SMC3_CAN_Jat_ConfigurationPhase (FB) ¶ FUNCTION_BLOCK SMC3_CAN_Jat_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_Jat Methods: prv_Abort prv_CyclicAction prv_Start Structure: prv_Abort (Method) prv_CyclicAction (Method) prv_Start (Method)

SMC3_CAN_Jat_ConfigurationPhase.prv_CyclicAction (METH) ¶ METHOD prv_CyclicAction : BOOL InOut: Scope Name Type Return prv_CyclicAction BOOL

SMC3_CAN_Jat_ConfigurationPhase.prv_Abort (METH) ¶ METHOD prv_Abort : BOOL InOut: Scope Name Type Return prv_Abort BOOL

SMC3_CAN_Jat_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 26.07.2023, 10:58:10 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Drive_CAN_JAT.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Drive_CAN_JAT.clean.json version version 2.0.0.0 ProjectInformation Released bool True ShowSmartCodingInfo True LastModificationDateTime date 26.07.2023, 10:58:04 LibraryCategories library-category-list Intern|SoftMotion Company string 3S - Smart Software Solutions GmbH CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 Description See: Description Placeholder SM3_Drive_CAN_JAT Project SM3_Drive_CAN_JAT Title SM3_Drive_CAN_JAT Version version 4.15.0.0

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 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, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Basic Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Basic SM3_Drive_CAN ¶ Library Identification ¶ Placeholder: SM3_Drive_CAN Default Resolution: SM3_Drive_CAN, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_CAN Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_CAN SM3_Drive_CAN_DS402_IP ¶ Library Identification ¶ Placeholder: SM3_Drive_CAN_DS402_IP Default Resolution: SM3_Drive_CAN_DS402_IP, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_CAN_DS402_IP Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_CAN_DS402_IP 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 SM3_Shared ¶ Library Identification ¶ Placeholder: SM3_Shared Default Resolution: SM3_Shared, * (3S - Smart Software Solutions GmbH) 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

SM3_Drive_CAN_KEB Library Documentation ¶ Company 3S - Smart Software Solutions GmbH Title SM3_Drive_CAN_KEB Version 4.15.0.0 Categories Intern|SoftMotion Author None Placeholder SM3_Drive_CAN_KEB Description 1 ¶ SoftMotion CAN driver for KEB combivert Contents: ¶ AXIS_REF_CAN_KEB (FunctionBlock) DriverName (Property) DriverVersion (Property) Interface Mapping ParameterAccess state-machine Library Information GetLibVersion (Function) GetLibVersionNumber (Function) IsLibReleased (Function) SMC3_CAN_KEB SMC3_CAN_KEB_ConfigurationPhase (FunctionBlock) SMC3_CAN_KEB_SpecificInputs (Struct) SMC3_CAN_KEB_SpecificOutputs (Struct) Indices and tables ¶ 1 Based on SM3_Drive_CAN_KEB.library, last modified 26.07.2023, 10:58:26. LibDoc 4.4.0.0-b.27 The content file SM3_Drive_CAN_KEB.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 26.07.2023, 10:58:34.

AXIS_REF_CAN_KEB.DriverName (PROP) ¶ PROPERTY DriverName : STRING(16)

AXIS_REF_CAN_KEB (FB) ¶ FUNCTION_BLOCK AXIS_REF_CAN_KEB EXTENDS AXIS_REF_CAN_SM3 InOut: Scope Name Type Initial Comment Inherited from Input wAxisStructID WORD 16#FE12 AXIS_REF_SM3 nAxisState SMC_AXIS_STATE power_off State of the axis according to the PLCopen state diagram: 0: power_off 1: errorstop 2: stopping 3: standstill 4: discrete_motion 5: continuous_motion 6: synchronized_motion 7: homing Parameter number: 1000 AXIS_REF_SM3 bRegulatorOn BOOL FALSE Parameter number: 1010 AXIS_REF_SM3 bDriveStart BOOL FALSE Parameter number: 1011 AXIS_REF_SM3 bCommunication BOOL FALSE TRUE : Communication OK Parameter number: 1012 AXIS_REF_SM3 wCommunicationState WORD 16#FFFF Parameter number: 1013 AXIS_REF_SM3 uiDriveInterfaceError UINT Drive interface error number Parameter number: 1014 AXIS_REF_SM3 bRegulatorRealState BOOL FALSE Parameter number: 1015 AXIS_REF_SM3 bDriveStartRealState BOOL FALSE Parameter number: 1016 AXIS_REF_SM3 wDriveId WORD 0 Parameter number: 1021 AXIS_REF_SM3 iOwner INT 0 Parameter number: 1022 AXIS_REF_SM3 iNoOwner INT 0 Parameter number: 1023 AXIS_REF_SM3 fCycleTimeSpent LREAL Parameter number: 1024 AXIS_REF_SM3 fTaskCycle LREAL 0.005 Parameter number: 1025 AXIS_REF_SM3 bError BOOL FALSE Parameter number: 1030 AXIS_REF_SM3 dwErrorID DWORD 0 Drive specific error identifier, parameter number: 1031 AXIS_REF_SM3 bErrorAckn BOOL FALSE Parameter number: 1032 AXIS_REF_SM3 bDisableErrorLogging BOOL FALSE Parameter number: 1036 AXIS_REF_SM3 fbeFBError ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR Parameter number: 1035 AXIS_REF_SM3 dwRatioTechUnitsDenom DWORD 1 Parameter number 1051 AXIS_REF_SM3 iRatioTechUnitsNum DINT 1 Parameter number 1052 AXIS_REF_SM3 nDirection MC_Direction positive Parameter number 1053 AXIS_REF_SM3 fScalefactor LREAL 1 Parameter number 1054 AXIS_REF_SM3 fFactorVel LREAL 1 Parameter number 1055 AXIS_REF_SM3 fFactorAcc LREAL 1 Parameter number: 1056 AXIS_REF_SM3 fFactorTor LREAL 1 Parameter number: 1057 AXIS_REF_SM3 fFactorJerk LREAL 1 Factor jerk Parameter number: 1058 AXIS_REF_SM3 fFactorCur LREAL 1 Parameter number: 1059 AXIS_REF_SM3 iMovementType INT SMC_AXIS_TYPE.finite Parameter number: 1060 AXIS_REF_SM3 fPositionPeriod LREAL 1000 Parameter number: 1061 AXIS_REF_SM3 eRampType SMC_RAMPTYPE trapez Parameter number: 1062 AXIS_REF_SM3 byControllerMode BYTE SMC_position Parameter number:1091 AXIS_REF_SM3 byRealControllerMode BYTE SMC_position Parameter number: 1092 AXIS_REF_SM3 fSetPosition LREAL 0 Parameter number: 1100, 1 AXIS_REF_SM3 fActPosition LREAL 0 Parameter number: 1101 AXIS_REF_SM3 fAimPosition LREAL 0 Parameter number: 1105 AXIS_REF_SM3 fMarkPosition LREAL 0 Parameter number: 1106 AXIS_REF_SM3 fSavePosition LREAL 0 Parameter number: 1107 AXIS_REF_SM3 fSetVelocity LREAL 0 Parameter number: 1110, 11 AXIS_REF_SM3 fActVelocity LREAL 0 Parameter number: 1111, 10 AXIS_REF_SM3 fMaxVelocity LREAL 0 Maximum velocity of the drive (remote parameter) in [u/s] Parameter number: 1112,9 AXIS_REF_SM3 fSWMaxVelocity LREAL 0 Maximum velocity (software limit) in [u/s] Parameter number: 1113 AXIS_REF_SM3 bConstantVelocity BOOL FALSE Parameter number: 1115 AXIS_REF_SM3 fMarkVelocity LREAL 0 Parameter number: 1116, 9 AXIS_REF_SM3 fSaveVelocity LREAL 0 Parameter number: 1117 AXIS_REF_SM3 fSetAcceleration LREAL 0 Parameter number: 1120 AXIS_REF_SM3 fActAcceleration LREAL 0 Parameter number: 1121 AXIS_REF_SM3 fMaxAcceleration LREAL 0 Maximum acceleration of the drive (remote parameter) in [u/s²] Parameter number: 1122, 13 AXIS_REF_SM3 fSWMaxAcceleration LREAL 0 Maximum acceleration (software limit) in [u/s²] Parameter number: 1123 AXIS_REF_SM3 bAccelerating BOOL FALSE Parameter number: 1125 AXIS_REF_SM3 fMarkAcceleration LREAL 0 Parameter number: 1126 AXIS_REF_SM3 fSaveAcceleration LREAL 0 Parameter number: 1127 AXIS_REF_SM3 fMaxDeceleration LREAL 0 Maximum deceleration of the drive (remote parameter) in [u/s²] Parameter number: 1132, 15 AXIS_REF_SM3 fSWMaxDeceleration LREAL 0 Maximum deceleration (software limit) in [u/s²] Parameter number: 1133 AXIS_REF_SM3 bDecelerating BOOL FALSE Parameter number: 1135 AXIS_REF_SM3 fSaveDeceleration LREAL 0 Parameter number: 1137 AXIS_REF_SM3 fSetJerk LREAL 0 Parameter number: 1140 AXIS_REF_SM3 fActJerk LREAL 0 Parameter number: 1141 AXIS_REF_SM3 fMaxJerk LREAL 0 Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16 AXIS_REF_SM3 fSWMaxJerk LREAL 0 Maximum jerk (software limit) in [u/s³] Parameter number: 1143 AXIS_REF_SM3 fRampJerk LREAL 100000 Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144 AXIS_REF_SM3 fMarkJerk LREAL 0 Parameter number: 1146 AXIS_REF_SM3 fSaveJerk LREAL 0 Parameter number: 1147 AXIS_REF_SM3 fSetCurrent LREAL 0 Parameter number: 1150 AXIS_REF_SM3 fActCurrent LREAL 0 Parameter number: 1151 AXIS_REF_SM3 fMaxCurrent LREAL 100 Maximum current in [A] Parameter number: 1152 AXIS_REF_SM3 fSWMaxCurrent LREAL 0 Maximum user defined current in [A] Parameter number: 1153 AXIS_REF_SM3 fSetTorque LREAL 0 The set torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1153 AXIS_REF_SM3 fActTorque LREAL 0 Actual torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1161 AXIS_REF_SM3 fMaxTorque LREAL 0 The maximum torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1162 AXIS_REF_SM3 fSWMaxTorque LREAL FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf) The maximum torque (software limit) in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1163 AXIS_REF_SM3 fSWLimitPositive LREAL 0 Position limit in positive direction in [u] Parameter number: 1200, 2 AXIS_REF_SM3 fSWLimitNegative LREAL 0 Position limit in negative direction in [u] Parameter number: 1201, 3 AXIS_REF_SM3 usiSWEndSwitchState USINT 0 Parameter number: 1204 AXIS_REF_SM3 bSWLimitEnable BOOL FALSE Parameter number: 1205 AXIS_REF_SM3 bHWLimitEnable BOOL TRUE Parameter number: 1206 AXIS_REF_SM3 bStartReference BOOL FALSE Parameter number: 1210 AXIS_REF_SM3 fReference LREAL 0 Parameter number: 1211 AXIS_REF_SM3 bStartReferenceRealState BOOL FALSE Parameter number: 1212 AXIS_REF_SM3 fOffsetPosition LREAL 0 Parameter number: 1215 AXIS_REF_SM3 dwPosOffsetForResiduals DWORD 0 Parameter number: 1230 AXIS_REF_SM3 dwOneTurn DWORD 0 Parameter number: 1231 AXIS_REF_SM3 dwLastPosition DWORD 0 Parameter number: 1232 AXIS_REF_SM3 bySwitchingState SMC_SWITCHING_STATE SMC_ST_INITIALIZING Parameter number: 1233 AXIS_REF_SM3 iRestNumerator DINT 0 Parameter number: 1234 AXIS_REF_SM3 iTurn INT 0 Parameter number: 1235 AXIS_REF_SM3 dwPosOffsetForResidualsHoming DWORD 0 Parameter number: 1237 AXIS_REF_SM3 dwActPosition DWORD 0 Parameter number: 1238 AXIS_REF_SM3 dwBusBandWidth DWORD 0 The bus band width, 0 if the bus has 32 bit, 2^k otherwise where 0 < k < 32 is the bus bit depth. Parameter number: 1240 AXIS_REF_SM3 dwBusModuloMask DWORD 16#FFFFFFFF The value (2^k - 1) where k is the bus bit depth. Parameter number ? AXIS_REF_SM3 eBrakeControl SMC3_BrakeSetState SMC_BRAKE_AUTO Parameter number: 1017 AXIS_REF_SM3 bBrakeClosedRealState BOOL FALSE Parameter number: 1018 AXIS_REF_SM3 bOldError BOOL Parameter number: 1033 AXIS_REF_SM3 bVirtual BOOL TRUE : Virtual drive. Parameter number: 1040 AXIS_REF_SM3 bLogical BOOL Parameter number: 1041 AXIS_REF_SM3 fSetActTimeLagCycles LREAL 3 Parameter number: 1070 AXIS_REF_SM3 diSetPosition DINT 0 Parameter number: 1108 AXIS_REF_SM3 diActPosition DINT 0 Parameter number: 1109 AXIS_REF_SM3 diSetVelocity DINT 0 Parameter number: 1118 AXIS_REF_SM3 diActVelocity DINT 0 Parameter number: 1119 AXIS_REF_SM3 diSetAcceleration DINT 0 Parameter number: 1128 AXIS_REF_SM3 diActAcceleration DINT 0 Parameter number: 1129 AXIS_REF_SM3 diSetCurrent DINT 0 Parameter number: 1158 AXIS_REF_SM3 diActCurrent DINT 0 Parameter number: 1159 AXIS_REF_SM3 diSetTorque DINT 0 Parameter number: 1168 AXIS_REF_SM3 diActTorque DINT 0 Parameter number: 1169 AXIS_REF_SM3 fSWLimitDeceleration LREAL 0 Deceleration in [u/s²] with which the system will brake in case of a software limit. Parameter number: 1203 AXIS_REF_SM3 xWaitForHaltWhenStopInterruptsHome BOOL TRUE : When |MC_Home| is interrupted by |MC_Stop| , then``MC_Stop.bDone`` is delayed until the drive reports that it has successfully halted. bStartReferenceRealState = FALSE Parameter number: 1213 AXIS_REF_SM3 fSWErrorMaxDistance LREAL 0 Distance in which the drive has to reach standstill after an error has occurred. Parameter number: 1250 AXIS_REF_SM3 eCheckPositionLag SMC3_CheckPositionLagMode 0 Parameter number: 1207 AXIS_REF_SM3 fMaxPositionLag LREAL Parameter number: 1208 AXIS_REF_SM3 bPositionLagActive BOOL Parameter number: 1209 AXIS_REF_SM3 bModuloDoneByDrive BOOL Parameter number: 1242 AXIS_REF_SM3 diFollowingError DINT Parameter number: 1243 AXIS_REF_SM3 fFollowingError LREAL Parameter number: 1244 AXIS_REF_SM3 aCaptDesc ARRAY [0..7] OF SMC3_CaptureDescription Parameter number: 1400 AXIS_REF_SM3 bRestarting BOOL FALSE AXIS_REF_SM3 xPersistentDataLoaded BOOL FALSE AXIS_REF_SM3 strDriveInterfaceError STRING AXIS_REF_SM3 adatAcyclic ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel AXIS_REF_SM3 iLastSinSquareOwner INT -3 Internal: Last owner that constructed a sin² trajectory. AXIS_REF_SM3 bSetValuesModifiedByMoveSuperimposed BOOL Internal: MC_MoveSuperImposed active. Reset to FALSE in AfterReadInputs. AXIS_REF_SM3 nAbortCounter UDINT Internal: counts the number of aborts. This counter simply wraps to 0 when exceeding 2^32-1, so use accordingly. Increased in method SetOwner(). AXIS_REF_SM3 vMinRequiredVersion VERSION The minimum version of SM3_Basic that the driver requires. AXIS_REF_SM3 iRampType1 SMC_TG_IRAMPTYPE Instance of ramp type interface, used for Robotics, acceleration ramp AXIS_REF_SM3 iRampType2 SMC_TG_IRAMPTYPE Instance of ramp type interface, used for Robotics, deceleration ramp AXIS_REF_SM3 bAvoidReversalOnHaltStop BOOL Parameter number: 1260 AXIS_REF_SM3 bConsiderLimitsOfAbortedMotionOnHaltStop BOOL Parameter number: 1270 AXIS_REF_SM3 bUpdateIOsInStop BOOL Update the IOs if the application is stopped. AXIS_REF_SM3 Output strDriver STRING(16) AXIS_REF_SM3 dwDriverVersion DWORD AXIS_REF_SM3 Properties: DriverName DriverVersion Methods: CommunicationStateMachine ConvertReceivedDriveParameter GetMappedDriveParameter PostApplicationCall PreApplicationCall PrepareAndWriteSpecificOutput ReadAndProcessSpecificInput SetParamDirectValue Structure: DriverName (Property) DriverVersion (Property) Interface PostApplicationCall (Method) PreApplicationCall (Method) Mapping inputs ReadAndProcessSpecificInput (Method) outputs PrepareAndWriteSpecificOutput (Method) ParameterAccess ConvertReceivedDriveParameter (Method) GetMappedDriveParameter (Method) SetParamDirectValue (Method) state-machine CommunicationStateMachine (Method)

AXIS_REF_CAN_KEB.DriverVersion (PROP) ¶ PROPERTY DriverVersion : DWORD