ENCODER_REF_SM3 (FB)

FUNCTION_BLOCK ENCODER_REF_SM3 EXTENDS AXIS_REF_MAPPING_SM3

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	wAxisStructID	WORD	16#FE12		AXIS_REF_SM3
	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	AXIS_REF_SM3
	bRegulatorOn	BOOL	FALSE	Parameter number: 1010	AXIS_REF_SM3
	bDriveStart	BOOL	FALSE	Parameter number: 1011	AXIS_REF_SM3
	bCommunication	BOOL	FALSE	TRUE: Communication OK Parameter number: 1012	AXIS_REF_SM3
	wCommunicationState	WORD	16#FFFF	Parameter number: 1013	AXIS_REF_SM3
	uiDriveInterfaceError	UINT		Drive interface error number Parameter number: 1014	AXIS_REF_SM3
	bRegulatorRealState	BOOL	FALSE	Parameter number: 1015	AXIS_REF_SM3
	bDriveStartRealState	BOOL	FALSE	Parameter number: 1016	AXIS_REF_SM3
	wDriveId	WORD	0	Parameter number: 1021	AXIS_REF_SM3
	iOwner	INT	0	Parameter number: 1022	AXIS_REF_SM3
	iNoOwner	INT	0	Parameter number: 1023	AXIS_REF_SM3
	fCycleTimeSpent	LREAL		Parameter number: 1024	AXIS_REF_SM3
	fTaskCycle	LREAL	0.005	Parameter number: 1025	AXIS_REF_SM3
	bError	BOOL	FALSE	Parameter number: 1030	AXIS_REF_SM3
	dwErrorID	DWORD	0	Parameter number: 1031	AXIS_REF_SM3
	bErrorAckn	BOOL	FALSE	Parameter number: 1032	AXIS_REF_SM3
	bDisableErrorLogging	BOOL	FALSE	Parameter number: 1036	AXIS_REF_SM3
	fbeFBError	ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR		Parameter number: 1035	AXIS_REF_SM3
	dwRatioTechUnitsDenom	DWORD	1	Parameter number 1051	AXIS_REF_SM3
	iRatioTechUnitsNum	DINT	1	Parameter number 1052	AXIS_REF_SM3
	nDirection	MC_Direction	positive	Parameter number 1053	AXIS_REF_SM3
	fScalefactor	LREAL	1	Parameter number 1054	AXIS_REF_SM3
	fFactorVel	LREAL	1	Parameter number 1055	AXIS_REF_SM3
	fFactorAcc	LREAL	1	Parameter number: 1056	AXIS_REF_SM3
	fFactorTor	LREAL	1	Parameter number: 1057	AXIS_REF_SM3
	fFactorJerk	LREAL	1	Factor jerk Parameter number: 1058	AXIS_REF_SM3
	fFactorCur	LREAL	1	Parameter number: 1059	AXIS_REF_SM3
	iMovementType	INT	1	Parameter number: 1060	AXIS_REF_SM3
	fPositionPeriod	LREAL	1000	Parameter number: 1061	AXIS_REF_SM3
	eRampType	SMC_RAMPTYPE	trapez	Parameter number: 1062	AXIS_REF_SM3
	byControllerMode	BYTE	SMC_position	Parameter number:1091	AXIS_REF_SM3
	byRealControllerMode	BYTE	SMC_position	Parameter number: 1092	AXIS_REF_SM3
	fSetPosition	LREAL	0	Parameter number: 1100, 1	AXIS_REF_SM3
	fActPosition	LREAL	0	Parameter number: 1101	AXIS_REF_SM3
	fAimPosition	LREAL	0	Parameter number: 1105	AXIS_REF_SM3
	fMarkPosition	LREAL	0	Parameter number: 1106	AXIS_REF_SM3
	fSavePosition	LREAL	0	Parameter number: 1107	AXIS_REF_SM3
	fSetVelocity	LREAL	0	Parameter number: 1110, 11	AXIS_REF_SM3
	fActVelocity	LREAL	0	Parameter number: 1111, 10	AXIS_REF_SM3
	fMaxVelocity	LREAL	0	Maximum velocity of the drive (remote parameter) in [u/s] Parameter number: 1112,9	AXIS_REF_SM3
	fSWMaxVelocity	LREAL	0	Maximum velocity (software limit) in [u/s] Parameter number: 1113	AXIS_REF_SM3
	bConstantVelocity	BOOL	FALSE	Parameter number: 1115	AXIS_REF_SM3
	fMarkVelocity	LREAL	0	Parameter number: 1116, 9	AXIS_REF_SM3
	fSaveVelocity	LREAL	0	Parameter number: 1117	AXIS_REF_SM3
	fSetAcceleration	LREAL	0	Parameter number: 1120	AXIS_REF_SM3
	fActAcceleration	LREAL	0	Parameter number: 1121	AXIS_REF_SM3
	fMaxAcceleration	LREAL	0	Maximum acceleration of the drive (remote parameter) in [u/s²] Parameter number: 1122, 13	AXIS_REF_SM3
	fSWMaxAcceleration	LREAL	0	Maximum acceleration (software limit) in [u/s²] Parameter number: 1123	AXIS_REF_SM3
	bAccelerating	BOOL	FALSE	Parameter number: 1125	AXIS_REF_SM3
	fMarkAcceleration	LREAL	0	Parameter number: 1126	AXIS_REF_SM3
	fSaveAcceleration	LREAL	0	Parameter number: 1127	AXIS_REF_SM3
	fMaxDeceleration	LREAL	0	Maximum deceleration of the drive (remote parameter) in [u/s²] Parameter number: 1132, 15	AXIS_REF_SM3
	fSWMaxDeceleration	LREAL	0	Maximum deceleration (software limit) in [u/s²] Parameter number: 1133	AXIS_REF_SM3
	bDecelerating	BOOL	FALSE	Parameter number: 1135	AXIS_REF_SM3
	fSaveDeceleration	LREAL	0	Parameter number: 1137	AXIS_REF_SM3
	fSetJerk	LREAL	0	Parameter number: 1140	AXIS_REF_SM3
	fActJerk	LREAL	0	Parameter number: 1141	AXIS_REF_SM3
	fMaxJerk	LREAL	0	Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16	AXIS_REF_SM3
	fSWMaxJerk	LREAL	0	Maximum jerk (software limit) in [u/s³] Parameter number: 1143	AXIS_REF_SM3
	fRampJerk	LREAL	100000	Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144	AXIS_REF_SM3
	fMarkJerk	LREAL	0	Parameter number: 1146	AXIS_REF_SM3
	fSaveJerk	LREAL	0	Parameter number: 1147	AXIS_REF_SM3
	fSetCurrent	LREAL	0	Parameter number: 1150	AXIS_REF_SM3
fActCurrent	LREAL	0	Parameter number: 1151	AXIS_REF_SM3
fMaxCurrent	LREAL	100	Maximum current in [A] Parameter number: 1152	AXIS_REF_SM3
fSWMaxCurrent	LREAL	0	Maximum user defined current in [A] Parameter number: 1153	AXIS_REF_SM3
fSetTorque	LREAL	0	Parameter number: 1153	AXIS_REF_SM3
fActTorque	LREAL	0	Actual torque in [Nm] or [N] (linear), actual value Parameter number: 1161	AXIS_REF_SM3
fMaxTorque	LREAL	0	Parameter number: 1162	AXIS_REF_SM3
fSWLimitPositive	LREAL	0	Position limit in positive direction in [u] Parameter number: 1200, 2	AXIS_REF_SM3
fSWLimitNegative	LREAL	0	Position limit in negative direction in [u] Parameter number: 1201, 3	AXIS_REF_SM3
usiSWEndSwitchState	USINT	0	Parameter number: 1204	AXIS_REF_SM3
bSWLimitEnable	BOOL	FALSE	Parameter number: 1205	AXIS_REF_SM3
bHWLimitEnable	BOOL	FALSE	Parameter number: 1206	AXIS_REF_SM3
bStartReference	BOOL	FALSE	Parameter number: 1210	AXIS_REF_SM3
fReference	LREAL	0	Parameter number: 1211	AXIS_REF_SM3
bStartReferenceRealState	BOOL	FALSE	Parameter number: 1212	AXIS_REF_SM3
fOffsetPosition	LREAL	0	Parameter number: 1215	AXIS_REF_SM3
dwPosOffsetForResiduals	DWORD	0	Parameter number: 1230	AXIS_REF_SM3
dwOneTurn	DWORD	0	Parameter number: 1231	AXIS_REF_SM3
dwLastPosition	DWORD	0	Parameter number: 1232	AXIS_REF_SM3
bySwitchingState	SMC_SWITCHING_STATE	SMC_ST_INITIALIZING	Parameter number: 1233	AXIS_REF_SM3
iRestNumerator	DINT	0	Parameter number: 1234	AXIS_REF_SM3
iTurn	INT	0	Parameter number: 1235	AXIS_REF_SM3
dwPosOffsetForResidualsHoming	DWORD	0	Parameter number: 1237	AXIS_REF_SM3
dwActPosition	DWORD	0	Parameter number: 1238	AXIS_REF_SM3
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	AXIS_REF_SM3
dwBusModuloMask	DWORD	16#FFFFFFFF	The value (2^k - 1) where k is the bus bit depth. Parameter number ?	AXIS_REF_SM3
eBrakeControl	SMC3_BrakeSetState	SMC_BRAKE_AUTO	Parameter number: 1017	AXIS_REF_SM3
bBrakeClosedRealState	BOOL	FALSE	Parameter number: 1018	AXIS_REF_SM3
bOldError	BOOL		Parameter number: 1033	AXIS_REF_SM3
bVirtual	BOOL		TRUE: Virtual drive. Parameter number: 1040	AXIS_REF_SM3
bLogical	BOOL		Parameter number: 1041	AXIS_REF_SM3
fSetActTimeLagCycles	LREAL	3	Parameter number: 1070	AXIS_REF_SM3
diSetPosition	DINT	0	Parameter number: 1108	AXIS_REF_SM3
diActPosition	DINT	0	Parameter number: 1109	AXIS_REF_SM3
diSetVelocity	DINT	0	Parameter number: 1118	AXIS_REF_SM3
diActVelocity	DINT	0	Parameter number: 1119	AXIS_REF_SM3
diSetAcceleration	DINT	0	Parameter number: 1128	AXIS_REF_SM3
diActAcceleration	DINT	0	Parameter number: 1129	AXIS_REF_SM3
diSetCurrent	DINT	0	Parameter number: 1158	AXIS_REF_SM3
diActCurrent	DINT	0	Parameter number: 1159	AXIS_REF_SM3
diSetTorque	DINT	0	Parameter number: 1168	AXIS_REF_SM3
diActTorque	DINT	0	Parameter number: 1169	AXIS_REF_SM3
fSWLimitDeceleration	LREAL	0	Deceleration in [u/s²] with which the system will brake in case of a software limit. Parameter number: 1203	AXIS_REF_SM3
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	AXIS_REF_SM3
fSWErrorMaxDistance	LREAL	0	Distance in which the drive has to reach standstill after an error has occurred. Parameter number: 1250	AXIS_REF_SM3
eCheckPositionLag	SMC3_CheckPositionLagMode	0	Parameter number: 1207	AXIS_REF_SM3
fMaxPositionLag	LREAL		Parameter number: 1208	AXIS_REF_SM3
bPositionLagActive	BOOL		Parameter number: 1209	AXIS_REF_SM3
bModuloDoneByDrive	BOOL		Parameter number: 1242	AXIS_REF_SM3
diFollowingError	DINT		Parameter number: 1243	AXIS_REF_SM3
fFollowingError	LREAL		Parameter number: 1244	AXIS_REF_SM3
aCaptDesc	ARRAY [0..7] OF SMC3_CaptureDescription		Parameter number: 1400	AXIS_REF_SM3
bRestarting	BOOL	FALSE		AXIS_REF_SM3
xPersistentDataLoaded	BOOL	FALSE		AXIS_REF_SM3
strDriveInterfaceError	STRING			AXIS_REF_SM3
adatAcyclic	ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel			AXIS_REF_SM3
iLastSinSquareOwner	INT	-3	Internal: Last owner that constructed a sin² trajectory.	AXIS_REF_SM3
bSetValuesModifiedByMoveSuperimposed	BOOL		Internal: MC_MoveSuperImposed active	AXIS_REF_SM3
vMinRequiredVersion	VERSION		The minimum version of SM3_Basic that the driver requires.	AXIS_REF_SM3
iRampType1	SMC_TG_IRAMPTYPE		Instance of ramp type interface, used for Robotics, acceleration ramp	AXIS_REF_SM3
iRampType2	SMC_TG_IRAMPTYPE		Instance of ramp type interface, used for Robotics, deceleration ramp	AXIS_REF_SM3
Output	strDriver	STRING(16)			AXIS_REF_SM3
Output	dwDriverVersion	DWORD			AXIS_REF_SM3