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Content
5.5
Additional Elements of the SM_PLCopen.lib ..................................................... 5-19
6 The Library SM_CNC.lib
6.1
6.2
6.3
6.4
6.5
Overview ............................................................................................................ 6-1
Modules.............................................................................................................. 6-1
Auxiliary Modules for Path Rotations, Translations and Scalings ...................... 6-15
Settings via global variables............................................................................... 6-15
Structures in the SM_CNC.lib ............................................................................ 6-15
7 The library SM_CNCDiagnostic.lib
7.1
7.1.1
7.2
7.2.1
12 Index
ii
10-1
Overview ............................................................................................................ 10-1
CNC function blocks........................................................................................... 10-1
CAM Function Blocks......................................................................................... 10-3
Diagnosis function blocks................................................................................... 10-3
11 Programming Examples
11.1
11.2
11.3
11.4
11.5
11.6
11.7
11.7.1
11.7.2
11.7.3
11.8
9-1
Function blocks .................................................................................................. 9-1
SMC_ErrorString................................................................................................ 9-1
The enumeration SMC_Error ............................................................................. 9-1
10 The library SM_FileFBs.lib
10.1
10.2
10.3
10.4
8-1
Overview ............................................................................................................ 8-1
ControlAxis function blocks ................................................................................ 8-1
Transformation function blocks .......................................................................... 8-2
Portal Systems ................................................................................................... 8-3
H-Portal-System with stationary drives .............................................................. 8-5
2-Jointed Scara-Systems ................................................................................... 8-7
3-Jointed Scara-Systems ................................................................................... 8-9
Parallel Kinematics............................................................................................. 8-11
9 The Library SM_Error.lib
9.1
9.1.1
9.2
7-1
Function blocks for the analysis of SMC_CNC_REF data ................................. 7-1
The function block SMC_ShowCNCREF ........................................................... 7-1
Function blocks for analysis of SMC_OutQueue data ....................................... 7-1
The function block SMC_ShowQueue ............................................................... 7-1
8 The Library SM_Trafo.lib
8.1
8.2
8.3
8.3.1
8.3.2
8.3.3
8.3.4
8.3.5
6-1
11-1
Overview ............................................................................................................ 11-1
Example: Drive Interface: Create PLC Configuration for Drives ........................ 11-1
Example: Single Axis Motion Control ................................................................. 11-4
Example: Single-Axis Motion Control in CFC with Visualization-Template ........ 11-5
Drive Control via CAM and a Virtual Time Axis.................................................. 11-7
Example: Changing CAMs ................................................................................. 11-8
Example: Drive Control via the CNC-Editor ....................................................... 11-8
CNC Example 1: Direct Creation of the OutQueue............................................ 11-8
CNC Example 2: Decoding online with use of variables .................................... 11-11
CNC Example 3: Path-Preprocessing online ..................................................... 11-13
Dynamic SoftMotion-Programming .................................................................... 11-15
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SoftMotion in CoDeSys 2.3