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 opposize 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.

InOut:

Scope	Name	Type	Initial	Comment
Input	bExecute	BOOL	FALSE
	poqDataIn	POINTER TO SMC_OUTQUEUE	0
	bSlow_Stop	BOOL	FALSE
	bEmergency_Stop	BOOL	FALSE
	bWaitAtNextStop	BOOL	FALSE
	dOverride	LREAL	1
	iVelMode	SMC_INT_VELMODE	TRAPEZOID
	dwIpoTime	DWORD	0
	dLastWayPos	LREAL	0
	bAbort	BOOL	FALSE
	bSingleStep	BOOL	FALSE
	bAcknM	BOOL	FALSE
	bQuick_Stop	BOOL	FALSE
	dQuickDeceleration	LREAL	0
	dJerkMax	LREAL		The magnitude of the maximum allowed jerk, only used for quadratic velocity mode, in which case it must be positive. Cannot change while the interpolator is running.
	dQuickStopJerk	LREAL		The magnitude of the jerk used for a quick stop if the quadratic velocity mode is used. (The maximum of this value and dJerkMax is used)
	bStartAtEnd	BOOL
	bSuppressSystemMFunctions	BOOL		If this option is set, then the output wM will not be set for internal M-functions created by G75 or G4 commands.
Output	bEndOfPath	BOOL	FALSE
	bBusy	BOOL	FALSE
	bError	BOOL	FALSE
	wErrorID	SMC_ERROR	SMC_NO_ERROR
	piSetPosition	SMC_POSINFO
	iStatus	SMC_INT_STATUS	IPO_INIT
	bWorking	BOOL	FALSE
	iActObjectSourceNo	DINT	-1
	dVel	LREAL	0
	vecActTangent	SMC_VECTOR3D
	iLastSwitch	INT	0
	dwSwitches	DWORD	0
	dWayPos	LREAL
	nDirection	SMC_Direction
	wM	WORD

SMC_Interpolator2Dir.Interpolator2DirInit (ACT)