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
The axis state, parameter 1000
eSetOpmode
The set opmode, parameter 2000
eActOpmode
The actual opmode, parameter 2001
bRegulatorOn
BOOL
Regulator (power) on/off, parameter 1010
bDriveStart
BOOL
Deactivate (
TRUE
) or activate (FALSE
) software halt/quickstop, parameter 1011bCommunication
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 1016bError
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 1051iRatioTechUnitsNum
DINT
The number of technical units [u] that correspond to
dwRatioTechUnitsDenom
increments, parameter 1052fScalefactor
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) andfConstVelFactor
(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) andfConstAccFactor
(2220) during initialization. May be overwritten by the user.iMovementType
The movement type:
SML_MT_MODULO
orSML_MT_FINITE
, parameter 1060fModuloPeriodU
LREAL
Length of a modulo period in [u], parameter 1061
eRampType
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
andudiModuloOffsetNum
, parameter 2100bInvertHomeOffset
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:
Structure: