AXIS_REF_ETC_BASE_SM3.LogSyncDebugInfo (METH) ¶ METHOD LogSyncDebugInfo
SMC3_ETC_WriteParameter_CoE (FB) ¶ FUNCTION_BLOCK SMC3_ETC_WriteParameter_CoE This function block allows to write CANopen over EtherCAT (CoE) objects of a SoftMotion axis. InOut: Scope Name Type Comment Input xExecute BOOL Starts writing on a rising edge xAbort BOOL Aborts an ongoing write request uiIndex UINT The object index, e.g. 16#6060 usiSubIndex USINT The object subindex, e.g. 0 usiDataLength USINT The length of the data to write in bytes (between 1 and 4) dwValue DWORD The value to write Inout Axis AXIS_REF_ETC_SM3 The SoftMotion axis. Output xDone BOOL Whether the write request has terminated successfully xBusy BOOL Whether the write request is still in progress xError BOOL Whether an error has occurred dwErrorCode DWORD The SDO abort code eError SMC3_ETC_CO_ERROR The error from the etherCAT stack
SMC_ETC_InterpolateAxisPosition (FUN) ¶ FUNCTION SMC_ETC_InterpolateAxisPosition : SMC_Error Determines the axis position at a given time. The time is given as a EtherCAT distributed clock (DC) system time. Note Only intended for timestamps during the past cycle. That means that the timestamp is expected to be in the range DcClockReference - TaskInterval … DcClockReference. DCClockReference is the time at which the EtherCAT frame reached the first slave with DC enabled. Outside this range, linear interpolation is used with decreasing accuracy. In the interval of the past cycle, the actual velocity is used if (and only if) it is transmitted by PDO. In this case, cubic interpolation is used, otherwise linear interpolation. For increased accuracy, transmitting the actual velocity is recommended. InOut: Scope Name Type Comment Inout Const Axis AXIS_REF_ETC_BASE_SM3 Input Timestamp_ns ULINT The timestamp at which the axis position is requested. This is the EtherCAT DC system time in nanoseconds, expected to be less than the timestamp at which the actual position of the axis has been latched. Return SMC_ETC_InterpolateAxisPosition SMC_Error Output Position LREAL The position of the axis at the given timestamp.
SMC_Set_ETC_DCSyncSupervision (FB) ¶ FUNCTION_BLOCK SMC_Set_ETC_DCSyncSupervision This Function Block can be used to turn On/Off the DC Sync Supervision of an Ethercat axis. By default it is set to true and the the state machine checks whether the Distributed Clocks(DC) are in Sync every cycle. InOut: Scope Name Type Initial Comment Inout Axis AXIS_REF_ETC_Base_SM3 Reference to axis Input bExecute BOOL TRUE : Enables the execution of the Function Block. bSuperviseDCSync BOOL TRUE FALSE : Turns Off the DC Sync Supervision. By default it is set to True Output bDone BOOL The execution of the Function Block is finished bError BOOL TRUE : Error has occurred within the function block. ErrorID SMC_ERROR Error identification
File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 26.07.2024, 12:07:12 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Drive_ETC.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Drive_ETC.clean.json version version 2.0.0.0 ProjectInformation Released bool True ShowSmartCodingInfo True SystemApplicationLibrary False LastModificationDateTime date 26.07.2024, 12:07:03 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 Description See: Description Placeholder SM3_Drive_ETC Project SM3_Drive_ETC Title SM3_Drive_ETC Version version 4.17.0.0
Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. 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) 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 IoStandard ¶ Library Identification ¶ Placeholder: IoStandard Default Resolution: IoStandard, * (System) Namespace: IoStandard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoStandard SM3_Basic ¶ Library Identification ¶ Placeholder: SM3_Basic Default Resolution: SM3_Basic, * (CODESYS) Namespace: SM3_Basic Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Basic Library Parameter ¶ Parameter: GC_SMC_FILE_MAXCAMEL = 128 Parameter: GC_SMC_FILE_MAXCAMTAP = 128 Parameter: GC_SMC_SET_VALUE_BUFFER_SIZE_BASE2_EXP = 9 SM3_ETC_ITF ¶ Library Identification ¶ Placeholder: SM3_ETC_ITF Default Resolution: SM3_ETC_ITF, * (CODESYS) Namespace: SM3_ETC_ITF Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_ETC_ITF 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_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 Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard 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 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, * (System) Namespace: visuinputs Library Properties ¶ LinkAllContent: False Optional: False 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
AXIS_REF_CAN_Schneider_Lexium32.DriveStateMachine (METH) ¶ METHOD DriveStateMachine : BOOL InOut: Scope Name Type Return DriveStateMachine BOOL Input bPreApplication BOOL
SMC3_CAN_Schneider_Lexium32 ¶ SMC3_CAN_Schneider_Lexium32_ConfigurationPhase (FunctionBlock) prv_Abort (Method) prv_CyclicAction (Method) prv_Start (Method)
SMC3_CAN_Schneider_Lexium32_ConfigurationPhase (FB) ¶ FUNCTION_BLOCK SMC3_CAN_Schneider_Lexium32_ConfigurationPhase EXTENDS FB_Template_EdgeAbortTimeout InOut: Scope Name Type Comment Inherited from Input xExecute BOOL Rising edge: Starts action. Falling edge: Resets outputs. If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values ( xDone , xError , eError ) are present at the outputs for exactly one cycle. FB_Template_Edge Output xDone BOOL TRUE : Action has been successfully completed. FB_Template_Edge xBusy BOOL TRUE : Function block in operation. FB_Template_Edge xError BOOL TRUE : Error has occurred. Function block aborts action. FALSE : No error FB_Template_Edge eError WORD Local library error ID FB_Template_Edge Input xAbort BOOL TRUE : The action is stopped immediately and all outputs are reset to their initial values. FB_Template_EdgeAbort udiTimeOut UDINT The time (µs) after which an FB (e.g. requiring an external acknowledgement) aborts operation due to a timeout with error message. FB_Template_EdgeAbortTimeout pAxis POINTER TO AXIS_REF_CAN_Schneider_Lexium32 Methods: prv_Abort prv_CyclicAction prv_Start Structure: prv_Abort (Method) prv_CyclicAction (Method) prv_Start (Method)
