SMC_SmoothAddAxes (FB)¶

FUNCTION_BLOCK SMC_SmoothAddAxes

This function is able to smooth motions of additional axes, which are distributed among several objects. This leads to the same slope by the additional axes P, Q, U, V, W and to the usage of an optimized polynomial motion profile by the axes A, B and C.

Activation of the smooth

The marking which part is to smooth must be done with G-code and the word G71 and G70. G71 starts the smoothing, G70 ends the smoothing. But for that, the additional axes which are going to be smoothed must be defined by the parameter L<Additional axis number>.

Definition of the additional axis number:

Parameter	Additional Axis
L4	A
L5	B
L6	C
L7	P
L8	Q
L9	U
L10	V
L11	W

Example G-Code

N0 G1 X100 A0 Q100 F100
N10 G71 L8    (Turn on smoothing for Q)
N20 G1 X200
N30 G71 L4    (Turn on smoothing for A)
N40 G1 X250
N50 G1 X300
N60 G1 X350
N70 G1 X400 A100
N80 G70 L4    (Turn off smoothing for A)
N90 G1 X500 Q0
N100 G70 L8   (Turn off smoothing for Q)

Note

The data buffer, which is available by the function block, must be large enough containing a complete smoothing range. So, if the function block contains n objects, not more than n-3 objects can be smoothed. Otherwise, smoothing is exited with error.

InOut:

Scope	Name	Type	Initial	Comment
Input	`bExecute`	`BOOL`		Execution starts on the rising edge.
	`bAbort`	`BOOL`		If `TRUE`, the current processing of this function block is aborted
	`bAppend`	`BOOL`		As long as this input is set to `FALSE`, the DataOut-queue will be cleared at each reset. As long as it is set to `TRUE`, newly incoming data will be written to the end of the DataOut-queue.
	`poqDataIn`	POINTER TO SMC_OUTQUEUE		This input path queue
	`dSmoothingPart`	`LREAL`	0.5	In case of the additional axes A, B and C the user can determine, which part of the path is provided to the additional axes for acceleration/deceleration and which part is to operate with a constant velocity. `0`: No acceleration/deceleration phase is set. `1`: No constant motion is to be created. `0.5`: The acceleration phase plus the deceleration phase requires the same time than the constant motion.
	`dAngleTol`	`LREAL`	0.001	For a correct parametrization of the additional axes A, B and C it is important to know, whether a object crossing leads to a stop. The input `dAngleTol`, which is also used in the function block SMC_CheckVelocities and in other preprocessing function blocks, is also required here. It should be occupied with always the same value.
	`nSizeOutQueue`	`UDINT`		The size of pbyBufferOutQueue in bytes.
	`pbyBufferOutQueue`	POINTER TO ARRAY [0..0] OF SMC_GEOINFO		This input must point to the first byte of the memory area being allocated for the SMC_OUTQUEUE structure. This area must be at least as big as defined in `nSizeOutQueue`. Typically the allocation of the memory buffer is done within the declaration part of the IEC-program by defining a byte-array (ExampleBuf: `ARRAY[1..50] OF SMC_GEOINFO;`). The value may be predefined, but may then be modified during a reset only.
Output	`bDone`	`BOOL`		This output will be set to `TRUE` as soon as the input path has been processed completely.The function block will not perform any further actions until it gets reset.
	`bBusy`	`BOOL`		`TRUE`, while execution of function block is not finished
	`bError`	`BOOL`		Signals, that an error has occurred within the function block
	`wErrorID`	`SMC_ERROR`		Error identification
	`poqDataOut`	POINTER TO SMC_OUTQUEUE		The output path queue

Structure: