AXIS_REF_SM3 (FB)

FUNCTION_BLOCK AXIS_REF_SM3 IMPLEMENTS DED.IDevice2, IAxisRef

The function block serves as drive interface containing routines serving as drivers. Every SoftMotion axis is an extended instance of this function block.

Note

Every motion-generating function block or, more generally, a function block having a VAR_IN_OUT of type AXIS_REF_SM3 needs to be called in the bus cycle task of the drive device represented by this AXIS_REF_SM3.

InOut:

Scope	Name	Type	Initial	Comment
Input	wAxisStructID	WORD	16#FE12
	nAxisState	SMC_AXIS_STATE	power_off	State of the axis according to the PLCopen state diagram: 0: power_off 1: errorstop 2: stopping 3: standstill 4: discrete_motion 5: continuous_motion 6: synchronized_motion 7: homing Parameter number: 1000
	bRegulatorOn	BOOL	FALSE	Parameter number: 1010
	bDriveStart	BOOL	FALSE	Parameter number: 1011
	bCommunication	BOOL	FALSE	TRUE: Communication OK Parameter number: 1012
	wCommunicationState	WORD	16#FFFF	Parameter number: 1013
	uiDriveInterfaceError	UINT		Drive interface error number Parameter number: 1014
	bRegulatorRealState	BOOL	FALSE	Parameter number: 1015
	bDriveStartRealState	BOOL	FALSE	Parameter number: 1016
	wDriveId	WORD	0	Parameter number: 1021
	iOwner	INT	0	Parameter number: 1022
	iNoOwner	INT	0	Parameter number: 1023
	fCycleTimeSpent	LREAL		Parameter number: 1024
	fTaskCycle	LREAL	0.005	Parameter number: 1025
	bError	BOOL	FALSE	Parameter number: 1030
	dwErrorID	DWORD	0	Parameter number: 1031
	bErrorAckn	BOOL	FALSE	Parameter number: 1032
	bDisableErrorLogging	BOOL	FALSE	Parameter number: 1036
	fbeFBError	ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR		Parameter number: 1035
	dwRatioTechUnitsDenom	DWORD	1	Parameter number 1051
	iRatioTechUnitsNum	DINT	1	Parameter number 1052
	nDirection	MC_Direction	positive	Parameter number 1053
	fScalefactor	LREAL	1	Parameter number 1054
	fFactorVel	LREAL	1	Parameter number 1055
	fFactorAcc	LREAL	1	Parameter number: 1056
	fFactorTor	LREAL	1	Parameter number: 1057
	fFactorJerk	LREAL	1	Factor jerk Parameter number: 1058
	fFactorCur	LREAL	1	Parameter number: 1059
	iMovementType	INT	1	Parameter number: 1060
	fPositionPeriod	LREAL	1000	Parameter number: 1061
	eRampType	SMC_RAMPTYPE	trapez	Parameter number: 1062
	byControllerMode	BYTE	SMC_position	Parameter number:1091
	byRealControllerMode	BYTE	SMC_position	Parameter number: 1092
	fSetPosition	LREAL	0	Parameter number: 1100, 1
	fActPosition	LREAL	0	Parameter number: 1101
	fAimPosition	LREAL	0	Parameter number: 1105
	fMarkPosition	LREAL	0	Parameter number: 1106
	fSavePosition	LREAL	0	Parameter number: 1107
	fSetVelocity	LREAL	0	Parameter number: 1110, 11
	fActVelocity	LREAL	0	Parameter number: 1111, 10
	fMaxVelocity	LREAL	0	Maximum velocity of the drive (remote parameter) in [u/s] Parameter number: 1112,9
	fSWMaxVelocity	LREAL	0	Maximum velocity (software limit) in [u/s] Parameter number: 1113
	bConstantVelocity	BOOL	FALSE	Parameter number: 1115
	fMarkVelocity	LREAL	0	Parameter number: 1116, 9
	fSaveVelocity	LREAL	0	Parameter number: 1117
	fSetAcceleration	LREAL	0	Parameter number: 1120
	fActAcceleration	LREAL	0	Parameter number: 1121
	fMaxAcceleration	LREAL	0	Maximum acceleration of the drive (remote parameter) in [u/s²] Parameter number: 1122, 13
	fSWMaxAcceleration	LREAL	0	Maximum acceleration (software limit) in [u/s²] Parameter number: 1123
	bAccelerating	BOOL	FALSE	Parameter number: 1125
	fMarkAcceleration	LREAL	0	Parameter number: 1126
	fSaveAcceleration	LREAL	0	Parameter number: 1127
	fMaxDeceleration	LREAL	0	Maximum deceleration of the drive (remote parameter) in [u/s²] Parameter number: 1132, 15
	fSWMaxDeceleration	LREAL	0	Maximum deceleration (software limit) in [u/s²] Parameter number: 1133
	bDecelerating	BOOL	FALSE	Parameter number: 1135
	fSaveDeceleration	LREAL	0	Parameter number: 1137
	fSetJerk	LREAL	0	Parameter number: 1140
	fActJerk	LREAL	0	Parameter number: 1141
	fMaxJerk	LREAL	0	Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16
	fSWMaxJerk	LREAL	0	Maximum jerk (software limit) in [u/s³] Parameter number: 1143
	fRampJerk	LREAL	100000	Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144
	fMarkJerk	LREAL	0	Parameter number: 1146
	fSaveJerk	LREAL	0	Parameter number: 1147
	fSetCurrent	LREAL	0	Parameter number: 1150
fActCurrent	LREAL	0	Parameter number: 1151
fMaxCurrent	LREAL	100	Maximum current in [A] Parameter number: 1152
fSWMaxCurrent	LREAL	0	Maximum user defined current in [A] Parameter number: 1153
fSetTorque	LREAL	0	Parameter number: 1153
fActTorque	LREAL	0	Actual torque in [Nm] or [N] (linear), actual value Parameter number: 1161
fMaxTorque	LREAL	0	Parameter number: 1162
fSWLimitPositive	LREAL	0	Position limit in positive direction in [u] Parameter number: 1200, 2
fSWLimitNegative	LREAL	0	Position limit in negative direction in [u] Parameter number: 1201, 3
usiSWEndSwitchState	USINT	0	Parameter number: 1204
bSWLimitEnable	BOOL	FALSE	Parameter number: 1205
bHWLimitEnable	BOOL	FALSE	Parameter number: 1206
bStartReference	BOOL	FALSE	Parameter number: 1210
fReference	LREAL	0	Parameter number: 1211
bStartReferenceRealState	BOOL	FALSE	Parameter number: 1212
fOffsetPosition	LREAL	0	Parameter number: 1215
dwPosOffsetForResiduals	DWORD	0	Parameter number: 1230
dwOneTurn	DWORD	0	Parameter number: 1231
dwLastPosition	DWORD	0	Parameter number: 1232
bySwitchingState	SMC_SWITCHING_STATE	SMC_ST_INITIALIZING	Parameter number: 1233
iRestNumerator	DINT	0	Parameter number: 1234
iTurn	INT	0	Parameter number: 1235
dwPosOffsetForResidualsHoming	DWORD	0	Parameter number: 1237
dwActPosition	DWORD	0	Parameter number: 1238
dwBusBandWidth	DWORD	0	The bus band width, 0 if the bus has 32 bit, 2^k otherwise where 0 < k < 32 is the bus bit depth. Parameter number: 1240
dwBusModuloMask	DWORD	16#FFFFFFFF	The value (2^k - 1) where k is the bus bit depth. Parameter number ?
eBrakeControl	SMC3_BrakeSetState	SMC_BRAKE_AUTO	Parameter number: 1017
bBrakeClosedRealState	BOOL	FALSE	Parameter number: 1018
bOldError	BOOL		Parameter number: 1033
bVirtual	BOOL		TRUE: Virtual drive. Parameter number: 1040
bLogical	BOOL		Parameter number: 1041
fSetActTimeLagCycles	LREAL	3	Parameter number: 1070
diSetPosition	DINT	0	Parameter number: 1108
diActPosition	DINT	0	Parameter number: 1109
diSetVelocity	DINT	0	Parameter number: 1118
diActVelocity	DINT	0	Parameter number: 1119
diSetAcceleration	DINT	0	Parameter number: 1128
diActAcceleration	DINT	0	Parameter number: 1129
diSetCurrent	DINT	0	Parameter number: 1158
diActCurrent	DINT	0	Parameter number: 1159
diSetTorque	DINT	0	Parameter number: 1168
diActTorque	DINT	0	Parameter number: 1169
fSWLimitDeceleration	LREAL	0	Deceleration in [u/s²] with which the system will brake in case of a software limit. Parameter number: 1203
xWaitForHaltWhenStopInterruptsHome	BOOL		TRUE: When MC_Home is interrupted by MC_Stop, then``MC_Stop.bDone`` is delayed until the drive reports that it has successfully halted. bStartReferenceRealState = FALSE Parameter number: 1213
fSWErrorMaxDistance	LREAL	0	Distance in which the drive has to reach standstill after an error has occurred. Parameter number: 1250
eCheckPositionLag	SMC3_CheckPositionLagMode	0	Parameter number: 1207
fMaxPositionLag	LREAL		Parameter number: 1208
bPositionLagActive	BOOL		Parameter number: 1209
bModuloDoneByDrive	BOOL		Parameter number: 1242
diFollowingError	DINT		Parameter number: 1243
fFollowingError	LREAL		Parameter number: 1244
aCaptDesc	ARRAY [0..7] OF SMC3_CaptureDescription		Parameter number: 1400
bRestarting	BOOL	FALSE
xPersistentDataLoaded	BOOL	FALSE
strDriveInterfaceError	STRING
adatAcyclic	ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel
iLastSinSquareOwner	INT	-3	Internal: Last owner that constructed a sin² trajectory.
bSetValuesModifiedByMoveSuperimposed	BOOL		Internal: MC_MoveSuperImposed active
vMinRequiredVersion	VERSION		The minimum version of SM3_Basic that the driver requires.
iRampType1	SMC_TG_IRAMPTYPE		Instance of ramp type interface, used for Robotics, acceleration ramp
iRampType2	SMC_TG_IRAMPTYPE		Instance of ramp type interface, used for Robotics, deceleration ramp
Output	strDriver	STRING(16)
Output	dwDriverVersion	DWORD

CAA Device Diagnosis
- AXIS_REF_SM3.CheckCurrentSupportedCommunicationState (METH)
- AXIS_REF_SM3.CheckSupportedCommunicationState (METH)
- AXIS_REF_SM3.GetDeviceErrorAsync (METH)
- AXIS_REF_SM3.GetDeviceInfo (METH)
- AXIS_REF_SM3.GetDeviceState (METH)
- AXIS_REF_SM3.GetSpecificDeviceErrorAsync (METH)
- AXIS_REF_SM3.GetSpecificDeviceState (METH)
- INode
  - AXIS_REF_SM3.ChildNodeCount (PROP)
  - AXIS_REF_SM3.Connector (PROP)
  - AXIS_REF_SM3.Enable (PROP)
  - AXIS_REF_SM3.FirstChildNode (PROP)
  - AXIS_REF_SM3.Index (PROP)
  - AXIS_REF_SM3.IsRootNode (PROP)
  - AXIS_REF_SM3.NextSiblingNode (PROP)
  - AXIS_REF_SM3.ParentNode (PROP)
  - AXIS_REF_SM3.SiblingNodeCount (PROP)
- AXIS_REF_SM3.IsDeviceDiagInitialized (PROP)
- AXIS_REF_SM3.SetCommunicationState (METH)

Help functions
- AXIS_REF_SM3.SMC3_DetectDriveError (ACT)
- AXIS_REF_SM3.SkipNextInputUpdate (ACT)
- AXIS_REF_SM3.SkipNextOutputUpdate (ACT)