Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 26)

L-force | PLC Designer - SoftMotion
The SoftMotion drive interface
SM_DriveBasic.lib and automatic code generation
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DMS 5.2 EN 03/2011 TD17
3.2 SM_DriveBasic.lib and automatic code generation
If the SM_DriveBasic.lib library is integrated into the IEC1131 application in the »PLC
Designer«, structure objects which the IEC program can access are created automatically
from the drive image that has been entered in the control configuration using the
corresponding parameters. (For this see also Variables of the AXIS_REF structure
( 56)
and
The structure of LenzeECS_AXIS_REF
( 50)
.)
In the IEC1131 application furthermore the manufacturer-specific library that matches the
control system used has to be integrated with the name Drive.lib. It
supports the hardware-specific drive interface function. The BusInterface designation
results from the entry selected in the control configuration in the module parameters of
the bus interface at 'InterfaceType' The left part to the first space character of its string
designation provides the name (example: "CAN (Peak)" => "CAN" => manufacturer-
specific library is called: "CANDrive.lib").
When the application is started, the implicit call of the functions
DriveExecute_Start and DriveInit at the task
start and DriveExecute_End at the task end provides for the
transmission and maintenance of the AXIS_REF structure variables. In case that errors
occur during the initialisation of the drives, the global variable g_strBootupError contains
an error description generated by the Drive.lib library.
In addition to its main function, the representation of the drives within the IEC program,
the SM_DriveBasic.lib library contains some auxiliary blocks.
3.2.1 Mathematical auxiliary blocks
The SMC_sgn function returns the sign value of the input, i. e. -1 for a negative, +1 for a
positive, and 0 for a zero entry.
The SMC_fmod function calculates the modulo value of the input x to the period m. The
return value is always in the interval [0, m].
The SMC_atan2 function calculates and returns the angle which solves the following
equations:
In contrast to the common ATAN function the value range here covers the complete
interval [0; 2π].
sin( ) * f = sine and cos( ) * f = cosine