SMC_FollowSetValues (FB)¶

FUNCTION_BLOCK SMC_FollowSetValues

Writes set values to the axis without doing any checks.

Note

This function block does not support forecasts that are set up by SMC_SetForecast.

InOut:

Scope	Name	Type	Initial	Comment
Inout	`Axis`	AXIS_REF_SM3		Reference to the axis
Input	`bExecute`	`BOOL`		Rising edge: Starts the execution of the function block.
	`bAbort`	`BOOL`		Abort the execution of the function block (e.g. in order to avoid an error when restarting with a different axis)
	`dwValueMask`	`DWORD`		Values, which are written to the axis (`TRUE`) and which are ignored (`FALSE`): Bit0: `fSetPosition` Bit1: `fSetVelocity` Bit2: `fSetAcceleration` Bit3: `fSetJerk` Bit4: `fSetTorque` Bit5: `fSetCurrent`
	`fSetPosition`	`LREAL`		Set position in [u]
	`fSetVelocity`	`LREAL`		Set velocity in [u/s]
	`fSetAcceleration`	`LREAL`		Set acceleration in [u/s²]
	`fSetJerk`	`LREAL`		Set jerk in [u/s³]
	`fSetTorque`	`LREAL`		Set torque/force in [Nm]/[N]
	`fSetCurrent`	`LREAL`		Set current in [A]
	`bFixedCoordinateSystem`	`BOOL`	TRUE	The coordinate system for the `Axis` can be changed using MC_SetPosition. When `bFixedCoordinateSystem` is set to TRUE, the `fSetPosition` is expected to be given in the coordinate system that was active when there was a rising edge on `bExecute`. If MC_SetPosition is called during execution, the provided `fSetPosition` is automatically transformed to the new coordinate system. When `bFixedCoordinateSystem` is set to FALSE, the `fSetPosition` is expected to be given in the current coordinate system. If MC_SetPosition is called during execution, the provided `fSetPosition` has to be adjusted to the new coordinate system.
Output	`bBusy`	`BOOL`		`TRUE`: Execution of function block has not been finished.
	`bCommandAborted`	`BOOL`		`TRUE`: Command has been aborted by another command.
	`bError`	`BOOL`		`TRUE`: Error has occurred within the function block.
	`iErrorID`	`SMC_ERROR`		Error identification