SMC_CAM_TYPE (ENUM) ¶ TYPE SMC_CAM_TYPE : Attributes: qualified_only InOut: Name Initial Comment POLY 0 Polynomial description (5th degree). Deprecated, don’t use. X 1 Equidistant, one-dimensional table of slave positions XY 2 Non-equidistant, two-dimensional table of master/slave positions XYVA 3 Polynomial description consisting of master position X, slave position Y, slave velocity V and slave acceleration A SEGMENT 4 Generic segment description

Diagnostics ¶ SMC_CommunicationState (Enum) SMC_LOGGERMODE (Enum) SMC_PerfTimers (Struct) SMC_SeriesSample (Struct) SMC_SeriesStats (Struct)

MC_TA_REF (STRUCT) ¶ TYPE MC_TA_REF : STRUCT This STRUCT describes a trajectory that can later be executed by MC_AccelerationProfile . InOut: Name Type Initial Comment Number_of_pairs INT 0 This variable is not used and only present for compatibility reasons. Please use MC_AccelerationProfile .``ArraySize`` instead. IsAbsolute BOOL TRUE TRUE : Accelerations values are interpreted absolute (not relative). MC_TA_Array ARRAY [1..100] OF SMC_TA Time/Acceleration points

MC_TP_REF (STRUCT) ¶ TYPE MC_TP_REF : STRUCT This STRUCT describes a trajectory that can later be executed by MC_PositionProfile . InOut: Name Type Initial Comment Number_of_pairs INT 0 This variable is not used and only present for compatibility reasons. Please use MC_PositionProfile .``ArraySize`` instead. IsAbsolute BOOL TRUE TRUE : Positions are interpreted absolute (not relative). MC_TP_Array ARRAY [1..100] OF SMC_TP Time/Positions

MC_TV_REF (STRUCT) ¶ TYPE MC_TV_REF : STRUCT This STRUCT describes a trajectory that can later be executed by MC_VelocityProfile . InOut: Name Type Initial Comment Number_of_pairs INT 0 This variable is not used and only present for compatibility reasons. Please use MC_VelocityProfile .``ArraySize`` instead. IsAbsolute BOOL TRUE TRUE : Velocity values are absolute, not relative. MC_TV_Array ARRAY [1..100] OF SMC_TV Time/Velocity points

SMC_BACKLASH_MODE (ENUM) ¶ TYPE SMC_BACKLASH_MODE : The mode of backlash compensation. InOut: Name Initial Comment SMC_BL_AUTO 2 The direction in which the master axis moves determines the compensation direction SMC_BL_POSITIVE 1 Compensation in positive direction, independent of the movement of the master axis. SMC_BL_NEGATIVE -1 Compensation in negative direction, independent of the movement of the master axis. SMC_BL_OFF 0 No backlash compensation

SMC_BACKLASH_STARTSTATE (ENUM) ¶ TYPE SMC_BACKLASH_STARTSTATE : Describes the status of the axis at the time when backlash compensation module starts. InOut: Name Initial Comment SMC_BL_START_NEGATIVE -1 The slave axis is under traction in negative direction, that is: a movement in negative direction needs no compensation; in case of a movement in positive direction the double fBacklash distance will be made up. SMC_BL_START_NONE 0 The slave axis is not under traction; a movement in positive or negative direction will cause a corresponding compensating movement of distance fBacklash . SMC_BL_START_POSITIVE 1 The slave axis is under traction in positive direction, that is: a movement in positive direction needs no compensation; in case if a movement in negative direction the double fBacklash distance will be made up.

SMC_HOMING_MODE (ENUM) ¶ TYPE SMC_HOMING_MODE : Defines the homing sequence. Used in function block SMC_Homing . InOut: Name Initial Comment FAST_BSLOW_S_STOP 0 Move with fast velocity onto the reference switch; invert and move with slow velocity out of the reference switch; execute “set position”; stop FAST_BSLOW_STOP_S 1 Move with fast velocity onto the reference switch; invert and move with slow velocity out of the reference switch; stop; execute “set position” FAST_BSLOW_I_S_STOP 2 Move with fast velocity onto the reference switch; invert and move with slow velocity out of the reference switch; wait for the index pulse; execute “set position”; stop FAST_SLOW_S_STOP 4 Move with fast velocity onto the reference switch; move with slow velocity out of the reference switch; execute “set position”; stop FAST_SLOW_STOP_S 5 Move with fast velocity onto the reference switch; move with slow velocity out of the reference switch; stop; execute “set position” FAST_SLOW_I_S_STOP 6 Move with fast velocity onto the reference switch; move with slow velocity out of the reference switch; wait for the index pulse; execute “set position”; stop

SMC_CommunicationState (ENUM) ¶ TYPE SMC_CommunicationState : The communication state of an axis, as returned by SMC_CheckAxisCommunication . InOut: Name SMC_COMSTATE_NOT_STARTED SMC_COMSTATE_VARIABLE_INITIALIZATION SMC_COMSTATE_BASE_COM_INITIALIZATION SMC_COMSTATE_DRIVE_INITIALIZATION SMC_COMSTATE_DRIVE_WAITING_FOR_SYNC SMC_COMSTATE_INITIALIZATION_DONE SMC_COMSTATE_OPERATIONAL SMC_COMSTATE_REINITIALIZATION SMC_COMSTATE_ERROR SMC_COMSTATE_UNKNOWN

SMC_LOGGERMODE (ENUM) ¶ TYPE SMC_LOGGERMODE : InOut: Name LOG_CONTINUOUS LOG_AT_CLOSE