Document Outline

• PLC Designer - SoftMotion
  • Contents
    • 1 About this documentation
      • 1.1 Document history
      • 1.2 Liability
      • 1.3 Trademarks
      • 1.4 Conventions used
      • 1.5 References used
    • 2 SoftMotion concept and overview of the components
    • 3 The SoftMotion drive interface
      • 3.1 Control configuration for SoftMotion
        • 3.1.1 BusInterface
        • 3.1.2 AxisGroup
        • 3.1.3 CANDrive
          • 3.1.3.1 "Module parameters" dialog
          • 3.1.3.2 "CANDrive" dialog
      • 3.2 SM_DriveBasic.lib and automatic code generation
        • 3.2.1 Mathematical auxiliary blocks
        • 3.2.2 Axis group blocks
          • 3.2.2.1 Cycle time measurement
          • 3.2.2.2 SMC_IsAxisGroupReady
          • 3.2.2.3 SMC_GetAxisGroupState
          • 3.2.2.4 SMC_ResetAxisGroup
          • 3.2.2.5 SMC_DisableAllDrives
          • 3.2.2.6 SMC_EnableAllDrives
        • 3.2.3 Configuration blocks
          • 3.2.3.1 SMC_ChangeGearingRatio
        • 3.2.4 Control mode blocks
          • 3.2.4.1 SMC_SetControllerMode
        • 3.2.5 Direct setpoint selection
          • 3.2.5.1 SMC_FollowPosition
          • 3.2.5.2 SMC_FollowPositionVelocity
          • 3.2.5.3 SMC_FollowVelocity
          • 3.2.5.4 SMC_CheckLimits
          • 3.2.5.5 SMC_ControlAxisByPos
          • 3.2.5.6 SMC_ControlAxisByPosVel
          • 3.2.5.7 SMC_ControlAxisByVel
        • 3.2.6 Virtual time axis (SMC_TimeAxisFB)
        • 3.2.7 Homing via digital hardware inputs (SMC_Homing)
        • 3.2.8 Diagnostic blocks
          • 3.2.8.1 SMC_GetMaxSetVelocity
          • 3.2.8.2 SMC_GetMaxSetAccDec
          • 3.2.8.3 SMC_GetTrackingError
          • 3.2.8.4 SMC_MeasureDistance
        • 3.2.9 ENCODER (SMC_Encoder)
        • 3.2.10 Visualisation templates
      • 3.3 Drive element <BusInterfaceName>Drive.lib
        • 3.3.1 LenzeCANdrive.lib
          • 3.3.1.1 Properties
          • 3.3.1.2 Global variables
          • 3.3.1.3 The structure of LenzeECS_AXIS_REF
          • 3.3.1.4 Hardware limit switch (ECSxM axis module)
          • 3.3.1.5 Configured parameters during start-up
          • 3.3.1.6 CAN communication times
        • 3.3.2 SM_CAN.lib
      • 3.4 Variables of the AXIS_REF structure
      • 3.5 Parameterisation of the drive
        • 3.5.1 SMC_WriteDriveParamsToFile
    • 4 CNC editor
      • 4.1 Supported and extended elements of the CNC language of DIN66025
        • 4.1.1 Switching points, H-function
        • 4.1.2 Additional function, M-function
        • 4.1.3 Use of variables
        • 4.1.4 Circular interpolation
        • 4.1.5 Ellipse interpolation
        • 4.1.6 Spline interpolation
        • 4.1.7 Conditional jumps
        • 4.1.8 Changing variable values
      • 4.2 Starting the CNC editor, inserting and managing CNC programs
        • 4.2.1 Creating a new CNC program
        • 4.2.2 Rename CNC Program
        • 4.2.3 Deleting a CNC program
        • 4.2.4 Information
        • 4.2.5 Define Queue Size
        • 4.2.6 Defining the start position of the CNC program
        • 4.2.7 Defining the angular tolerance for stopping in the CNC program
        • 4.2.8 Shifting a CNC program
        • 4.2.9 Rotating the CNC program
        • 4.2.10 Stretch the CNC program
        • 4.2.11 Invert Direction
        • 4.2.12 Split Object
        • 4.2.13 Read CNC Program from File
        • 4.2.14 Write CNC Program to File
        • 4.2.15 Import DXF File
        • 4.2.16 Write OutQueue to File
      • 4.3 CNC text editor
      • 4.4 CNC graphic editor
      • 4.5 Commands in the "Extras" menu
        • 4.5.1 Select Mode
        • 4.5.2 Line Insert Mode
        • 4.5.3 Circle CW Insert Mode
        • 4.5.4 Circle CCW Insert Mode
        • 4.5.5 Spline Insert Mode
        • 4.5.6 Fit to Screen
        • 4.5.7 Renumber Program
        • 4.5.8 Convert Splines/Ellipses to Lines
        • 4.5.9 Tool Radius Correction
        • 4.5.10 Round Path
        • 4.5.11 Smooth Path
        • 4.5.12 Avoid Loop
        • 4.5.13 Suppress Record
        • 4.5.14 Show Interpolation Points
        • 4.5.15 Set epsilon values for zero
      • 4.6 Automatic structure filling in the CNC editor
    • 5 CAM editor
      • 5.1 Definition of a cam for SoftMotion
      • 5.2 Starting the CAM editor
      • 5.3 Creating a cam
      • 5.4 Editing a cam
        • 5.4.1 General editor settings
        • 5.4.2 Editing properties of individual cam elements
          • 5.4.2.1 Editing a point / line
          • 5.4.2.2 Editing a cam
          • 5.4.2.3 Selecting and shifting in the editor window
        • 5.4.3 Commands in the "Extras" menu
          • 5.4.3.1 Settings
          • 5.4.3.2 Show Complete Cam
          • 5.4.3.3 Show Bounds
          • 5.4.3.4 Transmission options
          • 5.4.3.5 Write Cam to File
          • 5.4.3.6 Read Cam from File
          • 5.4.3.7 Export Cam as ASCII Table
          • 5.4.3.8 Import Cam from ASCII Table
        • 5.4.4 Commands in the "Insert" menu
          • 5.4.4.1 Select element
          • 5.4.4.2 Insert point
          • 5.4.4.3 Insert line
          • 5.4.4.4 Insert cam
      • 5.5 Online mode of the cam editor
      • 5.6 Using cams
        • 5.6.1 How POU parameters work
          • 5.6.1.1 MC_CamTableSelect
          • 5.6.1.2 MC_CamIn
        • 5.6.2 Switching between cams
      • 5.7 Cam data structures
        • 5.7.1 MC_CAM_REF
        • 5.7.2 SMC_CAMXYVA
        • 5.7.3 SMC_CAMTable_<Variable type>_<Number of elements>_1
        • 5.7.4 SMC_CAMTable_<Variable type>_<Number of elements>_2
      • 5.8 Example: manually generated cam
    • 6 The SM_PLCopen.lib library
      • 6.1 PLCopen specification
      • 6.2 POUs for the motion control of individual axes
        • 6.2.1 MC_ReadStatus
        • 6.2.2 MC_ReadAxisError
        • 6.2.3 MC_Reset
        • 6.2.4 MC_ReadParameter / MC_ReadBoolParameter
        • 6.2.5 MC_WriteParameter / MC_WriteBoolParameter
        • 6.2.6 MC_ReadActualPosition
        • 6.2.7 MC_ReadActualVelocity
        • 6.2.8 MC_ReadActualTorque
        • 6.2.9 MC_Power
        • 6.2.10 MC_Home
        • 6.2.11 MC_Stop
        • 6.2.12 MC_Halt
        • 6.2.13 MC_MoveAbsolute
        • 6.2.14 SMC_MoveContinuousAbsolute
        • 6.2.15 MC_MoveAdditive
        • 6.2.16 MC_MoveRelative
        • 6.2.17 SMC_MoveContinuousRelative
        • 6.2.18 MC_MoveSuperImposed
        • 6.2.19 MC_MoveVelocity
        • 6.2.20 MC_PositionProfile
        • 6.2.21 MC_VelocityProfile
        • 6.2.22 MC_AccelerationProfile
        • 6.2.23 MC_SetPosition
        • 6.2.24 MC_TouchProbe
        • 6.2.25 MC_AbortTrigger
      • 6.3 POUs for the synchronised motion control (multi-axis)
        • 6.3.1 MC_CamTableSelect
        • 6.3.2 MC_CamIn
        • 6.3.3 MC_CamOut
        • 6.3.4 MC_GearIn
        • 6.3.5 MC_GearOut
        • 6.3.6 MC_GearInPos
        • 6.3.7 MC_Phasing
      • 6.4 Additional program organisation units
        • 6.4.1 SMC_GetCamSlaveSetPosition
        • 6.4.2 SMC_CAMBounds
        • 6.4.3 SMC_CAMEditor / SMC_CAMVisu
        • 6.4.4 SMC_CAMRegister
        • 6.4.5 SMC_GetTappetValue
        • 6.4.6 MC_DigitalCamSwitch
        • 6.4.7 SMC_ReadSetPosition
        • 6.4.8 SMC_SetTorque
    • 7 The SM_CNC.lib library
      • 7.1 SMC_NCDecoder
      • 7.2 SMC_GCodeViewer
      • 7.3 SMC_ToolCorr
      • 7.4 SMC_AvoidLoop
      • 7.5 SMC_SmoothPath
      • 7.6 SMC_RoundPath
      • 7.7 SMC_CheckVelocities
      • 7.8 SMC_LimitCircularVelocities
      • 7.9 SMC_Interpolator
      • 7.10 SMC_GetMParameters
      • 7.11 SMC_Interpolator2Dir
      • 7.12 Function blocks for spatial transformation processes
        • 7.12.1 SMC_CoordinateTransformation3D
        • 7.12.2 SMC_TeachCoordinateTransformation
        • 7.12.3 SMC_UnitVectorToRPY
        • 7.12.4 SMC_DetermineCuboidBearing
      • 7.13 Extension of the interpolation process from 2.5-D to real 3-D
      • 7.14 Auxiliary functions and function blocks for path rotations, translations and scalings
        • 7.14.1 SMC_ROTATEQUEUE2D
        • 7.14.2 SMC_TRANSLATEQUEUE3D
        • 7.14.3 SMC_SCALEQUEUE3D
      • 7.15 Settings via global variables
      • 7.16 Structures of SM_CNC.lib
        • 7.16.1 SMC_POSINFO
        • 7.16.2 SMC_GEOINFO
        • 7.16.3 SMC_VECTOR3D
        • 7.16.4 SMC_VECTOR6D
        • 7.16.5 SMC_OUTQUEUE
        • 7.16.6 SMC_CNC_REF
        • 7.16.7 SMC_GCODE_WORD
      • 7.17 Path cams with SMC_XInterpolator
    • 8 The SM_CNCDiagnostic.lib library
      • 8.1 Function blocks for analysing SMC_CNC_REF data
        • 8.1.1 SMC_ShowCNCREF
        • 8.1.2 Function blocks for analysing SMC_OutQueue data
        • 8.1.3 SMC_ShowQueue
    • 9 The SM_Trafo.lib library
      • 9.1 Transformation function blocks
        • 9.1.1 Gantry systems
          • 9.1.1.1 SMC_TRAFO_Gantry2
          • 9.1.1.2 SMC_TRAFOF_Gantry2
          • 9.1.1.3 SMC_TRAFO_Gantry3
          • 9.1.1.4 SMC_TRAFOF_Gantry3
          • 9.1.1.5 GantryCutter
          • 9.1.1.6 SMC_TRAFOV_Gantry
        • 9.1.2 Gantry systems with tool offset
          • 9.1.2.1 SMC_CalcDirectionFromVector
          • 9.1.2.2 SMC_TRAFO_Gantry2Tool1
          • 9.1.2.3 SMC_TRAFOF_Gantry2Tool1
          • 9.1.2.4 SMC_TRAFO_Gantry2Tool2
          • 9.1.2.5 SMC_TRAFOF_Gantry2Tool2
        • 9.1.3 H gantry system with stationary drives
          • 9.1.3.1 SMC_TRAFO_GantryH2
          • 9.1.3.2 SMC_TRAFOF_GantryH2
        • 9.1.4 Two-jointed Scara systems
          • 9.1.4.1 SMC_TRAFO_Scara2
          • 9.1.4.2 SMC_TRAFOF_Scara2
        • 9.1.5 Three-jointed Scara systems
          • 9.1.5.1 SMC_TRAFO_Scara3
          • 9.1.5.2 SMC_TRAFOF_Scara3
        • 9.1.6 Parallel kinematics
          • 9.1.6.1 SMC_TRAFO_Tripod
          • 9.1.6.2 SMC_TRAFOF_Tripod
        • 9.1.7 Spatial transformations
          • 9.1.7.1 SMC_CoordinateTransformation3D
          • 9.1.7.2 SMC_TeachCoordinateSystem
          • 9.1.7.3 SMC_UnitVectorToRPY
          • 9.1.7.4 SMC_DetermineCuboidBearing
    • 10 The SM_Error.lib library
      • 10.1 SMC_ErrorString
      • 10.2 The enumeration SMC_Error
    • 11 The SM_FileFBs.lib library
      • 11.1 CNC function blocks
        • 11.1.1 SMC_ReadNCQueue
        • 11.1.2 SMC_ReadNCFile
        • 11.1.3 SMC_VARLIST structure
      • 11.2 CAM function blocks
        • 11.2.1 SMC_ReadCAM
        • 11.2.2 SMC_WriteCAM
      • 11.3 Diagnostic function blocks
        • 11.3.1 SMC_AxisDiagnosticLog
    • 12 The L_SMC_DriveUtil.lib library (Lenze specifications)
      • 12.1 L_SMC_TouchProbe
      • 12.2 Function blocks for EtherCAT
        • 12.2.1 L_SMC_SetTorqueLimit
        • 12.2.2 L_SMC_AbortTrigger
        • 12.2.3 L_SMC_ReadParameter
        • 12.2.4 L_SMC_WriteParameter
    • 13 SoftMotion programming examples
      • 13.1 Single-axis motion control in ST
      • 13.2 Single-axis motion control in CFC with visualisation template
      • 13.3 Cam drive control with the aid of a virtual time axis
      • 13.4 Alternating cams
      • 13.5 Drive control with the aid of the CNC editor
        • 13.5.1 Direct creation of the OutQueue
        • 13.5.2 Online decoding with the use of variables
        • 13.5.3 Online path preprocessing
      • 13.6 Dynamic SoftMotion programming
        • 13.6.1 Preliminary steps
        • 13.6.2 Dynamic Path-Programming
    • 14 Index