SMC3_MappingEntry (ALIAS) ¶ TYPE SMC3_MappingEntry : SM0.MappingEntry

SMC3_ParamCommunicationMethod_Enum (ENUM) ¶ TYPE SMC3_ParamCommunicationMethod_Enum : InOut: Name SMC3_PCM_AXIS_REF_PARAM SMC3_PCM_DRIVE_PARAM

SMC_AXIS_STATE (ENUM) ¶ TYPE SMC_AXIS_STATE : Possible axis states according to PLCopen Note 1 : From any state. An error in the axis has occured. Note 2 : From any state. MC_Power .Enable = FALSE . There is no error in the axis. Note 3 : MC_Reset and MC_Power .Status = FALSE Note 4 : MC_Reset and MC_Power .Status = TRUE and MC_Power .Enable = TRUE Note 5 : MC_Power .Enable = TRUE and MC_Power .Status = TRUE Note 6 : MC_Stop .Done = TRUE and MC_Stop .Execute = FALSE InOut: Name Initial Comment power_off 0 PLCopen calls this state: “Disabled” errorstop 1 stopping 2 standstill 3 discrete_motion 4 continuous_motion 5 synchronized_motion 6 homing 7

SMC_AXIS_TYPE (ENUM) ¶ TYPE SMC_AXIS_TYPE : The type (finite or modulo) of SoftMotion axes. Attributes: qualified_only InOut: Name Initial modulo 0 finite 1

SMC_CONTROLLER_MODE (ENUM) ¶ TYPE SMC_CONTROLLER_MODE : This ENUM describes the mode in which the motor is controlled. InOut: Name Initial Comment SMC_nocontrol 0 nocontrol: SoftMotion does not send cyclic data to the drive, making it possible to control the drive by other means. SMC_torque 1 Torque-mode SMC_velocity 2 Velocity-mode SMC_position 3 Position-mode SMC_current 4 Current-mode

SMC_ENCODER_REF (STRUCT) ¶ TYPE SMC_ENCODER_REF : STRUCT InOut: Name Type Initial Comment wEncoderID WORD 0 dwRatioTechUnitsDenom DWORD 1 iRatioTechUnitsNum DINT 1 iMovementType INT 1 fPositionPeriod LREAL 360 fTaskCycle LREAL bSWLimitEnable BOOL FALSE fSWLimitPositive LREAL 0 fSWLimitNegative LREAL 0 dwEncoderModulo DWORD 0 dwParam1 DWORD dwParam2 DWORD dwParam3 DWORD dwParam4 DWORD dwParam5 DWORD dwParam6 DWORD dwParam7 DWORD dwParam8 DWORD bUseInternalData BOOL FALSE dwActPosition DWORD dwCaptPosition DWORD 0 bCaptureOccured BOOL FALSE bStartCapturing BOOL FALSE tiTriggerInput Trigger_REF fFirstCapturePosition LREAL 0 fLastCapturePosition LREAL 0 bCaptureWindowActive BOOL FALSE bLatchInController BOOL FALSE bAbortTrigger BOOL FALSE bStartLatchingIndex BOOL input: TRUE : check index of encoder bIndexSignal BOOL input: pulsed for one cycle when index occurs bIndexOccured BOOL output: TRUE : index occured at least once since bStartLatchingIndex = TRUE wIndexCount WORD output: number of index pulses since bStartLatchingIndex = TRUE dwIndexPosition DWORD input: last index position in increments fIndexPosition LREAL output: last index position in t.u.

SMC_CAMTable_UINT_256_1 (STRUCT) ¶ TYPE SMC_CAMTable_UINT_256_1 : STRUCT This STRUCT represents an equidistant curve table. The table can handle 256 elements of type UINT . Note For information about technical and table units please see the documentation of SMC_CAMTable_LREAL_128_1 . InOut: Name Type Comment Table ARRAY [0..255] OF UINT Array of slave positions in table units. The array must start with the slave position related to the master start position and end with the slave position related to the master end position (see xStart and xEnd of MC_CAM_REF ). fEditorMasterMin REAL The minimum master value in technical units. fEditorMasterMax REAL The maximum master value in technical units. fEditorSlaveMin REAL The minimum slave value in technical units. fEditorSlaveMax REAL The maximum slave value in technical units. fTableMasterMin REAL The minimum master value in table units. fTableMasterMax REAL The maximum master value in table units. fTableSlaveMin REAL The minimum slave value in table units. fTableSlaveMax REAL The maximum slave value in table units.

SMC_CAMTable_UINT_256_2 (STRUCT) ¶ TYPE SMC_CAMTable_UINT_256_2 : STRUCT This STRUCT represents a non equidistant curve table. The table can handle 256 elements of type UINT . Note For information about technical and table units please see the documentation of SMC_CAMTable_LREAL_128_2 . InOut: Name Type Comment Table ARRAY [0..255] OF ARRAY [0..1] OF UINT Array of master/slave position pairs in table units. Index 0 refers to the master, index 1 to the slave. The master values in the array must be filled in ascending order and must start with the master start position and end with the master end position. For each master value, the corresponding slave value must be set. fEditorMasterMin REAL The minimum master value in technical units. fEditorMasterMax REAL The maximum master value in technical units. fEditorSlaveMin REAL The minimum slave value in technical units. fEditorSlaveMax REAL The maximum slave value in technical units. fTableMasterMin REAL The minimum master value in table units. fTableMasterMax REAL The maximum master value in table units. fTableSlaveMin REAL The minimum slave value in table units. fTableSlaveMax REAL The maximum slave value in table units.

SMC_CAMTappet (STRUCT) ¶ TYPE SMC_CAMTappet : STRUCT This STRUCT describes the tappets of a cam table as is referenced by MC_CAM_REF . InOut: Name Type Initial Comment ctt SMC_CAMTAPPETTYPE cta SMC_CAMTAPPETACTION dwDelay DWORD In case of cta = TAPPETACTION.TAPPETACTION_time , this value determines the delay time in µs. dwDuration DWORD In case of cta = TAPPETACTION.TAPPETACTION_time , this value determines the time in µs, for which the tappet is switched to on. iGroupID INT Group or track ID of the tappet output that is switched. x LREAL Master position where tappet is switched. dwActive DWORD 16#FFFFFFFF Internal variable

SMC_CAMXYVA (STRUCT) ¶ TYPE SMC_CAMXYVA : STRUCT A XYVA-cam is represented by an array of variables of type SMC_CAMXYVA describing each point of a cam. InOut: Name Type Comment dX LREAL master position dY LREAL slave position dV LREAL first derivative dY/dX; slave velocity dA LREAL second derivative d²Y/dX²; slave acceleration