Axis_REF_SML (FB)¶

FUNCTION_BLOCK Axis_REF_SML EXTENDS Axis_REF_Base_SML

The Axis_REF_SML function block serves as the interface for all public function blocks that work on the axis. It contains the parameters and other members needed by every Axis_REF implementation.

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	`fbeFBError`	ARRAY [0..(g_SML_NUMBER_FB_ERRORS - 1)] OF SML_FBERROR		FB error Id numbers, parameter 1035	Axis_REF_Base_SML
	`nAxisState`	SML_AXIS_STATE		The axis state, parameter 1000
	`eSetOpmode`	SML_OPMODE		The set opmode, parameter 2000
	`eActOpmode`	SML_OPMODE		The actual opmode, parameter 2001
	`bRegulatorOn`	`BOOL`		Regulator (power) on/off, parameter 1010
	`bDriveStart`	`BOOL`		Deactivate (`TRUE`) or activate (`FALSE`) software halt/quickstop, parameter 1011
	`bCommunication`	`BOOL`		Whether communication is OK, parameter 1012
	`wCommunicationState`	`WORD`	16#FFFF	The state of the communication state machine, parameter 1013
	`uiDriveInterfaceError`	`UINT`		Drive interface error number, parameter 1014
	`strDriveInterfaceError`	`STRING`
	`bRegulatorRealState`	`BOOL`		Effective state of the power stage of the axis, parameter 1015
	`bDriveStartRealState`	`BOOL`		Effective state of the software halt/quickstop of the axis (`TRUE`: deactivated, `FALSE`: activated), parameter 1016
	`bError`	`BOOL`		Axis error, parameter 1030
	`bErrorAckn`	`BOOL`		Acknowledge error (fault reset), parameter 1032
	`dwRatioTechUnitsDenom`	`DWORD`		The number of increments [inc] that correspond to `iRatioTechUnits` units, parameter 1051
	`iRatioTechUnitsNum`	`DINT`		The number of technical units [u] that correspond to `dwRatioTechUnitsDenom` increments, parameter 1052
	`fScalefactor`	`LREAL`		The factor by which the position in [u] is multiplied to convert to axis units, [inc/u], parameter 1054
	`fScalefactorVel`	`LREAL`		The factor by which the velocity in [u/s] is multiplied to co convert to axis units, [?/u], parameter 1055. Built from `fScalefactor` (1054) and `fConstVelFactor` (2210) during initialization. May be overwritten by the user.
	`fScalefactorAcc`	`LREAL`		The factor by which the set acceleration is multiplied to co convert to axis units, [?/u], parameter 1056. Built from `fScalefactor` (1054) and `fConstAccFactor` (2220) during initialization. May be overwritten by the user.
	`iMovementType`	SML_MovementType		The movement type: `SML_MT_MODULO` or `SML_MT_FINITE`, parameter 1060
	`fModuloPeriodU`	`LREAL`		Length of a modulo period in [u], parameter 1061
	`eRampType`	SML_RAMPTYPE		Velocity ramp type, parameter 1062
	`fActPosition`	`LREAL`		Actual position in [u], only needed for modulo axes, parameter 1101
	`diActPosition`	`DINT`		Actual position in [inc], only needed for modulo axes, parameter 1109
	`rpHomeOffset`	`SML_RmtPrm`		The home offset in [u], parameter 1211
	`dwModuloOffsetInt`	`DWORD`		Offset of start of closest modulo period, integral part, parameter 1230
	`udiModuloPeriodIncInt`	`UDINT`		Length of a modulo period in [inc], integral part, parameter 1231
	`udiModuloPeriodIncNum`	`UDINT`		Length of a modulo period in [inc], numerator of fractional part, parameter 1234
	`udiModuloOffsetNum`	`UDINT`		Offset of start of closest modulo period, numerator of fractional part, parameter 1235
	`bNewSetPoint`	`BOOL`		Tells the axis that a new set point has been given, only used in position mode, parameter 2010
	`bRelativeSetPoint`	`BOOL`		Tells the axis whether the set point is relative, only used in position mode, parameter 2011
	`bStartHoming`	`BOOL`		Tells the axis to start homing, only used in homing mode, parameter 2012
	`bHalt`	`BOOL`		Tells the axis to halt using a quick stop, used in all modes, parameter 2013
	`bSetPointAck`	`BOOL`		Set if the new set point has been acknowledged, only used in position mode, parameter 2020
	`bTargetReached`	`BOOL`		Set if the target is reached, only set in position and homing mode, parameter 2021
	`bInVelocity`	`BOOL`		Set if it has reached the commanded velocity, only set in velocity mode, parameter 2022
	`bHomingDone`	`BOOL`		Set if homing has been performed successfully (implies bTargetReached), only set in homing mode, parameter 2023
	`bErrorInOperation`	`BOOL`		Set if an error occured, used in all modes, parameter 2024
	`rpTargetPosDist`	`SML_RmtPrm`		The target position or distance in [u], parameter 2030
	`rpTargetVelocity`	`SML_RmtPrm`		The target velocity in [u/s], used in velocity mode, parameter 2040
	`rpProfileVelocity`	`SML_RmtPrm`		The profile velocity in [u/s], used in position mode, parameter 2050
	`rpProfileAcceleration`	`SML_RmtPrm`		The profile acceleration in [u/s²], parameter 2060
	`rpProfileDeceleration`	`SML_RmtPrm`		The profile deceleration in [u/s²], parameter 2070
	`rpQuickStopDeceleration`	`SML_RmtPrm`		The deceleration for a quick stop in [u/s²], parameter 2090
	`fModuloOffsetInc`	`LREAL`		The modulo offset in increments, built from `dwModuloOffsetInt` and `udiModuloOffsetNum`, parameter 2100
	`bInvertHomeOffset`	`BOOL`		Whether the home offset is inverted when writing it to or reading it from the drive, parameter 2200
	`fConstVelFactor`	`LREAL`		A constant factor multiplied to the velocity scale factor (parameter 1055), dimensionless. Example: the drive expects the velocity in inc/(64*s) instead of inc/s. Then this parameter should be set to 64. The value is only used during initialization to compute `fScalefactorVel` (1055). Parameter 2210.
	`fConstAccFactor`	`LREAL`		A constant factor multiplied to the acceleration scale factor (parameter 1056), dimensionless. Example: the drive expects the velocity in 16*inc/(s) instead of inc/s. Then this parameter should be set to 1/16. The value is only used during initialization to compute `fScalefactorAcc` (1056). Parameter 2220.
	`usiLogicalDevice`	`USINT`		The 0-based logical device index (6000)

Methods:

ReadStandardConfigParameters

ReinitAxis

Structure:

Config
- ReadStandardConfigParameters (Method)
- ReinitAxis (Method)