SMC_ToolRadiusCorr (FB) ¶ FUNCTION_BLOCK SMC_ToolRadiusCorr SMC_ToolRadiusCorr creates a shifted path to compensate for the radius of a tool. In the shifted path, each point has a defined distance to the original point (tool radius correction). A typical application is the milling of a programmed contour with a milling drill of a certain diameter. In order to compensate the radius of the drill, the milling drill must follow a shifted path. This function block replaces SMC_ToolCorr . The main feature is to also support 3d-movements and to respect the current correction plane (i.e. at decoding time the plane that circles would be defined in). We always use SMC_TOOLCORRMODE.TC_RAMP_IN , so the input eMode is no longer necessary. Tool radius correction is controlled by the g-code: G41 ( G42 ) starts correction to the left (right), G40 ends it. Example 1: Simple tool radius correction G-Code N0 G41 D3 (start correction) N1 G0 X3 Y10 F100 E1000 E-1000 N2 G1 X7 Y10 N3 G1 X10 Y0 N4 G40 (end correction) N5 G1 X20 In the above example, the element in sentence N1 is used for ramping in, the one in sentence N5 for ramping out. Example 2: Tool radius correction in different planes G-Code N0 G41 D1 F100 (start correction) N1 G16 I1 J1 K1 (set correction plane) N2 G1 X5 N3 G2 X0 Y5 R5 N4 G40 (turn off correction) N5 G1 X0 Y7.5 N6 G42 D1 (start correction) N7 G16 I1 J1 K-1 (with different correction plane) N8 G1 Y10 N9 G3 X10 Y0 R15 This example shows how tool radius correction can work in different planes. The correction plane is changed with G16 . The elements in sentence N5 and N8 are used for ramping out and ramping in again. Note At inside corners, the projections of the corrected (shifted) elements onto the correction plane will usually intersect and we shorten those elements accordingly. Concerning the component which is perpendicular to the correction plane (z when correcting in the xy plane), the new meeting point will equal component of the original corner. The value of the additional axes at the point of intersection will also equal the value of the additional axes at the original corner. G75 during tool radius correction is not supported: The correction of one element strongly depends on the following, which can’t be known if there is a G75 in between. A G75 must not follow a G40, either: The first movement after G40 is used for ramping out and therefore still “belongs” to the correction block. For the same reason, we get in trouble if the in-queue is full without containing a second cartesian element (e.g. only M-functions), and also return an error. If the correction radius or the correction plane or the correction side (left or right) changes from one element to the other, we will act like at the beginning of tool correction and use the element with the new parameters for ramping in. Changing the planes during tool correction is not supported. Jumps (G92 or implicitly by G43) during tool correction are not supported. Splines with degree 5, as created by SMC_SmoothPath or SMC_SmoothMerge , are not supported yet. G0 elements can be used during tool radius correction. They will be shifted and cut like G1 elements. Ellipses (G08/G09) are not supported. An error will be reported when an ellipse element is detected during active tool radius correction. InOut: Scope Name Type Comment Input bExecute BOOL Starts on rising edge bAbort BOOL If TRUE , the current processing of this function block is aborted bAppend BOOL As long as this input remains FALSE , the DataOutQueue will be cleared at each reset. As long as it remains TRUE , newly incoming data will be written to the end of the DataOutQueue. poqDataIn POINTER TO SMC_OUTQUEUE Input path queue nSizeOutQueue UDINT The size of pbyBufferOutQueue in bytes pbyBufferOutQueue POINTER TO ARRAY [0..0] OF SMC_GEOINFO The buffer for the output queue dAdditionalToolRadius LREAL This variable defines an additional tool radius. Whenever a new tool radius correction starts, it is added to the tool radius defined in the SMC_GEOINFO structure. The path will then be shifted by the new tool radius. If this variable is modified during an active tool radius correction, it will have no effect until the active tool radius correction ends and a new tool radius correction is started (with G41 or G42 ). Note: The additional tool radius may also be negative. If the sum of the additional tool radius and the radius defined in the SMC_GEOINFO structure is negative, the correction side is inverted (left <-> right). Output bDone BOOL Indicates the entire input path has been processed bBusy BOOL Indicates the function block is still busy processing bError BOOL An error has occurred wErrorID SMC_ERROR Error-ID poqDataOut POINTER TO SMC_OUTQUEUE Output path queue

SMC_XInterpolator (FB) ¶ FUNCTION_BLOCK SMC_XInterpolator SMC_XInterpolator realizes a mixture of Cam and CNC. Imagine you want to cut a specified form (described by G-code) out of a workpiece`. The workpiece is moved - by another process - (e.g. along the X-axis) and the other axes (Y, Z, etc.) should be controlled according to the current position of the workpiece (X) and the target given by the path outline. The motion of the workpiece always follows the X-direction (other cases can be mapped on this by a rotation). Example If the XInterpolator is active, it will search the position on the path that matches the current x-position and it will copy the corresponding path-point in piSetPosition . The input path must have a unique position for each x-coordinate. For example, the following path is valid: InOut: Scope Name Type Initial Comment Inout X_Axis AXIS_REF_SM3 X-axis, position of the workpiece Input bExecute BOOL Starts on rising edge. poqDataIn POINTER TO SMC_OUTQUEUE The input path queue dLastWayPos LREAL This input enables the user to measure the path length which is covered by the interpolator. Output dWayPos is the sum of dLastWayPos and the distance covered within the current cycle. If you set dLastWayPos equal to output dWayPos , dWayPos always will be incremented by the current path section and you will get the total path length. bAbort BOOL This input set to TRUE the processing of an outline will be aborted. eDirection MC_Direction positive This input determines, whether the workpiece is moved in positive (positive) or negative (negative) direction along the X-axis. Other values are not allowed. dXOffset LREAL Offset relative to the X-axis position Output bDone BOOL This variable is be set to TRUE , after the input path has been processed completely. The function block will perform no further actions until a reset will be executed. 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 piSetPosition SMC_POSINFO piSetPosition contains the cartesian coordinates of the set point as well as the position of the additional axes. iStatus SMC_INT_STATUS The current status of the module. IPO_UNKNOWN (0) Internal state, which may not occur after a complete run of SMC_Interpolator. IPO_ACCEL (2) : accelerating. IPO_CONSTANT (3) : running with constant velocity. IPO_DECEL (4) : braking IPO_FINISHED (5) : Processing of is finished. bWorking BOOL This output is set to TRUE as long as the processing of the path has been started, but not yet finished. Otherwise bWorking is FALSE . iActObjectSourceNo DINT Contains entry iSourceLine_No of the active SMC_GEOINFO object of the input path. Set to “-1”, if not working (any longer) ( bWorking = FALSE ). dVel LREAL This variable contains the current path velocity. vecActTangent SMC_VECTOR3D The path tangent in point piSetPosition . In case of dVel = 0 , vecAct_Tangent will contain zeros only. iLastSwitch INT This variable contains the number of the last auxiliary mark passed. If within one cycle multiple auxiliary marks shall be passed, always only the last one will be dumped. dwSwitches DWORD This DWORD contains the current switch status of all auxiliary marks between 1 and 32. Bit0 of the DWORD signifies auxiliary mark 1, Bit31 signifies auxiliary mark 32. dWayPos LREAL See input dLastWayPos for a description. Structure: DoBeforeLeave (Action) Init (Action) NewObject (Action) ResetOutputs (Action)

SMC_CheckVelocities (FB) ¶ FUNCTION_BLOCK SMC_CheckVelocities This module checks the track speed of the particular path segments. If the OutQueue has not been created by the editor, but by the IEC program (e.g. by SMC_NCDecoder ), this module has to be called straight before each call to the interpolator. The main task of this function is to check the path for sharp bends and to reduce the velocity to zero at these bends. 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 poqDataIn POINTER TO SMC_OUTQUEUE This input points to the SMC_OUTQUEUE structure object, which describes the SMC_GEOINFO objects of the path; typically it points to the output poqDataOut of the preceding module (e.g. SMC_NCDecoder / SMC_SmoothPath ). dAngleTol LREAL 0.001 This input describes the tolerance angle (angle leeway) up to which at a sharp bend of the path no stop shall be executed. bCheckAddAxVelJump BOOL dMaxAddAxVelDifference LREAL see SMC_SmoothPath Output bBusy BOOL TRUE , while execution of function block is not finished and the process on the path object is still running bError BOOL Signals, that an error has occurred within the function block wErrorID SMC_ERROR Error identification poqDataOut POINTER TO SMC_OUTQUEUE This output points on the SMC_OUTQUEUE structure object, which contains the path with the permissible velocity values and should now be fed to the interpolator. Structure: DoBeforeLeave (Action)

SMC_ExtendedVelocityChecks (FB) ¶ FUNCTION_BLOCK SMC_ExtendedVelocityChecks This function limits the velocity, acceleration and deceleration of the path so that the resulting velocity, acceleration and deceleration for the additional axes (P, Q, U, V, W, A, B, C and additionally Z for in 2D mode) do not exceed the values set in F<Axis> and E<Axis> . These limits are typically defined in the G-code by using the G-code words FZ, FP, FQ, FU, FV, FW, FA, FB, FC, and EZ, EP, EQ, EU, EV, EW, EA, eB, EC. FZ0, FP0, …, FC0 reset the velocity limit of the additional axis. EZ0, EP0, …, EC0 reset the limitation of acceleration or deceleration of the additional axis. FZ and EZ are only valid in the 2D-mode. Example In sentence N0, the acceleration of additional axis P is limited to 10, the deceleration is limited to 13. In sentence N1, the limitations on additional axis P are reset again (EP0). G-Code : N0 G1 X100 EP10 EP -13 P100 N1 G1 X200 EP0 P0 E<axis>/F<axis> The following code is used to define velocity/acceleration/deceleration of a additional axes <axis> by E<axis>/F<axis>. G-Code N20 M9 N030 F10 E40.0 E-40.0 N040 M8 N050 G92 X0.0 Y0.0 Z570.0 U35.0 V225.0 W20.0 P382.0 (Starting position) N060 G1 X0.0 Y0.0 Z570.0 U35.0 V225.0 W20.0 P382.0 N230 G0 X0.0 F200.0 E200.0 E-200.0 N240 M7 N250 F50.0 E40.0 E-40.0 N260 G0 U100.0 V158.0 W100.0 P260.0 Y100.0 Z400.0 F50.0 N270 G0 V125.0 P260.0 Z400.0 FV1.25 EV500 EV-500 (additional axis V is set) N280 G0 V170.0 P260.0 Z400.0 FV50.0 N285 G0 V170.0 P260.0 Z400.0 FP100.0 EP500 EP-500 (additional axis P is set) N290 G0 X0.0 F200.0 E200.0 E-200.0 N300 M7 N310 F50.0 E40.0 E-40.0 N320 G0 U100.0 V158.0 W100.0 P260.0 Y100.0 Z400.0 F50.0 N330 G0 V125.0 P260.0 Z400.0 F1.25 N340 G0 V170.0 P260.0 Z400.0 F50.0 N350 M8 InOut: Scope Name Type Comment Input bExecute BOOL Execution starts on the rising edge. bAbort BOOL If FALSE at a rising edge of bExecute , the output queue poqDataOut is emptied bAppend BOOL If FALSE at a rising edge of bExecute , the output queue poqDataOut is emptied poqDataIn POINTER TO SMC_OUTQUEUE This input points to the SMC_OUTQUEUE structure object, which describes the SMC_GEOINFO objects of the path; typically it points to the output poqDataOut of the preceding module (e.g. SMC_NCDecoder / SMC_SmoothPath ). nSizeOutQueue UDINT This variable contains the size of the data buffer, the list of SMC_GEOINFO structure objects will be written to. This buffer must be able to hold at least five SMC_GEOINFO objects. Otherwise, the function block will not execute any actions at all. Its size may be predefined, but may be modified later only during a reset. It is recommended to create the buffer as described by the example below: ExampleBuf: ARRAY[1..50] OF SMC_GEOINFO The appropriate buffer size will then be retrieved by use of the operator sizeof(ExampleBuf) . pbyBufferOutQueue POINTER TO ARRAY [0..0] OF SMC_GEOINFO This input must point to the first byte of the memory area that is 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 in the declaration part of the IEC-program by defining an array of SMC_GEOINFO e.g. BUF: ARRAY[1..50] OF SMC_GEOINFO ; for a buffer that can store 50 path elements). The value may be predefined, but may be modified later on only during a reset. bStrictlyHoldAccDecABC BOOL If TRUE, the maximal accelerations and decelerations of A, B, C are strictly held. Otherwise, we use a heuristic that may lead to quicker profiles, but occasionally violate the A/B/C-acceleration-limit, if A/B/C move quickly while there is an ac- / deceleration on the path. Output bDone BOOL bBusy BOOL TRUE , while execution of function block is not finished and the process on the path object is still running bError BOOL Signals that an error has occurred within the function block wErrorID SMC_ERROR Error identification poqDataOut POINTER TO SMC_OUTQUEUE This variable points to a SMC_OUTQUEUE structure, which manages the SMC_GEOINFO objects of the loopless path. Structure: SMC_DoBeforeLeave (Action) SMC_ExtendedVelocityChecksInit (Action)

SMC_Interpolator (FB) ¶ FUNCTION_BLOCK SMC_Interpolator This function block is used to convert a continuous path described by SMC_GEOINFO objects into discrete path position points taking into account a defined velocity profile and time pattern. Afterwards, these position points will typically be transformed by the IEC-program (e.g. to drive-axis-positions) and sent to the drives. Note At the end of a path run, the input path queue is empty. If you want to process the same outline once again, you either have to transform the CNC program via decoder and path preprocessing modules to a SMC_OUTQUEUE structure, or you have to use the function block SMC_RestoreQueue (also part of SM3_CNC). This is only possible if the path queue is big enough to hold the complete path. InOut: Scope Name Type Initial Comment Input bExecute BOOL Execution starts on the rising edge. poqDataIn POINTER TO SMC_OUTQUEUE This variable points to the SMC_OUTQUEUE structure object, which contains the SMC_GEOINFO objects of the path; typically it points to the output poqDataOut of SMC_CheckVelocities . bSlow_Stop BOOL If this variable is set to FALSE , the path will be passed non-stop. Otherwise, the SMC_Interpolator will be caused to reduce the velocity to 0 according to the defined velocity profile ( byVelMode ), and the maximum delay of the current SMC_GEOINFO object ( dDecel , see below) and to wait until bSlow_Stop will be reset to FALSE . bEmergency_Stop BOOL As soon as this input gets TRUE , the SMC_Interpolator will cause an immediate stop, this means that the position will be retained. Hence, the velocity will be set to 0 immediately. bWaitAtNextStop BOOL As long as this variable is FALSE (default), the path is passed non-stop. Otherwise, the SMC_Interpolator will be caused to retain the position at the next regular stop this means at position points where the velocity is 0, typically at path angles and to pause until bWaitAtNextStop will be reset to FALSE . dOverride LREAL 1 This variable can be used to handle the override. The active override is determined by MAX(0, dOverride) . The scheduled velocity of the particular objects will get scaled by dOverride ; thus the scheduled velocity can be increased resp. reduced in online mode. For example dOverride=1 (default) effects that the programmed scheduled velocities will be executed, whereas dOverride=2 would double them. Please regard: The override can be modified at any time, but the modification will only be applied, if no acceleration or deceleration is currently in progress. iVelMode SMC_INT_VELMODE TRAPEZOID This input defines the velocity profile as defined in SMC_INT_VELMODE . dwIpoTime DWORD This variable has to be set for each call. It represents the cycle time in μsec. dLastWayPos LREAL This input allows the user to measure the stretch of the path that is racked out by the interpolator. Output dWayPos is the sum of dLastWayPos and the distance covered within the current cycle. If dLastWayPos is set equal to output dWayPos , dWayPos will always be incremented by the current path segment and the result will be the total length of the path travelled. dLastWayPos can be (re)set to 0 or to a different value at any time. bAbort BOOL This input set to TRUE will abort the function block and reset the outputs. A rising edge of bExecute is required to start the interpolator again after aborting. bSingleStep BOOL This input effects that the interpolator will stop at the transition between two path objects (also at transitions with identical tangent) for the duration of one cycle. If bSingleStep is set to TRUE during the move, the interpolator will stop at the end of that object, that can be reached without exceeding the scheduled deceleration value. If the interpolator should stop at the next possible stop position (i.e. at points where the velocity is 0), bWaitAtNextStop must be used. bAcknM BOOL This input can be used to acknowledge an M-function. If the input is TRUE , the output wM will be cleared and the path processing will be continued. bQuick_Stop BOOL If this input is TRUE , the interpolator will reduce the velocity to zero, until bQuick_Stop is reset to FALSE . The reduction is done according to the defined velocity profile ( byVelMode ) and the deceleration given by the maximum of dQuickDeceleration and the delay currently programmed in the path. If a quadratic velocity mode is used, then the jerk is limited by max(dJerkMax, dQuickStopJerk) . dQuickDeceleration LREAL Deceleration value used for bQuick_Stop dJerkMax LREAL Magnitude of the maximum allowed jerk: It’s only used for the quadratic velocity modes. It must be positive and can be changed while the interpolator is running. The value will become active - at the start of the interpolator - or once a standstill has been reached (between two G-code commands, due to a stop or caused by a dOverride value of 0). dQuickStopJerk LREAL The magnitude of the jerk is used by a quick stop for ramping down the acceleration if one of the quadratic velocity modes is selected. bSuppressSystemMFunctions BOOL If this option is set, then the output wM will not be set for internal M-functions created by G75 or G4 commands. Output bDone BOOL This variable will be set to TRUE as soon as the input data ( poqDataIn ) has been processed completely. The function block will not perform any further actions until a reset is done. If input bExecute is FALSE , bDone will be reset to FALSE . 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 piSetPosition SMC_POSINFO It reflects the calculated set position and contains the cartesian coordinates of the next position as well as the state of the additional axis. SMC_POSINFO iStatus SMC_INT_STATUS IPO_INIT This enumeration variable reflects the current status of the function block defined in SMC_INT_STATUS . Possible states: IPO_UNKNOWN (0): internal state that may not occur after a complete pass of the SMC_Interpolator . IPO_INIT (1): initialization state; poqDataIn is not filled completely. IPO_ACCEL (2): accelerating IPO_CONSTANT (3): moving with constant velocity IPO_DECEL (4): decelerating IPO_FINISHED (5): path is finished. Any further SMC_GEOINFO objects arriving afterwards in poqDataIn will not be processed. IPO_WAIT (6): waiting because one of the following situations has occurred: bEmergency_Stop = TRUE bSlow_Stop = TRUE and dVel = 0 bWait_At_Next_Stop = TRUE and dVel = 0 IPO_INCREASING_ACCEL (7): increasing acceleration IPO_DECREASING_ACCEL (8): decreasing acceleration IPO_INCREASING_DECEL (9): increasing deceleration IPO_DECREASING_DECEL (10): decreasing deceleration bWorking BOOL This output is intended to be connected to input bEnable of SMC_ControlAxisByPos . It will be TRUE if (and only if) the processing of the list has been started and not yet finished iActObjectSourceNo DINT -1 Value of member iSourceLine_No of active SMC_GEOINFO object of poqDataIn -queue. If the SMC_Interpolator does not work (any longer) ( bWorking = FALSE ), the value is set to “-1”. dActObjectLength LREAL The length of the current object; valid if bWorking = TRUE . dActObjectLengthRemaining LREAL The remaning length of the current object; valid if bWorking = TRUE . dVel LREAL This variable contains the current path velocity. vecActTangent SMC_VECTOR3D This structure contains the path tangent, a unit vector. iLastSwitch INT This output contains the number of the last switch passed. Note: If several switches have been passed within one cycle, only the last one will be mentioned. dwSwitches DWORD This DWORD describes the current switch status of all switches 1 32. Bit0 of the DWORD represents switch1, Bit31 represents switch32. In contrast to iLastSwitch , this bit-field will also hold multiple switches in one cycle. dWayPos LREAL See input dLastWAyPos . wM WORD If the interpolator passes an M-function, this output will be set to the value associated to the M-function. The interpolator will stop until the M-function is acknowledged by input bAcknM . adToolLength ARRAY [0..2] OF LREAL Parameters for tool length compensation (set by G43 I/J/K) Act_Object POINTER TO SMC_GEOINFO Pointer to the currently interpolated path element. Possibly 0. Structure: SMC_CheckForBlindPos (Action) SMC_DoBeforeLeave (Action) SMC_InterpolatorInit (Action) SMC_InterpolatorNewObject (Action) SMC_IsResegmentationDesired (Action) SMC_ResetOutputs (Action)

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)

SMC_Interpolator2Dir_SlowTask (FB) ¶ FUNCTION_BLOCK SMC_Interpolator2Dir_SlowTask This FB is used for generating the reversed-path. It has been split off from SMC_Interpolator2Dir in order to be called from a task with lower priority. InOut: Scope Name Type Initial Comment Inout ipo2d SMC_Interpolator2Dir SMC_Interpolator2Dir-instance. Input dAngleTol LREAL 0 Angle tolerance for backward path. Typically the same as angle tolerance of SMC_CheckVelocities. nSizeOutQueue UDINT This variable contains the size of the data buffer the backward path shall be stored in. This buffer must be large enough to hold the complete path. pbyBufferOutQueue POINTER TO BYTE Pointer to the first byte of the memory area that is allocated for the backward path.

SMC_ReduceVelEndAtCorner (FB) ¶ FUNCTION_BLOCK SMC_ReduceVelEndAtCorner Reduces the end velocity if there is a corner between two consecutive path elements. A corner is a difference in tangents or a difference in the velocity of the additional axes A/B/C. The velocity is reduced linearly from the programmed velocity to zero as the angle between the tangents goes from dMinAngleToAct to dAngleTol . InOut: Scope Name Type Initial Comment Input bExecute BOOL Starts on the rising edge poqDataIn POINTER TO SMC_OUTQUEUE Input path queue nSizeOutQueue UDINT The size of byBufferOutQueue in bytes pbyBufferOutQueue POINTER TO ARRAY [0..0] OF SMC_GEOINFO The buffer for the output queue dAngleTol LREAL 0.1 The maximum angle tolerance (in angular degrees). If the actual angle between two elements is equal to or larger than this value, the end velocity is reduced to zero. Note Use the same value here as for input dAngleTol of SMC_CheckVelocities . The value must be positive. dMinAngleToAct LREAL The minimum angle (in angular degrees). If the actual angle between two elements is not greater than this value, the end velocity is not reduced. The value must be less than dAngleTol and non-negative. dMaxVelDifferenceABC LREAL 1 The maximum allowed velocity difference (or velocity jump) of the additional axes A,B,C between two consecutive elements. The end velocity will be reduced until the actual velocity difference is at most this value. The value must be non-negative. Output bDone BOOL Indicates the entire input path has been processed bBusy BOOL Indicates the function block is still busy processing bError BOOL An error has occurred wErrorID SMC_ERROR Error-ID poqDataOut POINTER TO SMC_OUTQUEUE The queue for the output path Structure: DoBeforeLeave (Action)

SMC_RoundPath (FB) ¶ FUNCTION_BLOCK SMC_RoundPath SMC_RoundPath rounds corners between adjacent elements by inserting circular arc segments. See SMC_SmoothPath for an alternative corner smoothing with splines. The distance between the corner and the point at which the two adjacent elements are cut is the minimum of half the length of the first element, half the length of the second element and the sum of dRadius and D . If the sum of input variable dRadius and G-code word D is 0, then no rounding is done. If one of the two elements is a G0 element, then no rounding is done. Details All SMC_GEOINFO elements of the input structure SMC_OUTQUEUE are checked one after the other. The round-path functionality is executed for all elements between G52 and G50. M-function at a rounded corner: If there is a M-function at the corner that will be rounded then the M-function remains but is moved to the end of the rounded corner. This behavior is consistent with the behavior of SMC_SmoothPath . H-function at a rounded corner: If there is an H-function between the first cut point and the corner (1), the point is moved to the rounded path (1’). The distance to the start point remains the same. If there a H-function between the corner and the second cut point (3) the point is also moved to the rounded path (3’), so that the distance to the end point remains the same. The position of the moved H-functions is limited so that they don’t cross the center of rounded path. Otherwise the order of the H-functions might change (2’, 4’). Example N000 G01 X10 Y0 F100 N010 G01 X10 Y10 N020 G52 D2 (rounding with distance 2 on) N030 G01 X20 Y10 N040 G01 X20 Y0 N050 G01 X30 Y0 D5 (cut distance 5) N060 G01 X30 Y10 N070 G01 X40 Y10 N080 G50 (rounding off) N090 G01 X40 Y0 N100 G01 X50 Y0 The first rounded corner is the one after sentence N020 at position X20 Y10. The cut distance is changed from 2 to 5 in sentence N050 and is valid from there. Rounding is turned off at position X40 Y10. A rounding element always uses the tool correction information (i.e. lengths and diameter) of the preceding element. InOut: Scope Name Type Initial Comment Input bExecute BOOL While TRUE , the function block is active 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 DataOutQueue will be cleared at each reset. As long as it is set to TRUE , newly incoming data will be written to the end of DataOutQueue. poqDataIn POINTER TO SMC_OUTQUEUE Input path queue dRadius LREAL This input variable contains the value, which – added to the corresponding ToolRadius-value of the SMC_GEOINFO object (G-code word D) – defines the (maximum) distance to a corner, at which the particular objects will be cut and replaced by an arc (see above). This value can be modified online. Thus it is possible to predefine offline (using the D-word) and to change online. Default: 0 dAngleTol LREAL 0.001 This input prescribes the value of angle tolerance, up to which a path corner is not rounded. nSizeOutQueue UDINT This variable contains the size of the data buffer, the list of SMC_GEOINFO structure objects will be written to. This buffer must be able to hold at least five SMC_GEOINFO objects. Otherwise, the function block will not execute any actions at all. Its size may be predefined, but may be modified later only during a reset. It is recommended to create the buffer as described by the example below: ExampleBuf: Array[1..50] of SMC_GeoInfo The correct buffer size will then be retrieved by use of the operator sizeof(ExampleBuf) . pbyBufferOutQueue POINTER TO ARRAY [0..0] OF SMC_GEOINFO This input must point to the first byte of the memory area that is 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 in the declaration part of the IEC-program by defining an array of SMC_GEOINFO (e.g. BUF: ARRAY[1..50] OF SMC_GEOINFO ; for a buffer that can store 50 path elements). The value may be predefined, but may be modified later on only during a reset. Output bDone BOOL This variable will be set to TRUE as soon as the input data from poqDataIn has been processed completely. Thereafter, the module will not perform any further actions until it gets reset. If input bExecute is FALSE , bDone will be reset to FALSE . 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 This output variable points on the SMC_OUTQUEUE structure, which manages the rounded SMC_GEOINFO objects. Structure: SMC_DoBeforeLeave (Action) SMC_RoundPathInit (Action)

SMC_SegmentAnalyzer (FB) ¶ FUNCTION_BLOCK SMC_SegmentAnalyzer This function block analyzes the different segments (acceleration constant velocity, deceleration) of a CNC path, independently of the interpolator function block. With every call, the SMC_SegmentAnalyzer outputs basic information about the current path segment and adds up the time that will be needed for its interpolation. Restrictions: The complete path must fit into the input path queue. The execution on the output path queue by the next function block (usually SMC_Interpolator ) may only begin, when SMC_SegmentAnalyzer has analyzed the queue completely. InOut: Scope Name Type Initial Comment Input bExecute BOOL FALSE With a rising edge, the function block gets active poqDataIn POINTER TO SMC_OUTQUEUE 0 Input path queue iVelMode SMC_INT_VELMODE TRAPEZOID Velocity mode (same as SMC_Interpolator ) dwIpoTime DWORD 0 Cycle time of the interpolation task (same as SMC_Interpolator ) bMFunctionsPreAcknowledged BOOL FALSE If the input is set to TRUE , every M-function is acknowledged in advance. If the input is set to FALSE , M-functions cause a stop, but they are acknowledged immediately. dJerkMax LREAL 0 The magnitude of the maximum allowed jerk (same as SMC_Interpolator ). Output bDone BOOL FALSE This output will be set to TRUE as soon as the input data from poqDataIn has been processed completely. The function block will not perform any further actions until it gets reset. bBusy BOOL FALSE TRUE while execution of function block is not finished bError BOOL FALSE It signals that an error has occurred within the function block wErrorID SMC_ERROR SMC_NO_ERROR Error identification: SMC_SA_QUEUE_NOT_IN_BUFFER SMC_SA_QUEUE_CHANGED_DURING_OP segCurrentSegment SMC_SEGMENT Description of the current segment dTime LREAL Total (summed) interpolation time over all segments output so far. Structure: SMC_DoBeforeLeave (Action) SMC_InitAction (Action)