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
	`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
	`fFactorReference`	`LREAL`	1	The factor the home offset (fReference, parameter 1211) is multiplied by after conversion to increments. When converting from increments, the received value in increments is divided by the factor. Drivers can set this to -1 to invert the sign of the home offset.
	`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
	`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
	`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
	`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
	`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	The set torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1160
`fActTorque`	`LREAL`	0	Actual torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1161
`fMaxTorque`	`LREAL`	0	The maximum torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1162
`fSWMaxTorque`	`LREAL`	FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf)	The maximum torque (software limit) in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1163
`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`	TRUE	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
`dwActPosition`	`DWORD`	0	Parameter number: 1238
`usiBusBitWidth`	`USINT`	32	The bus bit depth. This is the number of bits used to send the actual and set position from and to the drive. Between 1 and 32.
`dwBusModuloMask`	`DWORD`	16#FFFFFFFF	The value (2^k - 1) where k is the bus bit depth.
`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
`xPersistentDataLoaded`	`BOOL`	FALSE
`strDriveInterfaceError`	`STRING(255)`
`adatAcyclic`	ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel
`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.
`bAvoidReversalOnHaltStop`	`BOOL`		Parameter number: 1260
`bConsiderLimitsOfAbortedMotionOnHaltStop`	`BOOL`		Parameter number: 1270
`bUpdateIOsInStop`	`BOOL`		Update the IOs if the application is stopped. Parameter number 1280
`bAutoRestart`	`BOOL`	TRUE	If TRUE, an implict SMC3_ReinitDrive is executed after the communication to the drive is established again after a communication loss (e.g. fieldbus slave no longer operational). If FALSE, an explicit call to SMC3_ReinitDrive is required after communication has been established again. (This is the behavior of SoftMotion versions before 4.18.0.0.) Default is TRUE if not set by the device parameter, i.e. the drive device can override the default. Parameter number 1281
`overrideFactors`	`SMRB.DynFactors`	STRUCT(fVel := 1, fAcc := 1, fJerk := 1, fTorque := 1)
`m_superimposed`	`SMC_SuperimposedData`		Internal: information of superimposed movements
Output	`strDriver`	`STRING(16)`
Output	`dwDriverVersion`	`DWORD`

Properties:

ChildNodeCount

Connector

Enable

FirstChildNode

Index

IsDeviceDiagInitialized

IsRootNode

NextSiblingNode

ParentNode

SiblingNodeCount

Methods:

BasicInit

GetActValuesForCycle

GetSetValuesForCycle

CheckCurrentSupportedCommunicationState

CheckPositionLag

CheckSupportedCommunicationState

GetDeviceErrorAsync

GetDeviceInfo

GetDeviceState

GetSpecificDeviceErrorAsync

GetSpecificDeviceState

IsDeviceEnabled

SetCommunicationState

SkipNextInputUpdate

SkipNextOutputUpdate

Structure: