Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 284)

L-force | PLC Designer - SoftMotion
SoftMotion programming examples
Dynamic SoftMotion programming
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DMS 5.2 EN 03/2011 TD17
 Set parameters corresponding to the motion type. If you use a circular arc (e.g. CCWL),
observe that the following positions have to be set (see SMC_GEOINFO structure:
 If required, set a start or end bit in InternMark for the path preprocessing (see
SMC_GEOINFO structure).
 Calculate end position:
 Calculate length of the object (or have it calculated):
 Save object in OUTQUEUE:
 If the path has been created completely, the OUTQUEUE list has to be closed:
Please note that if OUTQUEUE is full, i.e. if QUEUE.bFULL = TRUE, the program will not try
to add further objects. The creation of the path then has to be interrupted until the first
OUTQUEUE object has been processed. Then a further object can be added. If you want to
avoid this, the selected size for the OUTQUEUE has to be so great that all GEOINFO objects
of the desired path can be stored there.
The Queue object list first is transmitted to the CheckVelocities block and then to the
interpolator which processes it further.
Furthermore this example shows how a kinematic transformation that is not contained in
the SM_Trafo.lib library provided can be individually programmed. The blocks SMC_TRAFO
and SMC_TRAFOF which are included in this project show this by taking a Cartesian X/Y
system as an example.
GEO.dP1 := 200;
GEO.dP2 := 100;
GEO.dP3 := 50;
GEO.dT1 := 0;
GEO.dT2 := 90;
SMC_CalcEndPnt(ADR(GEO));
SMC_CalcLengthGeo(ADR(GEO));
SMC_AppendObj(POQ:=ADR(QUEUE), PGI:=ADR(GEO));
QUEUE.bEndOfList := TRUE;