File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 26.07.2024, 11:51:57 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Basic.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Basic.clean.json version version 2.0.0.0 ProjectInformation OnlineHelp bool True Released True ShowSmartCodingInfo True SystemApplicationLibrary False LastModificationDateTime date 26.07.2024, 11:51:33 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 Description See: Description DocFormat reStructuredText DocLanguages en Placeholder SM3_Basic Project SM3_Basic Title SM3_Basic UnitTestingDefine SMC_UNIT_TEST Version version 4.17.0.0

Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. 3SLicense ¶ Library Identification ¶ Placeholder: 3SLicense Default Resolution: 3SLicense, * (3S - Smart Software Solutions GmbH) Namespace: _3S_LICENSE Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: 3SLicense Base Interfaces ¶ Library Identification ¶ Name: Base Interfaces Version: newest Company: System Namespace: IBaseLibrary Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Base Interfaces, * (System) CAA Callback Extern ¶ Library Identification ¶ Placeholder: CAA Callback Default Resolution: CAA Callback Extern, * (CAA Technical Workgroup) Namespace: CB Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA Callback CAA Device Diagnosis ¶ Library Identification ¶ Placeholder: CAA Device Diagnosis Default Resolution: CAA Device Diagnosis, * (CAA Technical Workgroup) Namespace: DED Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CAA Device Diagnosis CAA Types Extern ¶ Library Identification ¶ Placeholder: CAA Types Default Resolution: CAA Types Extern, * (CAA Technical Workgroup) Namespace: CAA Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA Types CmpApp ¶ Library Identification ¶ Placeholder: CmpApp Default Resolution: CmpApp, * (System) Namespace: CmpApp Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpApp CmpErrors2 Interfaces ¶ Library Identification ¶ Name: CmpErrors2 Interfaces Version: newest Company: System Namespace: CmpErrors Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpErrors2 Interfaces, * (System) CmpEventMgr ¶ Library Identification ¶ Placeholder: CmpEventMgr Default Resolution: CmpEventMgr, * (System) Namespace: CmpEventMgr Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpEventMgr CmpIecTask ¶ Library Identification ¶ Placeholder: CmpIecTask Default Resolution: CmpIecTask, * (System) Namespace: CmpIecTask Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpIecTask CmpLog ¶ Library Identification ¶ Placeholder: CmpLog Default Resolution: CmpLog, * (System) Namespace: CmpLog Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpLog Component Manager ¶ Library Identification ¶ Placeholder: Component Manager Default Resolution: Component Manager, * (System) Namespace: Component_Manager Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Component Manager Empty ¶ Library Identification ¶ Placeholder: SoftMotion_BusTaskInterval Default Resolution: Empty, * (3S - Smart Software Solutions GmbH) Namespace: SoftMotion_BusTaskInterval Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SoftMotion_BusTaskInterval FloatingPointUtils ¶ Library Identification ¶ Placeholder: FloatingPointUtils Default Resolution: FloatingPointUtils, * (System) Namespace: FPU Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: FloatingPointUtils IoDriver Interfaces ¶ Library Identification ¶ Name: IoDriver Interfaces Version: newest Company: System Namespace: IoDriver_Interfaces Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoDriver Interfaces, * (System) IoStandard ¶ Library Identification ¶ Placeholder: IoStandard Default Resolution: IoStandard, * (System) Namespace: IoStandard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoStandard SM3_CommonPublic ¶ Library Identification ¶ Placeholder: SM3_CommonPublic Default Resolution: SM3_CommonPublic, * (CODESYS) Namespace: SM3_Common Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_CommonPublic SM3_Error ¶ Library Identification ¶ Placeholder: SM3_Error Default Resolution: SM3_Error, * (CODESYS) Namespace: SM3_Error Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Error SM3_Math ¶ Library Identification ¶ Placeholder: SM3_Math Default Resolution: SM3_Math, * (CODESYS) Namespace: SM3M Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Math SM3_RBase ¶ Library Identification ¶ Placeholder: SM3_RBase Default Resolution: SM3_RBase, * (CODESYS) Namespace: SMRB Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_RBase SM3_Ramps ¶ Library Identification ¶ Placeholder: SM3_Ramps Default Resolution: SM3_Ramps, * (CODESYS) Namespace: SM3_Ramps Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Ramps SM3_Shared ¶ Library Identification ¶ Placeholder: SM3_Shared Default Resolution: SM3_Shared, * (CODESYS) Namespace: SM0 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Shared SM3_TrajectoryGeneration ¶ Library Identification ¶ Placeholder: SM3_TrajectoryGeneration Default Resolution: SM3_TrajectoryGeneration, * (CODESYS) Namespace: SM3_TrajectoryGeneration Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_TrajectoryGeneration Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard SysCpuHandling ¶ Library Identification ¶ Placeholder: SysCpuHandling Default Resolution: SysCpuHandling, * (System) Namespace: SysCpuHandling Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysCpuHandling SysFile ¶ Library Identification ¶ Placeholder: SysFile Default Resolution: SysFile, * (System) Namespace: SysFile Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysFile SysMem ¶ Library Identification ¶ Placeholder: SysMem Default Resolution: SysMem, * (System) Namespace: SysMem Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysMem SysTarget ¶ Library Identification ¶ Placeholder: SysTarget Default Resolution: SysTarget, * (System) Namespace: SysTarget Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTarget SysTime ¶ Library Identification ¶ Placeholder: SysTime Default Resolution: SysTime, * (System) Namespace: SysTime Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTime SysTypes2 Interfaces ¶ Library Identification ¶ Name: SysTypes2 Interfaces Version: newest Company: System Namespace: SysTypes Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTypes2 Interfaces, * (System) VisuElem3DPath ¶ Library Identification ¶ Placeholder: System_VisuElem3DPath Default Resolution: VisuElem3DPath, 3.5.15.0 (System) Namespace: VisuElem3DPath Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElem3DPath Library Parameter ¶ Parameter: GC_POINTS_PER_POLYGON = 100 VisuElemCamDisplayer ¶ Library Identification ¶ Placeholder: System_VisuElemCamDisplayer Default Resolution: VisuElemCamDisplayer, 3.5.15.0 (System) Namespace: VisuElemCamDisplayer Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemCamDisplayer Library Parameter ¶ Parameter: GC_POINTS_PER_CAM = 100 VisuElemMeter ¶ Library Identification ¶ Placeholder: System_VisuElemMeter Default Resolution: VisuElemMeter, 3.5.15.0 (System) Namespace: VisuElemMeter Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemMeter VisuElemTextEditor ¶ Library Identification ¶ Placeholder: System_VisuElemTextEditor Default Resolution: VisuElemTextEditor, 3.5.15.0 (System) Namespace: VisuElemTextEditor Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemTextEditor VisuElemTrace ¶ Library Identification ¶ Placeholder: System_VisuElemTrace Default Resolution: VisuElemTrace, 3.5.15.0 (System) Namespace: VisuElemTrace Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemTrace VisuElemXYChart ¶ Library Identification ¶ Placeholder: System_VisuElemXYChart Default Resolution: VisuElemXYChart, 3.5.15.0 (System) Namespace: VisuElemXYChart Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemXYChart VisuElems ¶ Library Identification ¶ Placeholder: System_VisuElems Default Resolution: VisuElems, 3.5.15.0 (System) Namespace: VisuElems Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElems VisuElemsAlarm ¶ Library Identification ¶ Placeholder: System_VisuElemsAlarm Default Resolution: VisuElemsAlarm, 3.5.15.0 (System) Namespace: VisuElemsAlarm Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemsAlarm VisuElemsDateTime ¶ Library Identification ¶ Placeholder: System_VisuElemsDateTime Default Resolution: VisuElemsDateTime, 3.5.15.0 (System) Namespace: VisuElemsDateTime Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemsDateTime VisuElemsSpecialControls ¶ Library Identification ¶ Placeholder: System_VisuElemsSpecialControls Default Resolution: VisuElemsSpecialControls, 3.5.15.0 (System) Namespace: VisuElemsSpecialControls Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemsSpecialControls VisuElemsWinControls ¶ Library Identification ¶ Placeholder: System_VisuElemsWinControls Default Resolution: VisuElemsWinControls, 3.5.15.0 (System) Namespace: VisuElemsWinControls Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemsWinControls VisuInputs ¶ Library Identification ¶ Placeholder: system_visuinputs Default Resolution: VisuInputs, 3.5.15.0 (System) Namespace: visuinputs Library Properties ¶ LinkAllContent: False Optional: False PublishSymbolsInContainer: True QualifiedOnly: False SystemLibrary: True Key: system_visuinputs VisuNativeControl ¶ Library Identification ¶ Placeholder: System_VisuNativeControl Default Resolution: VisuNativeControl, 3.5.15.0 (System) Namespace: VisuNativeControl Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuNativeControl

SMC_CAM_SEGMENT (STRUCT) ¶ TYPE SMC_CAM_SEGMENT : STRUCT A generic segment description

MC_WriteParameter (FB) ¶ FUNCTION_BLOCK MC_WriteParameter MC_WriteParameter writes the value of the SoftMotion parameter specified in ParameterNumber . InOut: Scope Name Type Comment Inout Axis AXIS_REF_SM3 Reference to axis Input Execute BOOL Rising edge: starts the execution of MC_WriteParameter . ParameterNumber DINT You can find a description of the most used parameter numbers in AXIS_REF_SM3 . Negative values are fieldbus specific parameters. See SMC_ParameterNumber_CoE and SMC_ParameterNumber_SoE to translate fieldbus object identifiers to parameter numbers. Value LREAL Output Done BOOL TRUE : Parameter has been written successfully. Busy BOOL TRUE : Execution of the function block has not been finished. Error BOOL TRUE : Error has occurred during execution. ErrorID SMC_ERROR Error identification

SMC_ParameterNumber_CoE (FUN) ¶ FUNCTION SMC_ParameterNumber_CoE : DINT This function translates from a CANopen object index/subindex pair to a SoftMotion parameter number that can be used with function blocks like MC_ReadParameter , MC_ReadBoolParameter , MC_WriteParameter , and MC_WriteBoolParameter . InOut: Scope Name Type Comment Input index UINT The object index, e.g. 16#6061 subIndex USINT The object subindex, e.g. 0 dataLength USINT The data length in bytes (1, 2, or 4). Only used when writing a parameter. Return SMC_ParameterNumber_CoE DINT

SMC_ParameterNumber_SoE (FUN) ¶ FUNCTION SMC_ParameterNumber_SoE : DINT This function translates from a SoE (servodrive over EtherCAT) object (IDN + element) to a SoftMotion parameter number that can be used with function blocks like MC_ReadParameter , MC_ReadBoolParameter , MC_WriteParameter , and MC_WriteBoolParameter . InOut: Scope Name Type Comment Input IDN UINT The IDN element USINT 2: Name, 3: Attribute, 4: Unit, 5: Minimum, 6: Maximum, 0 or 7: Value dataLength USINT The data length in bytes (1, 2, or 4). Only used when writing a parameter. Return SMC_ParameterNumber_SoE DINT

internal ¶ Buffered movement SMC_CamIn_EvalCam_EvalContext (Struct) SMC_CamIn_EvalContext (Struct) SMC_CamIn_ModuloHandling_EvalContext (Struct) SMC_CamIn_RampIn_DistanceBased_EvalContext (Struct) SMC_CamIn_RampIn_EvalContext (Union) SMC_CamIn_RampIn_LimitBased_EvalContext (Struct) SMC_CamOutPerformerImpl (FunctionBlock) Activate (Method) CanBlend (Method) GetStartInfoForBlendingInto (Method) GetStartVelocity (Method) Init (Method) OnOverrideChanged (Method) OwnerNumber (Property) PrepareTransition (Method) StartBuffering (Method) SMC_CamOut_EvalContext (Struct) SMC_GearInPos_EvalContext (Struct) SMC_GearIn_EvalContext (Struct) SMC_GearIn_RampInQuad_EvalContext (Struct) SMC_GearIn_RampInTrap_EvalContext (Struct) SMC_GearIn_RampIn_EvalContext (Union) SMC_Gearing_EvalContext (Struct) SMC_MoveContinuousPerformerImpl (FunctionBlock) Activate (Method) CanBlend (Method) GetStartInfoForBlendingInto (Method) GetStartVelocity (Method) OnOverrideChanged (Method) OwnerNumber (Property) PrepareTransition (Method) StartBuffering (Method) SMC_RampIn_DistanceBased_EvalContext (Struct) Divers SMC_AxisHasJerkLimit (Function) Trajectories SMC_AxisOverrideInterruptActive (Function) SMC_BrakingDistance (Function) SMC_CalculateProfile_VA (Function) SMC_DynLimits_Set (Function) Trajectory buffer SMC_AxisTrajectoryBuffer_ResetCounter (Struct) SMC_AxisTrajectoryBuffer_ResetCounter_Eq (Function) SMC_TrajectorySample_State (Union)

Buffered movement ¶ SMC_CamIn_EvalCam_EvalContext (Struct) SMC_CamIn_EvalContext (Struct) SMC_CamIn_ModuloHandling_EvalContext (Struct) SMC_CamIn_RampIn_DistanceBased_EvalContext (Struct) SMC_CamIn_RampIn_EvalContext (Union) SMC_CamIn_RampIn_LimitBased_EvalContext (Struct) SMC_CamOutPerformerImpl (FunctionBlock) Activate (Method) CanBlend (Method) GetStartInfoForBlendingInto (Method) GetStartVelocity (Method) Init (Method) OnOverrideChanged (Method) OwnerNumber (Property) PrepareTransition (Method) StartBuffering (Method) SMC_CamOut_EvalContext (Struct) SMC_GearInPos_EvalContext (Struct) SMC_GearIn_EvalContext (Struct) SMC_GearIn_RampInQuad_EvalContext (Struct) SMC_GearIn_RampInTrap_EvalContext (Struct) SMC_GearIn_RampIn_EvalContext (Union) SMC_Gearing_EvalContext (Struct) SMC_MoveContinuousPerformerImpl (FunctionBlock) Activate (Method) CanBlend (Method) GetStartInfoForBlendingInto (Method) GetStartVelocity (Method) OnOverrideChanged (Method) OwnerNumber (Property) PrepareTransition (Method) StartBuffering (Method) SMC_RampIn_DistanceBased_EvalContext (Struct)

Divers ¶ SMC_AxisHasJerkLimit (Function)

CAA Device Diagnosis ¶ CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceErrorAsync (Method) GetDeviceInfo (Method) GetDeviceState (Method) GetSpecificDeviceErrorAsync (Method) GetSpecificDeviceState (Method) INode ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property) IsDeviceDiagInitialized (Property) SetCommunicationState (Method)