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)