AXIS_REF_SM3 (FB)¶

FUNCTION_BLOCK AXIS_REF_SM3 IMPLEMENTS DED.IDevice2, IAxisRef

The function block serves as drive interface containing routines serving as drivers. Every SoftMotion axis is an extended instance of this function block.

Note

Every motion-generating function block or, more generally, a function block having a VAR_IN_OUT of type AXIS_REF_SM3 needs to be called in the bus cycle task of the drive device represented by this AXIS_REF_SM3.

InOut:

Scope	Name	Type	Initial	Comment
Input	`wAxisStructID`	`WORD`	16#FE12
	`nAxisState`	SMC_AXIS_STATE	power_off	State of the axis according to the `PLCopen` state diagram: 0: `power_off` 1: `errorstop` 2: `stopping` 3: `standstill` 4: `discrete_motion` 5: `continuous_motion` 6: `synchronized_motion` 7: `homing` Parameter number: 1000
	`bRegulatorOn`	`BOOL`	FALSE	Parameter number: 1010
	`bDriveStart`	`BOOL`	FALSE	Parameter number: 1011
	`bCommunication`	`BOOL`	FALSE	`TRUE`: Communication OK Parameter number: 1012
	`wCommunicationState`	`WORD`	16#FFFF	Parameter number: 1013
	`uiDriveInterfaceError`	`UINT`		Drive interface error number Parameter number: 1014
	`bRegulatorRealState`	`BOOL`	FALSE	Parameter number: 1015
	`bDriveStartRealState`	`BOOL`	FALSE	Parameter number: 1016
	`wDriveId`	`WORD`	0	Parameter number: 1021
	`iOwner`	`INT`	0	Parameter number: 1022
	`iNoOwner`	`INT`	0	Parameter number: 1023
	`fCycleTimeSpent`	`LREAL`		Parameter number: 1024
	`fTaskCycle`	`LREAL`	0.005	Parameter number: 1025
	`bError`	`BOOL`	FALSE	Parameter number: 1030
	`dwErrorID`	`DWORD`	0	Drive specific error identifier, parameter number: 1031
	`bErrorAckn`	`BOOL`	FALSE	Parameter number: 1032
	`bDisableErrorLogging`	`BOOL`	FALSE	Parameter number: 1036
	`fbeFBError`	ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR		Parameter number: 1035
	`dwRatioTechUnitsDenom`	`DWORD`	1	Parameter number 1051
	`iRatioTechUnitsNum`	`DINT`	1	Parameter number 1052
	`nDirection`	MC_Direction	positive	Parameter number 1053
	`fScalefactor`	`LREAL`	1	Parameter number 1054
	`fFactorVel`	`LREAL`	1	Parameter number 1055
	`fFactorAcc`	`LREAL`	1	Parameter number: 1056
	`fFactorTor`	`LREAL`	1	Parameter number: 1057
	`fFactorJerk`	`LREAL`	1	Factor jerk Parameter number: 1058
	`fFactorCur`	`LREAL`	1	Parameter number: 1059
	`iMovementType`	`INT`	SMC_AXIS_TYPE.finite	Parameter number: 1060
	`fPositionPeriod`	`LREAL`	1000	Parameter number: 1061
	`eRampType`	SMC_RAMPTYPE	trapez	Parameter number: 1062
	`byControllerMode`	`BYTE`	SMC_position	Parameter number:1091
	`byRealControllerMode`	`BYTE`	SMC_position	Parameter number: 1092
	`fSetPosition`	`LREAL`	0	Parameter number: 1100, 1
	`fActPosition`	`LREAL`	0	Parameter number: 1101
	`fAimPosition`	`LREAL`	0	Parameter number: 1105
	`fMarkPosition`	`LREAL`	0	Parameter number: 1106
	`fSavePosition`	`LREAL`	0	Parameter number: 1107
	`fSetVelocity`	`LREAL`	0	Parameter number: 1110, 11
	`fActVelocity`	`LREAL`	0	Parameter number: 1111, 10
	`fMaxVelocity`	`LREAL`	0	Maximum velocity of the drive (remote parameter) in [u/s] Parameter number: 1112,9
	`fSWMaxVelocity`	`LREAL`	0	Maximum velocity (software limit) in [u/s] Parameter number: 1113
	`bConstantVelocity`	`BOOL`	FALSE	Parameter number: 1115
	`fMarkVelocity`	`LREAL`	0	Parameter number: 1116, 9
	`fSaveVelocity`	`LREAL`	0	Parameter number: 1117
	`fSetAcceleration`	`LREAL`	0	Parameter number: 1120
	`fActAcceleration`	`LREAL`	0	Parameter number: 1121
	`fMaxAcceleration`	`LREAL`	0	Maximum acceleration of the drive (remote parameter) in [u/s²] Parameter number: 1122, 13
	`fSWMaxAcceleration`	`LREAL`	0	Maximum acceleration (software limit) in [u/s²] Parameter number: 1123
	`bAccelerating`	`BOOL`	FALSE	Parameter number: 1125
	`fMarkAcceleration`	`LREAL`	0	Parameter number: 1126
	`fSaveAcceleration`	`LREAL`	0	Parameter number: 1127
	`fMaxDeceleration`	`LREAL`	0	Maximum deceleration of the drive (remote parameter) in [u/s²] Parameter number: 1132, 15
	`fSWMaxDeceleration`	`LREAL`	0	Maximum deceleration (software limit) in [u/s²] Parameter number: 1133
	`bDecelerating`	`BOOL`	FALSE	Parameter number: 1135
	`fSaveDeceleration`	`LREAL`	0	Parameter number: 1137
	`fSetJerk`	`LREAL`	0	Parameter number: 1140
	`fActJerk`	`LREAL`	0	Parameter number: 1141
	`fMaxJerk`	`LREAL`	0	Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16
	`fSWMaxJerk`	`LREAL`	0	Maximum jerk (software limit) in [u/s³] Parameter number: 1143
	`fRampJerk`	`LREAL`	100000	Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144
	`fMarkJerk`	`LREAL`	0	Parameter number: 1146
	`fSaveJerk`	`LREAL`	0	Parameter number: 1147
	`fSetCurrent`	`LREAL`	0	Parameter number: 1150
`fActCurrent`	`LREAL`	0	Parameter number: 1151
`fMaxCurrent`	`LREAL`	100	Maximum current in [A] Parameter number: 1152
`fSWMaxCurrent`	`LREAL`	0	Maximum user defined current in [A] Parameter number: 1153
`fSetTorque`	`LREAL`	0	Parameter number: 1153
`fActTorque`	`LREAL`	0	Actual torque in [Nm] or [N] (linear), actual value Parameter number: 1161
`fMaxTorque`	`LREAL`	0	Parameter number: 1162
`fSWLimitPositive`	`LREAL`	0	Position limit in positive direction in [u] Parameter number: 1200, 2
`fSWLimitNegative`	`LREAL`	0	Position limit in negative direction in [u] Parameter number: 1201, 3
`usiSWEndSwitchState`	`USINT`	0	Parameter number: 1204
`bSWLimitEnable`	`BOOL`	FALSE	Parameter number: 1205
`bHWLimitEnable`	`BOOL`	FALSE	Parameter number: 1206
`bStartReference`	`BOOL`	FALSE	Parameter number: 1210
`fReference`	`LREAL`	0	Parameter number: 1211
`bStartReferenceRealState`	`BOOL`	FALSE	Parameter number: 1212
`fOffsetPosition`	`LREAL`	0	Parameter number: 1215
`dwPosOffsetForResiduals`	`DWORD`	0	Parameter number: 1230
`dwOneTurn`	`DWORD`	0	Parameter number: 1231
`dwLastPosition`	`DWORD`	0	Parameter number: 1232
`bySwitchingState`	SMC_SWITCHING_STATE	SMC_ST_INITIALIZING	Parameter number: 1233
`iRestNumerator`	`DINT`	0	Parameter number: 1234
`iTurn`	`INT`	0	Parameter number: 1235
`dwPosOffsetForResidualsHoming`	`DWORD`	0	Parameter number: 1237
`dwActPosition`	`DWORD`	0	Parameter number: 1238
`dwBusBandWidth`	`DWORD`	0	The bus band width, 0 if the bus has 32 bit, 2^k otherwise where 0 < k < 32 is the bus bit depth. Parameter number: 1240
`dwBusModuloMask`	`DWORD`	16#FFFFFFFF	The value (2^k - 1) where k is the bus bit depth. Parameter number ?
`eBrakeControl`	SMC3_BrakeSetState	SMC_BRAKE_AUTO	Parameter number: 1017
`bBrakeClosedRealState`	`BOOL`	FALSE	Parameter number: 1018
`bOldError`	`BOOL`		Parameter number: 1033
`bVirtual`	`BOOL`		`TRUE`: Virtual drive. Parameter number: 1040
`bLogical`	`BOOL`		Parameter number: 1041
`fSetActTimeLagCycles`	`LREAL`	3	Parameter number: 1070
`diSetPosition`	`DINT`	0	Parameter number: 1108
`diActPosition`	`DINT`	0	Parameter number: 1109
`diSetVelocity`	`DINT`	0	Parameter number: 1118
`diActVelocity`	`DINT`	0	Parameter number: 1119
`diSetAcceleration`	`DINT`	0	Parameter number: 1128
`diActAcceleration`	`DINT`	0	Parameter number: 1129
`diSetCurrent`	`DINT`	0	Parameter number: 1158
`diActCurrent`	`DINT`	0	Parameter number: 1159
`diSetTorque`	`DINT`	0	Parameter number: 1168
`diActTorque`	`DINT`	0	Parameter number: 1169
`fSWLimitDeceleration`	`LREAL`	0	Deceleration in [u/s²] with which the system will brake in case of a software limit. Parameter number: 1203
`xWaitForHaltWhenStopInterruptsHome`	`BOOL`		`TRUE`: When MC_Home is interrupted by MC_Stop, then``MC_Stop.bDone`` is delayed until the drive reports that it has successfully halted. `bStartReferenceRealState` = `FALSE` Parameter number: 1213
`fSWErrorMaxDistance`	`LREAL`	0	Distance in which the drive has to reach standstill after an error has occurred. Parameter number: 1250
`eCheckPositionLag`	SMC3_CheckPositionLagMode	0	Parameter number: 1207
`fMaxPositionLag`	`LREAL`		Parameter number: 1208
`bPositionLagActive`	`BOOL`		Parameter number: 1209
`bModuloDoneByDrive`	`BOOL`		Parameter number: 1242
`diFollowingError`	`DINT`		Parameter number: 1243
`fFollowingError`	`LREAL`		Parameter number: 1244
`aCaptDesc`	ARRAY [0..7] OF SMC3_CaptureDescription		Parameter number: 1400
`bRestarting`	`BOOL`	FALSE
`xPersistentDataLoaded`	`BOOL`	FALSE
`strDriveInterfaceError`	`STRING`
`adatAcyclic`	ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel
`iLastSinSquareOwner`	`INT`	-3	Internal: Last owner that constructed a sin² trajectory.
`bSetValuesModifiedByMoveSuperimposed`	`BOOL`		Internal: MC_MoveSuperImposed active. Reset to FALSE in AfterReadInputs.
`nAbortCounter`	`UDINT`		Internal: counts the number of aborts. This counter simply wraps to 0 when exceeding 2^32-1, so use accordingly. Increased in method SetOwner().
`vMinRequiredVersion`	`VERSION`		The minimum version of SM3_Basic that the driver requires.
`iRampType1`	`SMC_TG_IRAMPTYPE`		Instance of ramp type interface, used for Robotics, acceleration ramp
`iRampType2`	`SMC_TG_IRAMPTYPE`		Instance of ramp type interface, used for Robotics, deceleration ramp
`bAvoidReversalOnHaltStop`	`BOOL`		Parameter number: 1260
`bConsiderLimitsOfAbortedMotionOnHaltStop`	`BOOL`		Parameter number: 1270
`bUpdateIOsInStop`	`BOOL`		Update the IOs if the application is stopped.
Output	`strDriver`	`STRING(16)`
Output	`dwDriverVersion`	`DWORD`

Properties:

ChildNodeCount

Connector

Enable

FirstChildNode

Index

IsDeviceDiagInitialized

IsRootNode

NextSiblingNode

ParentNode

SiblingNodeCount

Methods:

CheckCurrentSupportedCommunicationState

CheckSupportedCommunicationState

GetDeviceErrorAsync

GetDeviceInfo

GetDeviceState

GetSpecificDeviceErrorAsync

GetSpecificDeviceState

SetCommunicationState

SkipNextInputUpdate

SkipNextOutputUpdate

Structure: