SMC_Interpolator2Dir (FB)¶

FUNCTION_BLOCK FINAL SMC_Interpolator2Dir

This function block is similar to function block SMC_Interpolator, regarding function and allocation of inputs and outputs, but it is able to interpolate a path also in the opposite direction.

Reverse interpolation:

If dOverride has a negative value, SMC_Interpolator2Dir interpolates in the opposite direction. For example, if this input is assigned to an analog velocity input of a hand wheel, you can move forward and backward with the desired velocity.

The use of the function block depends on the following preconditions:

If input bStartAtEnd is TRUE, the path has to be stored completely in structure poqDataIn.

If the path does not fit completely, you can define how many elements of the queue are reserved for moving backward. (SMC_QueueSetReservedEntries) For example, if you want to move 10 elements backwards, you must reserve 13 (10 + 3) elements (three elements are reserved as a safety buffer). The queue needs to be large enough, because the reserved elements are no longer available for the look ahead.

The use of SMC_Interpolator2Dir requires the additional call of SMC_Interpolator2Dir_SlowTask in a task with lower priority.

See SMC_Interpolator for a description of all inputs and outputs.

InOut:

Scope	Name	Type	Initial
Input	`bExecute`	`BOOL`
	`poqDataIn`	POINTER TO SMC_OUTQUEUE
	`bSlow_Stop`	`BOOL`
	`bEmergency_Stop`	`BOOL`
	`bWaitAtNextStop`	`BOOL`
	`dOverride`	`LREAL`	1
	`iVelMode`	SMC_INT_VELMODE	TRAPEZOID
	`dwIpoTime`	`DWORD`
	`dLastWayPos`	`LREAL`
	`bAbort`	`BOOL`
	`bSingleStep`	`BOOL`
	`bAcknM`	`BOOL`
	`bQuick_Stop`	`BOOL`
	`dQuickDeceleration`	`LREAL`	0
	`dJerkMax`	`LREAL`
	`dQuickStopJerk`	`LREAL`
	`bStartAtEnd`	`BOOL`
	`bSuppressSystemMFunctions`	`BOOL`
Output	`bEndOfPath`	`BOOL`
	`bBusy`	`BOOL`
	`bError`	`BOOL`
	`wErrorID`	`SMC_ERROR`
	`piSetPosition`	SMC_POSINFO
	`iStatus`	SMC_INT_STATUS	IPO_INIT
	`bWorking`	`BOOL`
	`iActObjectSourceNo`	`DINT`	-1
	`dActObjectLength`	`LREAL`
	`dActObjectLengthRemaining`	`LREAL`
	`dVel`	`LREAL`
	`vecActTangent`	`SMC_VECTOR3D`
	`iLastSwitch`	`INT`
	`dwSwitches`	`DWORD`
	`dWayPos`	`LREAL`
	`nDirection`	SMC_Direction
	`wM`	`WORD`
	`adToolLength`	ARRAY [0..2] OF LREAL
	`ipo`	SMC_Interpolator

Structure:

Interpolator2DirInit (Action)