SMC3_CAN_Schneider_Lexium32_ConfigurationPhase.prv_Abort (METH) ¶ METHOD prv_Abort : BOOL InOut: Scope Name Type Return prv_Abort BOOL
SMC3_CAN_Schneider_Lexium32_ConfigurationPhase.prv_CyclicAction (METH) ¶ METHOD prv_CyclicAction : BOOL InOut: Scope Name Type Return prv_CyclicAction BOOL
SMC3_CAN_Schneider_Lexium32_ConfigurationPhase.prv_Start (METH) ¶ METHOD prv_Start : BOOL InOut: Scope Name Type Return prv_Start BOOL
File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 26.07.2024, 12:06:23 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Drive_CAN_Schneider_Lexium32.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Drive_CAN_Schneider_Lexium32.clean.json version version 2.0.0.0 ProjectInformation Released bool True ShowSmartCodingInfo True LastModificationDateTime date 26.07.2024, 12:06:16 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 Description See: Description Placeholder SM3_Drive_CAN_Schneider_Lexium32 Project SM3_Drive_CAN_Schneider_Lexium32 Title SM3_Drive_CAN_Schneider_Lexium32 Version version 4.17.0.0
Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. CAA CiA 405 ¶ Library Identification ¶ Placeholder: CAA CiA405 Default Resolution: CAA CiA 405, * (CAA Technical Workgroup) Namespace: CIA405 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA CiA405 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_Drive_CAN ¶ Library Identification ¶ Placeholder: SM3_Drive_CAN Default Resolution: SM3_Drive_CAN, * (CODESYS) Namespace: SM3_Drive_CAN Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_CAN SM3_Drive_CAN_DS402_CyclicSync ¶ Library Identification ¶ Placeholder: SM3_Drive_CAN_DS402_CyclicSync Default Resolution: SM3_Drive_CAN_DS402_CyclicSync, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_CAN_DS402_CyclicSync Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_CAN_DS402_CyclicSync SM3_Drive_CiA_DSP402 ¶ Library Identification ¶ Placeholder: SM3_Drive_CiA_DSP402 Default Resolution: SM3_Drive_CiA_DSP402, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_CiA_DSP402 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_CiA_DSP402 Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard
SM3_Drive_ETC Library Documentation ¶ Company : CODESYS Title : SM3_Drive_ETC Version : 4.17.0.0 Categories : Intern|SoftMotion Author : CODESYS Development GmbH Placeholder : SM3_Drive_ETC Description [ 1 ] ¶ SoftMotion base driver for EtherCAT drives Contents: ¶ AXIS_REF_ETC_BASE_SM3 (FunctionBlock) ConfigurationObjects ParameterAccess state-machine AXIS_REF_ETC_SM3 (FunctionBlock) Acyclic-communication ENCODER_REF_ETC_SM3 (FunctionBlock) Acyclic-communication ParameterAccess state-machine GlobalTextList (GlobalTextList) SMC3_ETC CoE visu templates SMC_ETC_InterpolateAxisPosition (Function) SMC_Set_ETC_DCSyncSupervision (FunctionBlock) Indices and tables ¶ [ 1 ] Based on SM3_Drive_ETC.library, last modified 26.07.2024, 12:07:03. LibDoc 4.5.0.0 The content file SM3_Drive_ETC.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 26.07.2024, 12:07:12.
SMC_TRAFO_Tripod_Arm (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_Tripod_Arm The transformation module is provided to execute forward transformations of a tripod arm. Note For detailed information on transformation modules see the overview on kinematic transformations in the CNC online help. InOut: Scope Name Type Initial Comment Input pi SMC_PosInfo Target position vector (x,y), output of interpolator dArmLength1 LREAL Length of arm1 connected to motor dArmLength2 LREAL Length of arm2 from arm to steward dArm1Radius LREAL Radius of arm1 from the middle of the three motors dStewartRadius LREAL 0 Radius of the steward plate dDistance LREAL Distance between the two connecting rods for each arm dRotationOffset LREAL 0 Mathematically oriented angle between axis A and origin (0,0) in degrees dOffsetA LREAL 0 Additional offset of axis A in SoftMotion units dOffsetB LREAL 0 Additional offset of axis B in SoftMotion units dOffsetC LREAL 0 Additional offset of axis C in SoftMotion units dMaxAngleBallJoint LREAL 45 Maximum positive/negative angle for ball joints in degrees Output bError BOOL TRUE , if position is invalid dA LREAL Drive position of axis A in degrees dB LREAL Drive position of axis B in degrees dC LREAL Drive position of axis C in degrees
Tripod_Lin ¶ SMC_TrafoF_Tripod_Lin (FunctionBlock) SMC_Trafo_Tripod_Lin (FunctionBlock)
SMC_TrafoF_Tripod_Lin (FB) ¶ FUNCTION_BLOCK SMC_TrafoF_Tripod_Lin Forward transformation for tripod InOut: Scope Name Type Initial Comment Inout DriveA AXIS_REF_SM3 The 0 position of DriveA is at the point where the axis, along which the drive moves, intersects the plane where the dOuterRadius is measured. Can be adjusted by dOffsetA . DriveB AXIS_REF_SM3 The 0 position of DriveB is at the point where the axis, along which the drive moves, intersects the plane where the dOuterRadius is measured. Can be adjusted by dOffsetB . DriveC AXIS_REF_SM3 The 0 position of DriveC is at the point where the axis, along which the drive moves, intersects the plane where the dOuterRadius is measured. Can be adjusted by dOffsetC . Input dOuterRadius LREAL Radius of outer ring dInnerRadius LREAL Radius of inner ring dLength LREAL Length of linkage dDistance LREAL Distance between the two connecting rods for each arm dRotationOffset LREAL 0 Angle between x-axis and first rail dAxisAngle LREAL Absolute angle between rails and z-axis dOffsetA LREAL Offset added to the position of DriveA before the transformation is performed. dOffsetB LREAL Offset added to the position of DriveB before the transformation is performed. dOffsetC LREAL Offset added to the position of DriveC before the transformation is performed. Output pi SMC_PosInfo Position of the inner ring’s center (x,y,z) bError BOOL
SMC_Trafo_Tripod_Lin (FB) ¶ FUNCTION_BLOCK SMC_Trafo_Tripod_Lin Inverse transformation for tripod InOut: Scope Name Type Initial Comment Input pi SMC_PosInfo Position of the inner ring’s center (x,y,z) dOuterRadius LREAL Radius of outer ring dInnerRadius LREAL Radius of inner ring dLength LREAL Length of linkage dDistance LREAL Distance between the two connecting rods for each arm dRotationOffset LREAL 0 Angle of axis A dAxisAngle LREAL Absolute angle between rails and z-axis dSingularityTolerance LREAL 1 dOffsetA LREAL Offset that is subtracted from the resulting position of drive A. dOffsetB LREAL Offset that is subtracted from the resulting position of drive B. dOffsetC LREAL Offset that is subtracted from the resulting position of drive C. Output dLA LREAL Resulting position of drive A. The 0 position is at the point where the axis, along which the drive moves, intersects the plane where the dOuterRadius is measured. Can be adjusted by dOffsetA . dLB LREAL Resulting position of drive B. The 0 position is at the point where the axis, along which the drive moves, intersects the plane where the dOuterRadius is measured. Can be adjusted by dOffsetB . dLC LREAL Resulting position of drive C. The 0 position is at the point where the axis, along which the drive moves, intersects the plane where the dOuterRadius is measured. Can be adjusted by dOffsetC . bError BOOL Only TRUE , if there is no solution bSingularPosition BOOL At least one drive is near a singular position bNegativeDrivePosition BOOL At least one drive’s position is calculated to be negative
