GetLibVersion (FUN) ¶ FUNCTION GetLibVersion : VERSION This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersion VERSION

GetLibVersionNumber (FUN) ¶ FUNCTION GetLibVersionNumber : DWORD This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersionNumber DWORD

IsLibReleased (FUN) ¶ FUNCTION IsLibReleased : BOOL This function has been automatically generated from the project information. InOut: Scope Name Type Return IsLibReleased BOOL

SMC_PosControlInput (FB) ¶ FUNCTION_BLOCK SMC_PosControlInput InOut: Scope Name Type Initial Comment Input bLimitPos BOOL TRUE The positive limit switch. TRUE means no limit, FALSE means in limit. bLimitNeg BOOL TRUE The negative limit switch. TRUE means no limit, FALSE means in limit. wActPosition WORD dwActPosition DWORD bExternalError BOOL bRegulatorRealState BOOL bDriveStartRealState BOOL dwEncoderCounterModulo DWORD Encoder modulo value bDelayActivation BOOL During startup, communication state 100 will not be reached as long as this value is TRUE Output bUseWord BOOL

SMC_PosControlOutput (FB) ¶ FUNCTION_BLOCK SMC_PosControlOutput InOut: Scope Name Type Input bRegulatorOnIn BOOL bDriveStartIn BOOL fSetVelocity LREAL fMaxVelocityNeg LREAL fMaxVelocityPos LREAL diMaxVelocityNeg DINT diZeroVelocity DINT diMaxVelocityPos DINT bInvertDirection BOOL Output bRegulatorOn BOOL bDriveStart BOOL diSetVelocity DINT iSetVelocity INT

SMC_SetPosControlParams (FB) ¶ FUNCTION_BLOCK SMC_SetPosControlParams This function block can be used to set the parameters of the position control drive. InOut: Scope Name Type Initial Comment Inout Axis AXIS_REF_POSCONTROL Reference to axis Input bExecute BOOL TRUE : Enables the execution of the function block. fKp LREAL -1 Proportional gain for lag error - values less than 0 will be ignored. fPartVelPilotControl LREAL -1 Factor for velocity pilot control with fSetVelocity - (0 means no velocity pilot control, 1 means direct output of fSetVelocity), values less than 0 will be ignored. fDeadTime LREAL -1 Time lag in cycles between fSetPosition and fActPosition - Note: This value cannot be 0, values less than 0 will be ignored. fMaxPositionDiff LREAL -1 Maximum position lag - (value 0 for this input will disable the maximum position lag check), values less than 0 will be ignored. 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 13.12.2023, 09:26:31 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Drive_PosControl.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Drive_PosControl.clean.json version version 2.0.0.0 ProjectInformation Released bool True ShowSmartCodingInfo True SystemApplicationLibrary False LastModificationDateTime date 13.12.2023, 09:26:23 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP16 Description See: Description DocFormat reStructuredText DocLanguages en Placeholder SM3_Drive_PosControl Project SM3_Drive_PosControl Title SM3_Drive_PosControl Version version 4.16.0.0

Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. 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 SM3_Error ¶ Library Identification ¶ Placeholder: SM3_Error Default Resolution: SM3_Error, * (CODESYS) Namespace: SM3_Error Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Error 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

ISMDynamics.AxesStateToTorque (METH) ¶ METHOD AxesStateToTorque : SMC_ERROR Returns the required axis forces/torques for the given axes state. InOut: Scope Name Type Comment Return AxesStateToTorque SMC_ERROR Inout torque SM3M.SMC_Vec The resulting force or torque for all axes in N or Nm. Inout Const axesState SM3M.SMC_DynVecState The dynamic state of all axes. For linear axes in u, u/s, u/s², for rotary axes in °, °/s, °/s² addParams DynamicsParams Additional parameters.

File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 13.12.2023, 08:53:07 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Dynamics.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Dynamics.clean.json version version 2.0.0.0 ProjectInformation OnlineHelp bool True Released True LastModificationDateTime date 13.12.2023, 08:53:05 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 DefaultNamespace SMDYN Description See: Description DocFormat reStructuredText DocLanguages en LanguageModelAttribute qualified-access-only Placeholder SM3_Dynamics Project SM3_Dynamics Title SM3_Dynamics UnitTestingDefine SMC_UNIT_TEST Version version 4.16.0.0