AXIS_REF_SM3参数说明
AXIS_REF_SM3 (FB)
FUNCTION_BLOCK AXIS_REF_SM3 IMPLEMENTS DED.IDevice2, IAxisRef
The function block serves as drive interface containing routines serving as drivers. Every SoftMotion axis is an extended instance of this function block.
Note
Every motion-generating function block or, more generally, a function block having a VAR_IN_OUT of type AXIS_REF_SM3 needs to be called in the bus cycle task of the drive device represented by this AXIS_REF_SM3.
InOut:
Scope
Name
Type
Initial
Comment
Input
wAxisStructID
WORD
16#FE12
nAxisState
SMC_AXIS_STATE
power_off
State of the axis according to the PLCopen state diagram:
Parameter number: 1000
bRegulatorOn
BOOL
FALSE
Parameter number: 1010
bDriveStart
BOOL
FALSE
Parameter number: 1011
bCommunication
BOOL
FALSE
TRUE: Communication OK
Parameter number: 1012
wCommunicationState
WORD
16#FFFF
Parameter number: 1013
uiDriveInterfaceError
UINT
Drive interface error number
Parameter number: 1014
bRegulatorRealState
BOOL
FALSE
Parameter number: 1015
bDriveStartRealState
BOOL
FALSE
Parameter number: 1016
wDriveId
WORD
0
Parameter number: 1021
iOwner
INT
0
Parameter number: 1022
iNoOwner
INT
0
Parameter number: 1023
fCycleTimeSpent
LREAL
Parameter number: 1024
fTaskCycle
LREAL
0.005
Parameter number: 1025
bError
BOOL
FALSE
Parameter number: 1030
dwErrorID
DWORD
0
Parameter number: 1031
bErrorAckn
BOOL
FALSE
Parameter number: 1032
bDisableErrorLogging
BOOL
FALSE
Parameter number: 1036
fbeFBError
ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR
Parameter number: 1035
dwRatioTechUnitsDenom
DWORD
1
Parameter number 1051
iRatioTechUnitsNum
DINT
1
Parameter number 1052
nDirection
MC_Direction
positive
Parameter number 1053
fScalefactor
LREAL
1
Parameter number 1054
fFactorVel
LREAL
1
Parameter number 1055
fFactorAcc
LREAL
1
Parameter number: 1056
fFactorTor
LREAL
1
Parameter number: 1057
fFactorJerk
LREAL
1
Factor jerk
Parameter number: 1058
fFactorCur
LREAL
1
Parameter number: 1059
iMovementType
INT
1
Parameter number: 1060
fPositionPeriod
LREAL
1000
Parameter number: 1061
eRampType
SMC_RAMPTYPE
trapez
Parameter number: 1062
byControllerMode
BYTE
SMC_position
Parameter number:1091
byRealControllerMode
BYTE
SMC_position
Parameter number: 1092
fSetPosition
LREAL
0
Parameter number: 1100, 1
fActPosition
LREAL
0
Parameter number: 1101
fAimPosition
LREAL
0
Parameter number: 1105
fMarkPosition
LREAL
0
s parameter
Parameter number: 1106
fSavePosition
LREAL
0
Parameter number: 1107
fSetVelocity
LREAL
0
Parameter number: 1110, 11
fActVelocity
LREAL
0
Parameter number: 1111, 10
fMaxVelocity
LREAL
0
Maximum velocity of the drive (remote parameter) in [u/s]
Parameter number: 1112,9
fSWMaxVelocity
LREAL
0
Maximum velocity (software limit) in [u/s]
Parameter number: 1113
bConstantVelocity
BOOL
FALSE
Parameter number: 1115
fMarkVelocity
LREAL
0
Parameter number: 1116, 9
fSaveVelocity
LREAL
0
Parameter number: 1117
fSetAcceleration
LREAL
0
Parameter number: 1120
fActAcceleration
LREAL
0
Parameter number: 1121
fMaxAcceleration
LREAL
0
Maximum acceleration of the drive (remote parameter) in [u/s²]
Parameter number: 1122, 13
fSWMaxAcceleration
LREAL
0
Maximum acceleration (software limit) in [u/s²]
Parameter number: 1123
bAccelerating
BOOL
FALSE
Parameter number: 1125
fMarkAcceleration
LREAL
0
Parameter number: 1126
fSaveAcceleration
LREAL
0
Parameter number: 1127
fMaxDeceleration
LREAL
0
Maximum deceleration of the drive (remote parameter) in [u/s²]
Parameter number: 1132, 15
fSWMaxDeceleration
LREAL
0
Maximum deceleration (software limit) in [u/s²]
Parameter number: 1133
bDecelerating
BOOL
FALSE
Parameter number: 1135
fSaveDeceleration
LREAL
0
Parameter number: 1137
fSetJerk
LREAL
0
Parameter number: 1140
fActJerk
LREAL
0
Parameter number: 1141
fMaxJerk
LREAL
0
Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16
fSWMaxJerk
LREAL
0
Maximum jerk (software limit) in [u/s³]
Parameter number: 1143
fRampJerk
LREAL
100000
Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144
fMarkJerk
LREAL
0
Parameter number: 1146
fSaveJerk
LREAL
0
Parameter number: 1147
fSetCurrent
LREAL
0
Parameter number: 1150
fActCurrent
LREAL
0
Parameter number: 1151
fMaxCurrent
LREAL
100
Maximum current in [A]
Parameter number: 1152
fSWMaxCurrent
LREAL
0
Maximum user defined current in [A]
Parameter number: 1153
fSetTorque
LREAL
0
Parameter number: 1153
fActTorque
LREAL
0
Actual torque in [Nm] or [N] (linear), actual value
Parameter number: 1161
fMaxTorque
LREAL
0
Parameter number: 1162
fSWLimitPositive
LREAL
0
Position limit in positive direction in [u]
Parameter number: 1200, 2
fSWLimitNegative
LREAL
0
Position limit in negative direction in [u]
Parameter number: 1201, 3
usiSWEndSwitchState
USINT
0
Parameter number: 1204
bSWLimitEnable
BOOL
FALSE
Parameter number: 1205
bHWLimitEnable
BOOL
FALSE
Parameter number: 1206
bStartReference
BOOL
FALSE
Parameter number: 1210
fReference
LREAL
0
Parameter number: 1211
bStartReferenceRealState
BOOL
FALSE
Parameter number: 1212
fOffsetPosition
LREAL
0
Parameter number: 1215
dwPosOffsetForResiduals
DWORD
0
Parameter number: 1230
dwOneTurn
DWORD
0
Parameter number: 1231
dwLastPosition
DWORD
0
Parameter number: 1232
bySwitchingState
SMC_SWITCHING_STATE
SMC_ST_INITIALIZING
Parameter number: 1233
iRestNumerator
DINT
0
Parameter number: 1234
iTurn
INT
0
Parameter number: 1235
dwPosOffsetForResidualsHoming
DWORD
0
Parameter number: 1237
dwActPosition
DWORD
0
Parameter number: 1238
dwBusBandWidth
DWORD
0
The bus band width, 0 if the bus has 32 bit, 2^k otherwise where 0 < k < 32 is the bus bit depth.
Parameter number: 1240
dwBusModuloMask
DWORD
16#FFFFFFFF
The value (2^k - 1) where k is the bus bit depth.
Parameter number ?
eBrakeControl
SMC3_BrakeSetState
SMC_BRAKE_AUTO
Parameter number: 1017
bBrakeClosedRealState
BOOL
FALSE
Parameter number: 1018
bOldError
BOOL
Parameter number: 1033
bVirtual
BOOL
TRUE: Virtual drive. Parameter number: 1040
bLogical
BOOL
Parameter number: 1041
fSetActTimeLagCycles
LREAL
3
Parameter number: 1070
diSetPosition
DINT
0
Parameter number: 1108
diActPosition
DINT
0
Parameter number: 1109
diSetVelocity
DINT
0
Parameter number: 1118
diActVelocity
DINT
0
Parameter number: 1119
diSetAcceleration
DINT
0
Parameter number: 1128
diActAcceleration
DINT
0
Parameter number: 1129
diSetCurrent
DINT
0
Parameter number: 1158
diActCurrent
DINT
0
Parameter number: 1159
diSetTorque
DINT
0
Parameter number: 1168
diActTorque
DINT
0
Parameter number: 1169
fSWLimitDeceleration
LREAL
0
Deceleration in [u/s²] with which the system will brake in case of a software limit.
Parameter number: 1203
xWaitForHaltWhenStopInterruptsHome
BOOL
TRUE: When MC_Home is interrupted by MC_Stop, then``MC_Stop.bDone`` is delayed until the drive reports that it has successfully halted. bStartReferenceRealState = FALSE
Parameter number: 1213
fSWErrorMaxDistance
LREAL
0
Distance in which the drive has to reach standstill after an error has occurred.
Parameter number: 1250
eCheckPositionLag
SMC3_CheckPositionLagMode
0
Parameter number: 1207
fMaxPositionLag
LREAL
Parameter number: 1208
bPositionLagActive
BOOL
Parameter number: 1209
bModuloDoneByDrive
BOOL
Parameter number: 1242
diFollowingError
DINT
Parameter number: 1243
fFollowingError
LREAL
Parameter number: 1244
aCaptDesc
ARRAY [0..7] OF SMC3_CaptureDescription
Parameter number: 1400
bRestarting
BOOL
FALSE
xPersistentDataLoaded
BOOL
FALSE
strDriveInterfaceError
STRING
adatAcyclic
ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel
iLastSinSquareOwner
INT
-3
Internal: Last owner that constructed a sin² trajectory.
bSetValuesModifiedByMoveSuperimposed
BOOL
Internal: MC_MoveSuperImposed active
vMinRequiredVersion
VERSION
The minimum version of SM3_Basic that the driver requires.
iRampType1
SMC_TG_IRAMPTYPE
Instance of ramp type interface, used for Robotics, acceleration ramp
iRampType2
SMC_TG_IRAMPTYPE
Instance of ramp type interface, used for Robotics, deceleration ramp

版权声明：本站内容均来自互联网，仅供演示用，请勿用于商业和其他非法用途。如果侵犯了您的权益请与我们联系QQ:729038198，我们将在24小时内删除。