ENCODER_REF_SM3 (FB)¶

FUNCTION_BLOCK ENCODER_REF_SM3 EXTENDS AXIS_REF_MAPPING_SM3

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	`wAxisStructID`	`WORD`	16#FE12		AXIS_REF_SM3
	`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	AXIS_REF_SM3
	`bRegulatorOn`	`BOOL`	FALSE	Parameter number: 1010	AXIS_REF_SM3
	`bDriveStart`	`BOOL`	FALSE	Parameter number: 1011	AXIS_REF_SM3
	`bCommunication`	`BOOL`	FALSE	`TRUE`: Communication OK Parameter number: 1012	AXIS_REF_SM3
	`wCommunicationState`	`WORD`	16#FFFF	Parameter number: 1013	AXIS_REF_SM3
	`uiDriveInterfaceError`	`UINT`		Drive interface error number Parameter number: 1014	AXIS_REF_SM3
	`bRegulatorRealState`	`BOOL`	FALSE	Parameter number: 1015	AXIS_REF_SM3
	`bDriveStartRealState`	`BOOL`	FALSE	Parameter number: 1016	AXIS_REF_SM3
	`wDriveId`	`WORD`	0	Parameter number: 1021	AXIS_REF_SM3
	`iOwner`	`INT`	0	Parameter number: 1022	AXIS_REF_SM3
	`iNoOwner`	`INT`	0	Parameter number: 1023	AXIS_REF_SM3
	`fCycleTimeSpent`	`LREAL`		Parameter number: 1024	AXIS_REF_SM3
	`fTaskCycle`	`LREAL`	0.005	Parameter number: 1025	AXIS_REF_SM3
	`bError`	`BOOL`	FALSE	Parameter number: 1030	AXIS_REF_SM3
	`dwErrorID`	`DWORD`	0	Drive specific error identifier, parameter number: 1031	AXIS_REF_SM3
	`bErrorAckn`	`BOOL`	FALSE	Parameter number: 1032	AXIS_REF_SM3
	`bDisableErrorLogging`	`BOOL`	FALSE	Parameter number: 1036	AXIS_REF_SM3
	`fbeFBError`	ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR		Parameter number: 1035	AXIS_REF_SM3
	`dwRatioTechUnitsDenom`	`DWORD`	1	Parameter number 1051	AXIS_REF_SM3
	`iRatioTechUnitsNum`	`DINT`	1	Parameter number 1052	AXIS_REF_SM3
	`nDirection`	MC_Direction	positive	Parameter number 1053	AXIS_REF_SM3
	`fScalefactor`	`LREAL`	1	Parameter number 1054	AXIS_REF_SM3
	`fFactorVel`	`LREAL`	1	Parameter number 1055	AXIS_REF_SM3
	`fFactorAcc`	`LREAL`	1	Parameter number: 1056	AXIS_REF_SM3
	`fFactorTor`	`LREAL`	1	Parameter number: 1057	AXIS_REF_SM3
	`fFactorJerk`	`LREAL`	1	Factor jerk Parameter number: 1058	AXIS_REF_SM3
	`fFactorCur`	`LREAL`	1	Parameter number: 1059	AXIS_REF_SM3
	`iMovementType`	`INT`	SMC_AXIS_TYPE.finite	Parameter number: 1060	AXIS_REF_SM3
	`fPositionPeriod`	`LREAL`	1000	Parameter number: 1061	AXIS_REF_SM3
	`eRampType`	SMC_RAMPTYPE	trapez	Parameter number: 1062	AXIS_REF_SM3
	`byControllerMode`	`BYTE`	SMC_position	Parameter number:1091	AXIS_REF_SM3
	`byRealControllerMode`	`BYTE`	SMC_position	Parameter number: 1092	AXIS_REF_SM3
	`fSetPosition`	`LREAL`	0	Parameter number: 1100, 1	AXIS_REF_SM3
	`fActPosition`	`LREAL`	0	Parameter number: 1101	AXIS_REF_SM3
	`fAimPosition`	`LREAL`	0	Parameter number: 1105	AXIS_REF_SM3
	`fMarkPosition`	`LREAL`	0	Parameter number: 1106	AXIS_REF_SM3
	`fSavePosition`	`LREAL`	0	Parameter number: 1107	AXIS_REF_SM3
	`fSetVelocity`	`LREAL`	0	Parameter number: 1110, 11	AXIS_REF_SM3
	`fActVelocity`	`LREAL`	0	Parameter number: 1111, 10	AXIS_REF_SM3
	`fMaxVelocity`	`LREAL`	0	Maximum velocity of the drive (remote parameter) in [u/s] Parameter number: 1112,9	AXIS_REF_SM3
	`fSWMaxVelocity`	`LREAL`	0	Maximum velocity (software limit) in [u/s] Parameter number: 1113	AXIS_REF_SM3
	`bConstantVelocity`	`BOOL`	FALSE	Parameter number: 1115	AXIS_REF_SM3
	`fMarkVelocity`	`LREAL`	0	Parameter number: 1116, 9	AXIS_REF_SM3
	`fSaveVelocity`	`LREAL`	0	Parameter number: 1117	AXIS_REF_SM3
	`fSetAcceleration`	`LREAL`	0	Parameter number: 1120	AXIS_REF_SM3
	`fActAcceleration`	`LREAL`	0	Parameter number: 1121	AXIS_REF_SM3
	`fMaxAcceleration`	`LREAL`	0	Maximum acceleration of the drive (remote parameter) in [u/s²] Parameter number: 1122, 13	AXIS_REF_SM3
	`fSWMaxAcceleration`	`LREAL`	0	Maximum acceleration (software limit) in [u/s²] Parameter number: 1123	AXIS_REF_SM3
	`bAccelerating`	`BOOL`	FALSE	Parameter number: 1125	AXIS_REF_SM3
	`fMarkAcceleration`	`LREAL`	0	Parameter number: 1126	AXIS_REF_SM3
	`fSaveAcceleration`	`LREAL`	0	Parameter number: 1127	AXIS_REF_SM3
	`fMaxDeceleration`	`LREAL`	0	Maximum deceleration of the drive (remote parameter) in [u/s²] Parameter number: 1132, 15	AXIS_REF_SM3
	`fSWMaxDeceleration`	`LREAL`	0	Maximum deceleration (software limit) in [u/s²] Parameter number: 1133	AXIS_REF_SM3
	`bDecelerating`	`BOOL`	FALSE	Parameter number: 1135	AXIS_REF_SM3
	`fSaveDeceleration`	`LREAL`	0	Parameter number: 1137	AXIS_REF_SM3
	`fSetJerk`	`LREAL`	0	Parameter number: 1140	AXIS_REF_SM3
	`fActJerk`	`LREAL`	0	Parameter number: 1141	AXIS_REF_SM3
	`fMaxJerk`	`LREAL`	0	Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16	AXIS_REF_SM3
	`fSWMaxJerk`	`LREAL`	0	Maximum jerk (software limit) in [u/s³] Parameter number: 1143	AXIS_REF_SM3
	`fRampJerk`	`LREAL`	100000	Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144	AXIS_REF_SM3
	`fMarkJerk`	`LREAL`	0	Parameter number: 1146	AXIS_REF_SM3
	`fSaveJerk`	`LREAL`	0	Parameter number: 1147	AXIS_REF_SM3
	`fSetCurrent`	`LREAL`	0	Parameter number: 1150	AXIS_REF_SM3
`fActCurrent`	`LREAL`	0	Parameter number: 1151	AXIS_REF_SM3
`fMaxCurrent`	`LREAL`	100	Maximum current in [A] Parameter number: 1152	AXIS_REF_SM3
`fSWMaxCurrent`	`LREAL`	0	Maximum user defined current in [A] Parameter number: 1153	AXIS_REF_SM3
`fSetTorque`	`LREAL`	0	Parameter number: 1153	AXIS_REF_SM3
`fActTorque`	`LREAL`	0	Actual torque in [Nm] or [N] (linear), actual value Parameter number: 1161	AXIS_REF_SM3
`fMaxTorque`	`LREAL`	0	Parameter number: 1162	AXIS_REF_SM3
`fSWMaxTorque`	`LREAL`	FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf)	Parameter number: 1163	AXIS_REF_SM3
`fSWLimitPositive`	`LREAL`	0	Position limit in positive direction in [u] Parameter number: 1200, 2	AXIS_REF_SM3
`fSWLimitNegative`	`LREAL`	0	Position limit in negative direction in [u] Parameter number: 1201, 3	AXIS_REF_SM3
`usiSWEndSwitchState`	`USINT`	0	Parameter number: 1204	AXIS_REF_SM3
`bSWLimitEnable`	`BOOL`	FALSE	Parameter number: 1205	AXIS_REF_SM3
`bHWLimitEnable`	`BOOL`	TRUE	Parameter number: 1206	AXIS_REF_SM3
`bStartReference`	`BOOL`	FALSE	Parameter number: 1210	AXIS_REF_SM3
`fReference`	`LREAL`	0	Parameter number: 1211	AXIS_REF_SM3
`bStartReferenceRealState`	`BOOL`	FALSE	Parameter number: 1212	AXIS_REF_SM3
`fOffsetPosition`	`LREAL`	0	Parameter number: 1215	AXIS_REF_SM3
`dwPosOffsetForResiduals`	`DWORD`	0	Parameter number: 1230	AXIS_REF_SM3
`dwOneTurn`	`DWORD`	0	Parameter number: 1231	AXIS_REF_SM3
`dwLastPosition`	`DWORD`	0	Parameter number: 1232	AXIS_REF_SM3
`bySwitchingState`	SMC_SWITCHING_STATE	SMC_ST_INITIALIZING	Parameter number: 1233	AXIS_REF_SM3
`iRestNumerator`	`DINT`	0	Parameter number: 1234	AXIS_REF_SM3
`iTurn`	`INT`	0	Parameter number: 1235	AXIS_REF_SM3
`dwPosOffsetForResidualsHoming`	`DWORD`	0	Parameter number: 1237	AXIS_REF_SM3
`dwActPosition`	`DWORD`	0	Parameter number: 1238	AXIS_REF_SM3
`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	AXIS_REF_SM3
`dwBusModuloMask`	`DWORD`	16#FFFFFFFF	The value (2^k - 1) where k is the bus bit depth. Parameter number ?	AXIS_REF_SM3
`eBrakeControl`	SMC3_BrakeSetState	SMC_BRAKE_AUTO	Parameter number: 1017	AXIS_REF_SM3
`bBrakeClosedRealState`	`BOOL`	FALSE	Parameter number: 1018	AXIS_REF_SM3
`bOldError`	`BOOL`		Parameter number: 1033	AXIS_REF_SM3
`bVirtual`	`BOOL`		`TRUE`: Virtual drive. Parameter number: 1040	AXIS_REF_SM3
`bLogical`	`BOOL`		Parameter number: 1041	AXIS_REF_SM3
`fSetActTimeLagCycles`	`LREAL`	3	Parameter number: 1070	AXIS_REF_SM3
`diSetPosition`	`DINT`	0	Parameter number: 1108	AXIS_REF_SM3
`diActPosition`	`DINT`	0	Parameter number: 1109	AXIS_REF_SM3
`diSetVelocity`	`DINT`	0	Parameter number: 1118	AXIS_REF_SM3
`diActVelocity`	`DINT`	0	Parameter number: 1119	AXIS_REF_SM3
`diSetAcceleration`	`DINT`	0	Parameter number: 1128	AXIS_REF_SM3
`diActAcceleration`	`DINT`	0	Parameter number: 1129	AXIS_REF_SM3
`diSetCurrent`	`DINT`	0	Parameter number: 1158	AXIS_REF_SM3
`diActCurrent`	`DINT`	0	Parameter number: 1159	AXIS_REF_SM3
`diSetTorque`	`DINT`	0	Parameter number: 1168	AXIS_REF_SM3
`diActTorque`	`DINT`	0	Parameter number: 1169	AXIS_REF_SM3
`fSWLimitDeceleration`	`LREAL`	0	Deceleration in [u/s²] with which the system will brake in case of a software limit. Parameter number: 1203	AXIS_REF_SM3
`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	AXIS_REF_SM3
`fSWErrorMaxDistance`	`LREAL`	0	Distance in which the drive has to reach standstill after an error has occurred. Parameter number: 1250	AXIS_REF_SM3
`eCheckPositionLag`	SMC3_CheckPositionLagMode	0	Parameter number: 1207	AXIS_REF_SM3
`fMaxPositionLag`	`LREAL`		Parameter number: 1208	AXIS_REF_SM3
`bPositionLagActive`	`BOOL`		Parameter number: 1209	AXIS_REF_SM3
`bModuloDoneByDrive`	`BOOL`		Parameter number: 1242	AXIS_REF_SM3
`diFollowingError`	`DINT`		Parameter number: 1243	AXIS_REF_SM3
`fFollowingError`	`LREAL`		Parameter number: 1244	AXIS_REF_SM3
`aCaptDesc`	ARRAY [0..7] OF SMC3_CaptureDescription		Parameter number: 1400	AXIS_REF_SM3
`bRestarting`	`BOOL`	FALSE		AXIS_REF_SM3
`xPersistentDataLoaded`	`BOOL`	FALSE		AXIS_REF_SM3
`strDriveInterfaceError`	`STRING`			AXIS_REF_SM3
`adatAcyclic`	ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel			AXIS_REF_SM3
`iLastSinSquareOwner`	`INT`	-3	Internal: Last owner that constructed a sin² trajectory.	AXIS_REF_SM3
`bSetValuesModifiedByMoveSuperimposed`	`BOOL`		Internal: MC_MoveSuperImposed active. Reset to FALSE in AfterReadInputs.	AXIS_REF_SM3
`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().	AXIS_REF_SM3
`vMinRequiredVersion`	`VERSION`		The minimum version of SM3_Basic that the driver requires.	AXIS_REF_SM3
`iRampType1`	`SMC_TG_IRAMPTYPE`		Instance of ramp type interface, used for Robotics, acceleration ramp	AXIS_REF_SM3
`iRampType2`	`SMC_TG_IRAMPTYPE`		Instance of ramp type interface, used for Robotics, deceleration ramp	AXIS_REF_SM3
`bAvoidReversalOnHaltStop`	`BOOL`		Parameter number: 1260	AXIS_REF_SM3
`bConsiderLimitsOfAbortedMotionOnHaltStop`	`BOOL`		Parameter number: 1270	AXIS_REF_SM3
`bUpdateIOsInStop`	`BOOL`		Update the IOs if the application is stopped.	AXIS_REF_SM3
Output	`strDriver`	`STRING(16)`			AXIS_REF_SM3
Output	`dwDriverVersion`	`DWORD`			AXIS_REF_SM3

Properties:

ChildNodeCount, inherited from AXIS_REF_SM3

Connector, inherited from AXIS_REF_SM3

Enable, inherited from AXIS_REF_SM3

FirstChildNode, inherited from AXIS_REF_SM3

Index, inherited from AXIS_REF_SM3

IsDeviceDiagInitialized, inherited from AXIS_REF_SM3

IsRootNode, inherited from AXIS_REF_SM3

NextSiblingNode, inherited from AXIS_REF_SM3

ParentNode, inherited from AXIS_REF_SM3

SiblingNodeCount, inherited from AXIS_REF_SM3

Methods:

CheckCurrentSupportedCommunicationState, inherited from AXIS_REF_SM3

CheckSupportedCommunicationState, inherited from AXIS_REF_SM3

GetDeviceErrorAsync, inherited from AXIS_REF_SM3

GetDeviceInfo, inherited from AXIS_REF_SM3

GetDeviceState, inherited from AXIS_REF_SM3

GetSpecificDeviceErrorAsync, inherited from AXIS_REF_SM3

GetSpecificDeviceState, inherited from AXIS_REF_SM3

SetCommunicationState, inherited from AXIS_REF_SM3

SkipNextInputUpdate, inherited from AXIS_REF_SM3

SkipNextOutputUpdate, inherited from AXIS_REF_SM3