Administrative Function Blocks

Administrative function blocks are used to query information or change specific settings. However, they never trigger a movement.

A physical drive (referred to as a drive from here on) is represented in CODESYS SoftMotion by the software object AXIS_REF_SM3 (referred to as an axis from here on). Depending on the administrative function block being used, execution takes place either on the drive, on the axis, or on both.

Function Blocks
MC_Power	Controls the power stage of the drive
MC_Reset	Resets axis errors and drive errors
MC_SetPosition	Shifts the coordinate system of the axis to any value; for example, this can be helpful for referencing.
SMC3_BrakeControl	Controls the mechanical brake when the drive supports this function
SMC3_BrakeStatus	Reads the current status of the mechanical brake
SMC_ChangeDynamicLimits	Sets the dynamic limits (velocity, acceleration, deceleration, jerk, and torque) of an axis For more information, see the following: Dynamic limits in Tab: General
SMC_ChangeAxisScalingLinear	Changes the scaling of a linear axis
SMC_ChangeAxisScalingRotary	Changes the scaling of a rotary axis
SMC_SetForecast	Sets the Forecast of an axis
SMC_GetForecast	Returns the set forecast of the axis
SMC_GetTravelTime	Returns the time when the axis reaches a specific position. This is especially helpful when combined with Forecast.
SMC_SetAdditionalConversionFactors	Sets additional factors for the conversion. For example, the factor for torques can be used to take a gearbox into consideration.
SMC_SetControllerMode	Sets a different operating mode for the axis when the drive supports this function
SMC_SetMovementType	Sets the movement type of a virtual axis to limited or modulo For more information, see the following: Tab: General.
SMC_SetRampType	Sets the velocity ramp type of an axis For more information, see the following: Velocity ramp type in the Tab: General chapter
SMC_SetSoftwareLimits	Sets position limits for limited axes and the corresponding reaction in case of error For more information, see the following: Software limit switches and Software error reaction in the Tab: General chapter
MC_TouchProbe	Returns the drive position when a defined trigger event is raised
MC_AbortTrigger	Aborts functions which use trigger events (example: `MC_TouchProbe`)
SMC_ReadFBError	Returns the oldest entry from the function block error memory of the axis. This information can be used for display in a visualization, for example.
SMC_ClearFBError	Deletes the oldest entry from the function block error memory of the axis.
SMC_ReadSetPosition	Returns the set position of the axis
SMC_ReadSetValues	Returns the set position, set velocity, set acceleration, and set jerk. When Forecast is enabled, data can also be queried in the future. For more information, see the following: SMC_SetForecast
MC_ReadActualPosition	Returns the actual position of the drive
MC_ReadActualVelocity	Returns the actual velocity of the drive
MC_ReadActualTorque	Returns the actual torque or the actual force of the drive
MC_ReadAxisError	Reads the error from the drive
MC_ReadStatus	Reads the current status of the axis
SMC_CheckAxisCommunication	Returns the communication state of the axis
SMC_CheckLimits	Checks whether the current set values exceed the set dynamic limits of the axis For more information, see the following: SMC_ChangeDynamicLimits and Dynamic limits in Tab: General
SMC_GetTrackingError	Returns the lag of the axis (difference between the set position of the axis and the actual position of the drive)
SMC_InPosition	Returns whether the lag is within a configurable range
SMC_MeasureDistance	Returns the distance traveled by the axis since the block was started. This is especially helpful for modulo axes.
MC_ReadBoolParameter	Reads a Boolean value from the axis or drive
MC_ReadParameter	Reads a value from the axis or drive
MC_WriteBoolParameter	Writes a Boolean value to the axis or drive
MC_WriteParameter	Writes a value to the axis or drive

Diagnostic Function Blocks
SMC_AxisDiagnosticLog	Writes the set values and actual values (position, velocity, and acceleration) of the axis and drive cyclically to a file. This can be helpful for the diagnosis of errors and movement sequences in other tools.
SMC_GetMaxSetVelocity	Records the maximum value of the set velocity of the axis. This function block can be helpful for diagnostic purposes.
SMC_GetMaxSetAccDec	Records the maximum value of the set acceleration of the axis. This function block can be helpful for diagnostic purposes.

Persist
SMC3_PersistPosition	Persists the position of an axis with absolute encoder For more information about "Persist", see the following: Persisting an Axis Position
SMC3_PersistPositionLogical	Persists the position of a logical axis For more information about logical axes, see the following: Logical Drive

Persist

SMC3_PersistPosition

Persists the position of an axis with absolute encoder

For more information about "Persist", see the following: Persisting an Axis Position

SMC3_PersistPositionLogical

Persists the position of a logical axis

For more information about logical axes, see the following: Logical Drive