|
iFrameNo
|
INT
|
0
|
In this variable additional information not relevant for the SoftMotion modules may be stored by the user.
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|
wAuxData
|
WORD
|
7
|
Bit by bit description of position axis to be calculated by the SMC_Interpolator. Its initialization with 2#111 causes the X, Y and Z axes to be interpolated. The first bit set will effect the calculation of the dX position, whereas the seventh bit for example will effect a processing of dA2.
|
|
wSProfile
|
WORD
|
0
|
Analogously to wAuxData, the value of wSProfile prescribes whether the additional axes, i.e. other than the X or Y axis, shall be interpolated in linear (FALSE) or sigmoid (S-) shape (TRUE) with constant jerk. Bit2 refers to the Z axis, Bit6 to P, Bit7 to Q, Bit8 to U, Bit9 to V and Bit10 to W.
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|
dX
|
LREAL
|
0
|
X-position in coordinate system
|
|
dY
|
LREAL
|
0
|
Y-position in coordinate system
|
|
dZ
|
LREAL
|
0
|
Z-position in coordinate system
|
|
dA
|
LREAL
|
0
|
Currently not used
|
|
dB
|
LREAL
|
0
|
Currently not used
|
|
dC
|
LREAL
|
0
|
Currently not used
|
|
dA1
|
LREAL
|
0
|
Position of additional axis P
|
|
dA2
|
LREAL
|
0
|
Position of additional axis Q
|
|
dA3
|
LREAL
|
0
|
Position of additional axis U
|
|
dA4
|
LREAL
|
0
|
Position of additional axis V
|
|
dA5
|
LREAL
|
0
|
Position of additional axis W
|
|
dA6
|
LREAL
|
0
|
Position of additional axis A6 (Cannot be programmed with G-code!)
|