL bAbort BOOL bSingleStep BOOL bAcknM BOOL bQuick_Stop BOOL dQuickDeceleration LREAL 0 dJerkMax LREAL dQuickStopJerk LREAL bStartAtEnd BOOL bSuppressSystemMFunctions BOOL Output bEndOfPath BOOL bBusy BOOL bError BOOL wErrorID SMC_ERROR piSetPosition SMC_POSINFO iStatus SMC_INT_STATUS IPO_INIT bWorking BOOL iActObjectSourceNo DINT -1 dActObjectLength LREAL dActObjectLengthRemaining LREAL dVel LREAL vecActTangent SMC_VECTOR3D iLastSwitch INT dwSwitches DWORD dWayPos LREAL nDirection SMC_Direction wM WORD adToolLength ARRAY [0..2] OF LREAL ipo SMC_Interpolator Structure: Interpolator2DirInit (Action)
AXIS_REF_ETC_KEB_ITMotorB.CommunicationStateMachine (METH) ¶ METHOD CommunicationStateMachine : BOOL InOut: Scope Name Type Return CommunicationStateMachine BOOL
AXIS_REF_ETC_KEB_ITMotorB.DriveStateMachine (METH) ¶ METHOD DriveStateMachine : BOOL InOut: Scope Name Type Return DriveStateMachine BOOL
SMC_Interpolator2Dir_SlowTask (FB) ¶ FUNCTION_BLOCK SMC_Interpolator2Dir_SlowTask This FB is used for generating the reversed-path. It has been split off from SMC_Interpolator2Dir in order to be called from a task with lower priority. InOut: Scope Name Type Initial Comment Inout ipo2d SMC_Interpolator2Dir SMC_Interpolator2Dir-instance. Input dAngleTol LREAL 0 Angle tolerance for backward path. Typically the same as angle tolerance of SMC_CheckVelocities. nSizeOutQueue UDINT This variable contains the size of the data buffer the backward path shall be stored in. This buffer must be large enough to hold the complete path. pbyBufferOutQueue POINTER TO BYTE Pointer to the first byte of the memory area that is allocated for the backward path.
ENCODER_REF_ETC_KEB_ITMotorB.ConvertReceivedDriveParameter (METH) ¶ METHOD ConvertReceivedDriveParameter : BOOL InOut: Scope Name Type Input diParameterNumber DINT pdwValue POINTER TO DWORD usiBitLength USINT Return ConvertReceivedDriveParameter BOOL Output fValue LREAL bUseDword BOOL
ENCODER_REF_ETC_KEB_ITMotorB.ConvertTransmitDriveParameter (METH) ¶ METHOD ConvertTransmitDriveParameter : BOOL InOut: Scope Name Type Input diParameterNumber DINT fValue LREAL bUseDword BOOL pdwValue POINTER TO DWORD Return ConvertTransmitDriveParameter BOOL