SMC_PTP_MOVEMENT_TYPE (ENUM) ¶ TYPE SMC_PTP_MOVEMENT_TYPE : Attributes: qualified_only InOut: Name Initial Comment Fast 0 Time optimal PTP movement Path_Invariant For this type of PTP Movement the path in space is independent of the override and, except for blending with TransitionMode TMStartVelocity , of all dynamic limits of the axes (ancillary and global limits for speed, acceleration, deceleration and jerk). with TransitionMode TMCornerDistance independent of the type of blending (BlendingHigh / Low / Previous / Next). not left at Halt or Stop ( MC_GroupHalt / MC_GroupStop ). not left when interrupting and continuing ( MC_GroupInterrupt / MC_GroupContinue ).

SMC_READ_TOOL_MODE (ENUM) ¶ TYPE SMC_READ_TOOL_MODE : Attributes: qualified_only InOut: Name Initial Comment last_set 0 Read the tool offset last set using SMC_GroupSetTool active_movement Read the tool offset of the active movement. last_movement Read the tool offset of the last commanded movement.

POUs ¶ Additional SMC_StartupAxisGroup (FunctionBlock) Administrative/Configuration AxisGroup MC_AddAxisToGroup (FunctionBlock) MC_GroupDisable (FunctionBlock) MC_GroupEnable (FunctionBlock) MC_GroupReset (FunctionBlock) MC_GroupSetPosition (FunctionBlock) MC_RemoveAxisFromGroup (FunctionBlock) MC_UngroupAllAxes (FunctionBlock) SMC_DynLoad (Struct) SMC_GroupPower (FunctionBlock) SMC_GroupReadTool (FunctionBlock) SMC_GroupSaveContinueData (FunctionBlock) SMC_GroupSetLoad (FunctionBlock) SMC_GroupSetPathTolerance (FunctionBlock) SMC_GroupSetTool (FunctionBlock) SMC_GroupSetUnits (FunctionBlock) SMC_GroupUnits (Struct) Computation SMC_GroupUpdate (FunctionBlock) SMC_SetMovementQueueBuffer (FunctionBlock) SMC_TuneCPKernel (FunctionBlock) Coordinate systems MC_SetCoordinateTransform (FunctionBlock) MC_SetDynCoordTransform (FunctionBlock) MC_TrackConveyorBelt (FunctionBlock) MC_TrackRotaryTable (FunctionBlock) SMC_SetDynCoordTransformEx (FunctionBlock) Dynamics MC_GroupSetOverride (FunctionBlock) SMC_GroupReadAxisLimitFactors (FunctionBlock) SMC_GroupSetAncillaryAxisLimits (FunctionBlock) SMC_GroupSetAncillaryPathLimits (FunctionBlock) SMC_GroupSetAxisLimitFactors (FunctionBlock) SMC_GroupSetDynamics (FunctionBlock) SMC_SetDynamicLimitFactors (FunctionBlock) Kinematics MC_SetKinTransform (FunctionBlock) SMC_KinConfigActivateAutomaticPeriods (FunctionBlock) SMC_SetKinConfiguration (FunctionBlock) Trigger SMC_GroupPrepareTrigger (FunctionBlock) SMC_GroupReadTrigger (FunctionBlock) SMC_TRIGGER_ID (Alias) SMC_TRIGGER_INFO (Struct) SMC_TRIGGER_STATUS (Enum) SMC_TriggerPosition (Union) SMC_TriggerPositionType (Enum) SMC_TriggerPosition_Plane (Struct) AxisGroup AXIS_GROUP_REF_SM3 (FunctionBlock) Diagnostics MC_GroupReadActualAcceleration (FunctionBlock) MC_GroupReadActualPosition (FunctionBlock) MC_GroupReadActualVelocity (FunctionBlock) MC_GroupReadConfiguration (FunctionBlock) MC_GroupReadError (FunctionBlock) MC_GroupReadStatus (FunctionBlock) MC_ReadCoordinateTransform (FunctionBlock) MC_ReadKinTransform (FunctionBlock) SMC_GroupAddOffset (FunctionBlock) SMC_GroupConvertPosition (FunctionBlock) SMC_GroupGetContinuePosition (FunctionBlock) SMC_GroupGetContinueToolOffset (FunctionBlock) SMC_GroupReadPathAcceleration (FunctionBlock) SMC_GroupReadPathDynamics (FunctionBlock) SMC_GroupReadPathVelocity (FunctionBlock) SMC_GroupReadPlanningStatistics (FunctionBlock) SMC_GroupReadPositionInMovement (FunctionBlock) SMC_GroupReadRemainingTrajectoryDuration (FunctionBlock) SMC_GroupReadSetAcceleration (FunctionBlock) SMC_GroupReadSetJerk (FunctionBlock) SMC_GroupReadSetPosition (FunctionBlock) SMC_GroupReadSetVelocity (FunctionBlock) SMC_GroupTargetPosition (FunctionBlock) SMC_ReadKinTransformForAxis (FunctionBlock) Movement GroupInterrupt SMC_GroupInterruptAt (FunctionBlock) SMC_GroupInterruptPosition (Union) SMC_GroupInterruptPositionMvtRel (Struct) MC_GroupContinue (FunctionBlock) MC_GroupHalt (FunctionBlock) MC_GroupInterrupt (FunctionBlock) MC_GroupStop (FunctionBlock) MC_MoveCircularAbsolute (FunctionBlock) MC_MoveCircularRelative (FunctionBlock) MC_MoveDirectAbsolute (FunctionBlock) MC_MoveDirectRelative (FunctionBlock) MC_MoveLinearAbsolute (FunctionBlock) MC_MoveLinearRelative (FunctionBlock) SMC_GroupEnableResumeAfterError (FunctionBlock) SMC_GroupJog (FunctionBlock) SMC_GroupJog2 (FunctionBlock) SMC_GroupUpdateContinueData (FunctionBlock) SMC_GroupWait (FunctionBlock)

Additional ¶ SMC_StartupAxisGroup (FunctionBlock)

SMC_StartupAxisGroup (FB) ¶ FUNCTION_BLOCK SMC_StartupAxisGroup This function block comprises a set of often used function blocks and is used for testing and commissioning an axis group. Please note, that there is a compatible visualization template. InOut: Scope Name Type Inout AxisGroup AXIS_GROUP_REF_SM3

Administrative/Configuration ¶ AxisGroup MC_AddAxisToGroup (FunctionBlock) MC_GroupDisable (FunctionBlock) MC_GroupEnable (FunctionBlock) MC_GroupReset (FunctionBlock) MC_GroupSetPosition (FunctionBlock) MC_RemoveAxisFromGroup (FunctionBlock) MC_UngroupAllAxes (FunctionBlock) SMC_DynLoad (Struct) SMC_GroupPower (FunctionBlock) SMC_GroupReadTool (FunctionBlock) SMC_GroupSaveContinueData (FunctionBlock) SMC_GroupSetLoad (FunctionBlock) SMC_GroupSetPathTolerance (FunctionBlock) SMC_GroupSetTool (FunctionBlock) SMC_GroupSetUnits (FunctionBlock) SMC_GroupUnits (Struct) Computation SMC_GroupUpdate (FunctionBlock) SMC_SetMovementQueueBuffer (FunctionBlock) SMC_TuneCPKernel (FunctionBlock) Coordinate systems MC_SetCoordinateTransform (FunctionBlock) MC_SetDynCoordTransform (FunctionBlock) MC_TrackConveyorBelt (FunctionBlock) MC_TrackRotaryTable (FunctionBlock) SMC_SetDynCoordTransformEx (FunctionBlock) Dynamics MC_GroupSetOverride (FunctionBlock) SMC_GroupReadAxisLimitFactors (FunctionBlock) SMC_GroupSetAncillaryAxisLimits (FunctionBlock) SMC_GroupSetAncillaryPathLimits (FunctionBlock) SMC_GroupSetAxisLimitFactors (FunctionBlock) SMC_GroupSetDynamics (FunctionBlock) SMC_SetDynamicLimitFactors (FunctionBlock) Kinematics MC_SetKinTransform (FunctionBlock) SMC_KinConfigActivateAutomaticPeriods (FunctionBlock) SMC_SetKinConfiguration (FunctionBlock) Trigger SMC_GroupPrepareTrigger (FunctionBlock) SMC_GroupReadTrigger (FunctionBlock) SMC_TRIGGER_ID (Alias) SMC_TRIGGER_INFO (Struct) SMC_TRIGGER_STATUS (Enum) SMC_TriggerPosition (Union) SMC_TriggerPositionType (Enum) SMC_TriggerPosition_Plane (Struct)

AxisGroup ¶ MC_AddAxisToGroup (FunctionBlock) MC_GroupDisable (FunctionBlock) MC_GroupEnable (FunctionBlock) MC_GroupReset (FunctionBlock) MC_GroupSetPosition (FunctionBlock) MC_RemoveAxisFromGroup (FunctionBlock) MC_UngroupAllAxes (FunctionBlock) SMC_DynLoad (Struct) SMC_GroupPower (FunctionBlock) SMC_GroupReadTool (FunctionBlock) SMC_GroupSaveContinueData (FunctionBlock) SMC_GroupSetLoad (FunctionBlock) SMC_GroupSetPathTolerance (FunctionBlock) SMC_GroupSetTool (FunctionBlock) SMC_GroupSetUnits (FunctionBlock) SMC_GroupUnits (Struct)

Computation ¶ SMC_GroupUpdate (FunctionBlock) SMC_SetMovementQueueBuffer (FunctionBlock) SMC_TuneCPKernel (FunctionBlock)

Coordinate systems ¶ MC_SetCoordinateTransform (FunctionBlock) MC_SetDynCoordTransform (FunctionBlock) MC_TrackConveyorBelt (FunctionBlock) MC_TrackRotaryTable (FunctionBlock) SMC_SetDynCoordTransformEx (FunctionBlock)

Dynamics ¶ MC_GroupSetOverride (FunctionBlock) SMC_GroupReadAxisLimitFactors (FunctionBlock) SMC_GroupSetAncillaryAxisLimits (FunctionBlock) SMC_GroupSetAncillaryPathLimits (FunctionBlock) SMC_GroupSetAxisLimitFactors (FunctionBlock) SMC_GroupSetDynamics (FunctionBlock) SMC_SetDynamicLimitFactors (FunctionBlock)