SysFileStreamFClose (FUN) ¶ FUNCTION SysFileStreamFClose : DINT InOut: Scope Name Type Return SysFileStreamFClose DINT Input File RTS_IEC_HANDLE

SysFileStreamFEOF (FUN) ¶ FUNCTION SysFileStreamFEOF : DINT InOut: Scope Name Type Return SysFileStreamFEOF DINT Input File RTS_IEC_HANDLE

SysFileStreamFError (FUN) ¶ FUNCTION SysFileStreamFError : DINT InOut: Scope Name Type Return SysFileStreamFError DINT Input File RTS_IEC_HANDLE

SysFileStreamFFlush (FUN) ¶ FUNCTION SysFileStreamFFlush : DINT InOut: Scope Name Type Return SysFileStreamFFlush DINT Input File RTS_IEC_HANDLE

SMCVec_From_Vec (FUN) ¶ FUNCTION SMCVec_From_Vec : BOOL InOut: Scope Name Type Return SMCVec_From_Vec BOOL Inout vDst SM3M.SMC_Vector3D Inout Const vSrc SM3M.SMC_Vec

SysFileStreamFGetC (FUN) ¶ FUNCTION SysFileStreamFGetC : DINT InOut: Scope Name Type Return SysFileStreamFGetC DINT Input File RTS_IEC_HANDLE

SysFileStreamFGetPos (FUN) ¶ FUNCTION SysFileStreamFGetPos : DINT InOut: Scope Name Type Comment Return SysFileStreamFGetPos DINT Input File RTS_IEC_HANDLE pFPos POINTER TO BYTE pointer !!

GetFlange (FUN) ¶ FUNCTION GetFlange : SM3_Error.SMC_ERROR For the given TCP frame and tool offset, this function returns the flange frame. If possible, the orientation of the flange frame is projected onto the space of attainable orientations. InOut: Scope Name Type Inout fFlange SM3M.SMC_Frame Inout Const fTcp SM3M.SMC_Frame fToolOffset SM3M.SMC_Frame cd TRAFO.CONFIGDATA Input Kin TRAFO.MC_KIN_REF_SM3 Return GetFlange SM3_Error.SMC_ERROR

IsToolCompatibleWithKin (FUN) ¶ FUNCTION IsToolCompatibleWithKin : BOOL If the orientation image of the kinematics returns dof=zero, then any tool offset is compatible. If it returns dof=one, then only tool position offsets parallel to the unit vector vU corresponding to the axis of rotation vRot are compatible. (This includes zero offsets.) If dof=three, then only position offsets of zero are compatible. InOut: Scope Name Type Comment Inout Const vTool SM3M.SMC_VECTOR3D Tool offset in flange coordinates Input kin TRAFO.MC_KIN_REF_SM3 Return IsToolCompatibleWithKin BOOL

IsToolCompatibleWithOriSpace (FUN) ¶ FUNCTION IsToolCompatibleWithOriSpace : BOOL If the orientation image of the kinematics returns dof=zero, then any tool offset is compatible. If it returns dof=one, then only tool position offsets parallel to the unit vector vU corresponding to the axis of rotation vRot are compatible. (This includes zero offsets.) If dof=three, then only position offsets of zero are compatible. InOut: Scope Name Type Comment Inout Const vTool SM3M.SMC_VECTOR3D Tool offset in flange coordinates oriSpace TRAFO.OrientationSpace The orientation space of the kinematics Return IsToolCompatibleWithOriSpace BOOL