MC_ReadStatus_SML (FB) ¶ FUNCTION_BLOCK MC_ReadStatus_SML Returns the axis state according to the PLCopen the state diagram for a given axis. InOut: Scope Name Type Comment Inout Axis Axis_REF_SML Reference to the axis Input Enable BOOL The status is updated continuously while enabled Output Valid BOOL The status is valid Busy BOOL The FB is not finished and new output values are to be expected Error BOOL An error has occurred ErrorID SML_ERROR The error number ErrorStop BOOL The axis is in state ErrorStop Disabled BOOL The axis is in state Disabled Stopping BOOL The axis is in state Stopping Homing BOOL The axis is in state Homing Standstill BOOL The axis is in state Standstill DiscreteMotion BOOL The axis is in state DiscreteMotion ContinuousMotion BOOL The axis is in state ContinuousMotion

Axis_REF_SML.ReadStandardConfigParameters (METH) ¶ METHOD PROTECTED ReadStandardConfigParameters

Axis_REF_SML.ReinitAxis (METH) ¶ METHOD PROTECTED ReinitAxis Called when SML_ReinitDrive is executed, in wCommunicationState = 210.

Error ¶ SML_ClearFBError (Function) SML_ErrorText (Function) SML_Language (Enum)

SML_ClearFBError (FUN) ¶ FUNCTION SML_ClearFBError : BOOL Clears all or only the most recent FB errors. May only be called in the bus cycle task of the axis. InOut: Scope Name Type Return SML_ClearFBError BOOL Inout Axis Axis_REF_Base_SML Input bClearAll BOOL

SML_ErrorText (FUN) ¶ FUNCTION SML_ErrorText : STRING(100) Translates an error number to a descriptive error text. InOut: Scope Name Type Comment Return SML_ErrorText STRING(100) Input eError SML_Error The error number eLanguage SML_LANGUAGE The desired output language

SML_Language (ENUM) ¶ TYPE SML_Language : InOut: Name SML_LNG_English SML_LNG_German

SML_AXIS_STATE (ENUM) ¶ TYPE SML_AXIS_STATE : The possible axis states according to PLCopen. InOut: Name Initial SML_AS_PowerOff 0 SML_AS_ErrorStop 1 SML_AS_Stopping 2 SML_AS_Standstill 3 SML_AS_DiscreteMotion 4 SML_AS_ContinuousMotion 5 SML_AS_Homing 7

SML_Constants (GVL) ¶ InOut: Scope Name Type Initial Constant g_SML_NUMBER_FB_ERRORS DINT 6 g_SML_NUMBER_OF_SIMULTANEOUS_TELEGRAMS DINT 4 g_SML_SIZE_CMD_MSG_STORE UDINT 512 g_SML_CMD_SLOT_STOP UDINT 0 g_SML_CMD_SLOT_HOME UDINT 1 g_SML_CMD_SLOT_MOVE UDINT 2 g_SML_CMD_SLOT_READ UDINT 3 g_SML_CMD_SLOT_WRITE UDINT 4 g_SML_CMD_NUM_SLOTS UDINT 5 g_SML_CW_QUEUE_SIZE UDINT 8 g_strSoftMotion_SML STRING(16) ‘SoftMotion’

SML_ERROR (ENUM) ¶ TYPE SML_ERROR : The possible results of SML operations InOut: Name Initial SML_NO_ERROR 0 SML_DI_GENERAL_COMMUNICATION_ERROR 1 SML_DI_AXIS_ERROR 2 SML_WRONG_OPMODE 21 SML_AXIS_NOT_READY_FOR_MOTION 34 SML_MA_MR_MODULO_ACT_POS_NOT_MAPPED 35 SML_MV_INVALID_VELACCDEC_VALUES 36 SML_RAG_ERROR_DURING_STARTUP 80 SML_RAG_ERROR_WRITING_COMSTATE 81 SML_RAG_ERROR_READING_COMSTATE 82 SML_CGR_ZERO_VALUES 90 SML_CGR_AXIS_POWERED 91 SML_CGR_MODULOPERIOD_NOT_INTEGRAL 93 SML_CGR_MOVEMENTTYPE_INVALID 94 SML_CGR_MODULOPERIOD_NON_POSITIVE 95 SML_CGR_MODULOPERIOD_TOO_SMALL 96 SML_CGR_MODULOPERIOD_TOO_LARGE 97 SML_R_NO_ERROR_TO_RESET 120 SML_R_DRIVE_DOESNT_ANSWER 121 SML_R_ERROR_NOT_RESETTABLE 122 SML_R_DRIVE_DOESNT_ANSWER_IN_TIME 123 SML_RP_PARAM_UNKNOWN 130 SML_RP_REQUESTING_ERROR 131 SML_RP_RCV_PARAM_CONVERSION_ERROR 132 SML_RP_LOCAL_PARAM_NOT_DONE_IMMEDIATELY 133 SML_RP_CANNOT_SEND_MSG 134 SML_WP_PARAM_INVALID 140 SML_WP_SENDING_ERROR 141 SML_WP_TMT_PARAM_CONVERSION_ERROR 142 SML_WP_LOCAL_PARAM_NOT_DONE_IMMEDIATELY 143 SML_WP_CANNOT_SEND_MSG 144 SML_H_AXIS_WASNT_STANDSTILL 170 SML_MS_AXIS_IN_ERRORSTOP 183 SML_TIMEOUT_CHANGING_OPMODE 10000 SML_INTERNAL_UNKNOWN_CMD 10001 SML_CANNOT_START_MOVEMENT 10003 SML_CANNOT_START_HOMING 10004 SML_STOP_ALREADY_ACTIVE 10005 SML_POWER_ALREADY_ACTIVE 10006