Is_SphereWithGeneric (FUN) ¶ FUNCTION Is_SphereWithGeneric : UDINT Intersects a sphere given by the center point c and the radius with an arc or an axis-space-line. (Returns an error in other cases.) Returns the number of intersections found in increasing order along the element. Note If the sphere and the PathElem intersect at infinitely many points, the function will return at most Cnst.IS_SPHERE_MAX_ROOTS roots. It may occur that intersections are not found by the algorithm. InOut: Scope Name Type Comment Return Is_SphereWithGeneric UDINT Inout aRoots ARRAY [0..(Cnst.IS_SPHERE_MAX_ROOTS - 1)] OF LREAL The points of intersection, that means arc(aRoots[i]) is a point on the sphere. The points are returned in increasing order in the direction of the arc. Inout Const c SM3M.SMC_VECTOR3D The center of the sphere. ef ElemFun Input radius LREAL The radius of the sphere. Must be positive. Output bError BOOL Returns TRUE if an error occurred.

EventParameter23 (STRUCT) ¶ TYPE EventParameter23 : STRUCT InOut: Name Type dwEvent DWORD dwFilter DWORD dwOwner DWORD Result DWORD

RTS_EVENT (ENUM) ¶ TYPE RTS_EVENT : InOut: Name Initial Comment EVENT_ALL EVENT_START General events EVENT_STOP EVENT_BEFORE_RESET EVENT_AFTER_RESET EVENT_SHUTDOWN EVENT_EXCPT_CYCLETIME_OVERFLOW Exceptions generated by runtime EVENT_EXCPT_WATCHDOG Software watchdog OF IEC-task expired EVENT_EXCPT_HARDWARE_WATCHDOG Hardware watchdog expired. Global software error EVENT_EXCPT_FIELDBUS Fieldbus error occurred EVENT_EXCPT_IOUPDATE IO-update error EVENT_EXCPT_ILLEGAL_INSTRUCTION Exceptions generated BY system EVENT_EXCPT_ACCESS_VIOLATION Access violation EVENT_EXCPT_PRIV_INSTRUCTION Privileged instruction EVENT_EXCPT_IN_PAGE_ERROR Page fault EVENT_EXCPT_STACK_OVERFLOW Stack overflow EVENT_EXCPT_MISALIGNMENT Datatype misalignment EVENT_EXCPT_ARRAYBOUNDS ARRAY bounds exceeded EVENT_EXCPT_DIVIDEBYZERO Division BY zero EVENT_EXCPT_OVERFLOW Overflow EVENT_EXCPT_NONCONTINUABLE Non continuable EVENT_EXCPT_NO_FPU_AVAILABLE FPU: No FPU available EVENT_EXCPT_FPU_ERROR FPU: Unspecified error EVENT_EXCPT_FPU_DENORMAL_OPERAND FPU: Denormal operand EVENT_EXCPT_FPU_DIVIDEBYZERO FPU: Division BY zero EVENT_EXCPT_FPU_INVALID_OPERATION FPU: Invalid operation EVENT_EXCPT_FPU_OVERFLOW FPU: Overflow EVENT_EXCPT_FPU_STACK_CHECK FPU: Stack check EVENT_AFTER_READING_INPUTS IO events EVENT_BEFORE_WRITING_OUTPUTS EVENT_TIMER Miscellaneous events EVENT_DEBUG_LOOP Debug loop at breakpoint EVENT_SCHEDULE Schedule tick (timer interrupt), is called always instead of EVENT_TIMER EVENT_ONLINE_CHANGE Is called after CodeInit() at Online-Change EVENT_BEFORE_DOWNLOAD Is called at the beginning of a program download EVENT_TASKCODE_NOT_CALLED Is called in cyclic task, if IecCode is NOT called (instead of). EVENT_SYNC_RECEIVED EVENT_BEFORE_READING_INPUTS EVENT_AFTER_WRITING_OUTPUTS EVENT_SYSTEM_CRASH EVENT_POWERFAIL EVENT_CANMESSAGE_RECEIVED The parameter source in IEC is the device index, the parameter filter is the pointer to the message. EVENT_EXCPT_PLC_OVERLOAD EVENT_TARGETVISU_WINDOW_ACTIVATED EVENT_TARGETVISU_WINDOW_DEACTIVATED EVENT_BEFORE_ONLINE_CHANGE it’s possible to release resources here which block a task so that OLC could not be started EVENT_AFTER_ONLINE_CHANGE code execution has switched to the new code completely EVENT_ONLINE_SERVICES_BEGIN 500 Online services EVENT_LOGIN EVENT_CUSTOM_SERVICES EVENT_INT_0 1000 Interrupts EVENT_INT_1 EVENT_INT_2 EVENT_INT_3 EVENT_INT_4 EVENT_INT_5 EVENT_INT_6 EVENT_INT_7 EVENT_INT_8 EVENT_INT_9 EVENT_INT_10 EVENT_INT_11 EVENT_INT_12 EVENT_INT_13 EVENT_INT_14 EVENT_INT_15 EVENT_INT_255 1255 EVENT_MAX

RTS_EVENT_FILTER (ENUM) ¶ TYPE RTS_EVENT_FILTER : InOut: Name Initial FILTER_NONE 16#0 FILTER_ONLINE_SERVICES 16#1 FILTER_INFOS 16#2 FILTER_WARNINGS 16#4 FILTER_ERRORS 16#8 FILTER_EXCEPTIONS 16#10 FILTER_INTERRUPTS 16#20 FILTER_IO 16#40

RTS_EVENT_SOURCE (ENUM) ¶ TYPE RTS_EVENT_SOURCE : InOut: Name SOURCE_UNSPECIFIED SOURCE_SYSTEM SOURCE_RUNTIME SOURCE_IECPROGRAM SOURCE_IECTASK

To_HexString_NLZ (FUN) ¶ FUNCTION To_HexString_NLZ : STRING(22) Returns the hexadecimal string representation of a value in the format ‘0x<hex-value>’ without leading zeros. InOut: Scope Name Type Input value LWORD Return To_HexString_NLZ STRING(22)

Word_To_HexString (FUN) ¶ FUNCTION Word_To_HexString : STRING(5) Converts a WORD value to a hexadecimal representation InOut: Scope Name Type Return Word_To_HexString STRING(5) Input w WORD

Tasks ¶ GetCurrentTask (Function) IsCurrentTask (Function)

IsKinSupportingOriAxisInterpolation (FUN) ¶ FUNCTION IsKinSupportingOriAxisInterpolation : BOOL Returns whether the given kinematics supports orientation mode axis. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Input kin TRAFO.MC_KIN_REF_SM3 Return IsKinSupportingOriAxisInterpolation BOOL Output kinCoupled TRAFO.ISMCoupledKinematics kinPos TRAFO.ISMPositionKinematics_Offset kinOri TRAFO.ISMOrientationKinematics

GetCurrentTask (FUN) ¶ FUNCTION GetCurrentTask : SysTypes.RTS_IEC_HANDLE Returns a handle to the current task or RTS_INVALID_HANDLE if no handle could be retrieved. InOut: Scope Name Type Return GetCurrentTask SysTypes.RTS_IEC_HANDLE