Tab: General

Table 6. Axis type and settings

Axis type
Virtual mode	: The drive is replaced by a simulation which is similar to a virtual drive unit. When there is a coupled drive, this does not have any effect on the fieldbus device. They function as usual without sending or receiving messages to or from a physical device. Note: You can also set and reset a virtual mode of a drive in IEC code by means of the `SMC3_ReinitDrive` function block.
Modulo	: The drive turns endlessly without limiting the travel range (example: belt drive). Modulo value [u]: Value of one cycle (modulo period) The value is saved in the `fPositionPeriod` parameter of the `AXIS_REF_SM3` function block. Note: If you select the Modulo drive type, then the product `fPositionPeriod * dwRatioTechUnitsDenom` has to be an integer.
Finite	: The drive has a fixed workspace (example: one linear drive). Software limits Activated : Position values are restricted by the lower limit Negative and an upper limit Positive. Negative: Input field for the negative limiting value Positive: Input field for the positive limiting value
Motor type
Rotary	: The settings in Scaling apply to rotary motors.
Linear	: The settings in Scaling apply to linear motors. (Simplified configuration without gears and motor turns)
Velocity ramp type Defines the velocity profile for motion-generating single-axis and master/slave modules: Note: The ramp types Sin² and Quadratic (smooth) are not supported for the robotics.
Trapezoid	: Trapezoidal velocity profile (with constant acceleration in each segment)
Sin²	: A velocity profile as defined by the sin² function (with constant acceleration curve).
Quadratic	: Acceleration profile in trapezoidal form with jerk limitation
Quadratic (smooth)	: Like Quadratic but generates a jerk profile without jumps.
Identification
ID	Integer identifier. Should be unique for each drive. For example, this identifier is used in the PLC log in order to identify the drive when an error occurs.
Dead time
Cycles	The dead time in cycles between the `fActPosition` and the `fSetPosition` at the beginning of this cycle
Dynamic limits The limiting values from PLCopen Part 4 POUs are taken into consideration. Moreover, they are used by library POUs with the name `SMC_ControlAxisBy*` for detecting jumps.
Velocity [u/s]	Limiting value of velocity, acceleration, deceleration, and jerk
Acceleration [u/s²]
Deceleration [u/s²]
Jerk [u/s³]

Table 7. Supervision and error reaction

Software limits
Activated	: Position values are restricted by the lower limit Negative and an upper limit Positive. Negative: Input field for the negative limiting value Positive: Input field for the positive limiting value
Software error reaction . Causes of a software error Reaching a software limit switch Exceeding the maximum allowed software lag For finite axes: Too many 32-bit overflows `MC_Power.bRegulatorOn = FALSE` during an active movement (error: `SMC_FB_ACTIVE_AXIS_DISABLED`) Motion function block with `Busy=TRUE` not called (error: `SMC_FB_WASNT_CALLED_DURING_MOTION`) For the software error reaction, the Deceleration, the Max. Distance, and the deceleration of the dynamic limits are taken into account. A deceleration is also calculated from the maximum distance. The highest of these deceleration values is used for the error ramp.
Deceleration [u/s²]:	Deceleration for the error ramp
Max. distance [u]	Optional The drive has to have reached a standstill within this distance after an error has occurred.
Position lag supervision System response to a detected lag. A lag is detected when the difference between the set position and the compensated actual position exceeds the lag limit. The extrapolated actual position is calculated in the following formula: `extrapolated actual position := actual position + actual velocity * cycle time * Axis.fSetActTimeLagCycles` This value is the actual position of the axis compensated by the dead time. Note: If you are monitoring the lag, then you should determine and enter the dead time. For a description, see the following chapter: Actual Values, Set Values, and Dead Time. Note: Lag monitoring is not available for virtual drives.
Deactivated	No response Lag monitoring is deactivated.
Disable drive	The `bRegulatorOn` bit is forced to `FALSE` (compare with `MC_Power` input) which first forces the deceleration of the drive and then the deactivation of the drive (depending on the drive implementation).
Do quickstop	The `bDriveStart` bit is forced to `FALSE` (compare with `MC_Power` input) which forces the drive to perform a quickstop.
Stay enabled	The drive remains switched on, but all running movements are stopped abruptly.
Lag limit:	Lag monitoring in the controller Independent monitoring can also exist in the drive, but it is not configured in this dialog.

For more information, see the following: Determining the dead time of the system

Example 3. Example

The following images demonstrate the effect of the different ramp types. The position is drawn in green, the velocity in blue, and the acceleration in red.

Trapezoid The velocity is partially linear and continuous, whereas the partially constant acceleration indicates jumps.
Sin² The breaks in the velocity profile are smoothened (by using the sin² function instead of lines) to reduce the jumps in acceleration. The user cannot limit the jerk for this ramp type. The set maximum jerk has an effect only if the acceleration does not equal zero at the beginning of the movement and the interrupted deceleration and acceleration ramp cannot be continued seamlessly. Then, taking the jerk limit into account, the acceleration is decreased to zero before the current movement is started. As compared to the trapezoidal velocity profile, the deceleration takes more time in this case.
Quadratic The acceleration is partially linear and continuous and the jerk has jumps. The velocity consists of quadratic and linear segments.
Quadratic (smooth) The linear acceleration ramps of the quadratic ramp type are replaced by a "smooth" function with a slope value is zero at the beginning and end. As a result, the jerk is also continuous. Note: If a movement is interrupted, then jumps in the jerk can result.

For more information, see the following: Interruption of Movements

Requirement: The PLC is in online mode.
Variable table	List of drive variables with variable name, Set value and Current value
Status	Display of the current status of the SoftMotion drive
Communication Settings	Display of the current communication status
Error	Axis error FB error uiDriveInterfaceError strDriveInterfaceError