EFeedbackSource (ENUM) ¶ TYPE EFeedbackSource : InOut: Name Resolver Encoder1 Encoder2
ParameterAccess ¶ ConvertReceivedDriveParameter (Function) ConvertTransmitDriveParameter (Function) GetMappedCaptureParameter (Function) GetMappedDriveParameter (Function) GetParamDirectValue (Function) SetParamDirectValue (Function)
SMC_TRAFO_GantryT2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_GantryT2 Reverse transformation for T-gantry systems with stationary drives. Note For detailed information on transformations see overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Input pi SMC_PosInfo Set target position vector (x,y), output of the interpolator. dOffsetX LREAL Additional offset for x-axis dOffsetY LREAL Additional offset for y-axis Output da LREAL Set target position of axis a db LREAL Set target position of axis b
SMC_TRAFO_GantryT2_O (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_GantryT2_O Reverse transformations of T-gantry systems with stationary drives (alternative drive configuration). Note For detailed information on transformations see overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Input pi SMC_PosInfo Set position (y,z) dOffsetX LREAL Additional offsets dOffsetY LREAL Additional offsets Output da LREAL Resulting position of drive a and b db LREAL Resulting position of drive a and b
Bipod_Arm ¶ SMC_TRAFOF_Bipod_Arm (FunctionBlock) SMC_TRAFO_Bipod_Arm (FunctionBlock)
SMC_TRAFOF_Bipod_Arm (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_Bipod_Arm The transformation computes the forward transformation of a bipod with two rotary axes. See SMC_TRAFO_Bipod_Arm for a description. Note For more information on the supported transformations, see the chapter on CNC transformations. InOut: Scope Name Type Initial Comment Input dArmLength1 LREAL Length of Arm1 connected to motor dArmLength2 LREAL Length of Arm2 from Arm1 to linked connection dDistance LREAL Distance of the two motors dOffsetA LREAL 0 Additional offset of axis A in SoftMotion units dOffsetB LREAL 0 Additional offset of axis B in SoftMotion units Output bError BOOL TRUE , if position is invalid dx LREAL X-position of manipulator dy LREAL Y-position of manipulator Inout DriveA AXIS_REF_SM3 Reference to axis A DriveB AXIS_REF_SM3 Reference to axis B
SMC_TRAFOF_Polar (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_Polar Forward transformation for 2-dim. Scara system Note For detailed information on transformation modules see overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Inout DriveR AXIS_REF_SM3 Reference to distance axis R DrivePhi AXIS_REF_SM3 Reference to direction axis Phi Input dOffsetR LREAL Additional offset for distance axis R in degree dOffsetPhi LREAL Additional offset for direction axis Phi in degree dmaxR LREAL Maximum value for distance axis R Output bError BOOL TRUE if values are invalid ( DriveR.fActPosition < 0 ) dx LREAL X-component of manipulator position in geo coordinates dy LREAL Y-component of manipulator position in geo coordinates dnx LREAL X-coordinate (in ]-1,1[ ) of normed position vector of manipulator (for visualization purpose) dny LREAL Y-coordinate (in ]-1,1[ ) of normed position vector of manipulator (for visualization purpose) dnr LREAL Standardised distance [0..1] for visualization
SMC_TRAFOF_Scara2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_Scara2 Forward transformation for 2-dim. Scara system. Note For detailed information on transformation modules see overview to SM_Trafo_POUs . InOut: Scope Name Type Initial Comment Inout DriveA AXIS_REF_SM3 Reference to axis A DriveB AXIS_REF_SM3 Reference to axis B Input dOffsetA LREAL 0 Additional offset for A-axis in degree (equivalent to SMC_TRAFO_SCARA2 ) dOffsetB LREAL 0 Additional offset for B-axis in degree (equivalent to SMC_TRAFO_SCARA2 ) dArmLength1 LREAL Arm length of first arm in t.u. dArmLength2 LREAL Arm length of second arm in t.u. Output bError BOOL TRUE , if position is invalid dx LREAL X-position of manipulator in geo coordinates dy LREAL Y-position of manipulator in geo coordinates dAlpha LREAL Drive position in degrees without offset (joint angle for visualization) dBeta LREAL Drive position in degrees without offset (joint angle for visualization) dpx LREAL X-coordinate (in ]-1,1[ ) of normed position vector of first joint (for visualization purpose) dpy LREAL Y-coordinate (in ]-1,1[ ) of normed position vector of first joint (for visualization purpose) dnx LREAL X-coordinate (in ]-1,1[ ) of normed position vector of manipulator (for visualization purpose) dny LREAL Y-coordinate (in ]-1,1[ ) of normed position vector of manipulator (for visualization purpose) dR1 LREAL Relative arm length (for visualization purpose) dR2 LREAL Relative arm length (for visualization purpose)
SMC_TRAFOF_Scara3 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_Scara3 The transformation module is provided to execute forward transformations of 3-jointed Scara systems Note For detailed information on transformation modules see overview to SM_Trafo_POUs . InOut: Scope Name Type Initial Comment Inout DriveA AXIS_REF_SM3 Reference to axis A DriveB AXIS_REF_SM3 Reference to axis B DriveC AXIS_REF_SM3 Reference to axis C Input dOffsetA LREAL 0 Additional offset for axis A in degree (equivalent to SMC_TRAFO_SCARA3 ) dOffsetB LREAL 0 Additional offset for axis B in degree (equivalent to SMC_TRAFO_SCARA3 ) dOffsetC LREAL 0 Additional offset for axis C in degree (equivalent to SMC_TRAFO_SCARA3 ) dArmLength1 LREAL Length of robot arm 1 in t.u. dArmLength2 LREAL Length of robot arm 2 in t.u. dArmLength3 LREAL Length of robot arm 3 in t.u. Output bError BOOL TRUE , if position is invalid dx LREAL X-Component of manipulator position in geo coordinates dy LREAL Y-Component of manipulator position in geo coordinates dAlpha LREAL Drive position without offset in degree (joint angle, for visualization) dBeta LREAL Drive position without offset in degree (joint angle, for visualization) dGamma LREAL Drive position without offset in degree (joint angle, for visualization) dpx LREAL X-coordinate (in ]-1,1[ ) of normed position vector of first joint (for visualization purpose) dpy LREAL Y-coordinate (in ]-1,1[ ) of normed position vector of first joint (for visualization purpose) dppx LREAL X-coordinate (in ]-1,1[ ) of normed position vector of second joint (for visualization purpose) dppy LREAL Y-coordinate (in ]-1,1[ ) of normed position vector of second joint (for visualization purpose) dnx LREAL X-coordinate (in ]-1,1[ ) of normed position vector of manipulator (for visualization purpose) dny LREAL Y-coordinate (in ]-1,1[ ) of normed position vector of manipulator (for visualization purpose) dR1 LREAL Relative arm length (for visualization purpose) dR2 LREAL Relative arm length (for visualization purpose) dR3 LREAL Relative arm length (for visualization purpose)
SMC_TRAFO_Polar (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_Polar Transformation for 2-dim. Scara system Note For detailed information on transformation modules see overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Input pi SMC_PosInfo Set position (x/y) dOffsetR LREAL Additional offset for distance axis R dOffsetPhi LREAL Additional offset of direction axis Phi in degree Output dR LREAL Position of distance axis R dPhi LREAL Position of direction axis Phi in degree