PathElemTriggerPosition_Init (FUN) ¶ FUNCTION PathElemTriggerPosition_Init InOut: Scope Name Type Inout trigger PathElem_TriggerPosition Input triggerId ULINT x LREAL

PathElemTriggerPosition_Init2 (FUN) ¶ FUNCTION PathElemTriggerPosition_Init2 InOut: Scope Name Type Inout trigger PathElem_TriggerPosition Input triggerId ULINT x LREAL errorId SMC_ERROR

PathElemTrigger_InsertSorted (FUN) ¶ FUNCTION PathElemTrigger_InsertSorted InOut: Scope Name Type Inout triggers PathElem_Triggers Inout Const trigger PathElem_TriggerPosition

PathElem_ToolOffset (FUN) ¶ FUNCTION PathElem_ToolOffset : POINTER TO SM3M.SMC_Frame InOut: Scope Name Type Inout Const pe PathElem Return PathElem_ToolOffset POINTER TO SM3M.SMC_Frame

PathElem_Trafo (FUN) ¶ FUNCTION PathElem_Trafo : TRAFO.MC_KIN_REF_SM3 InOut: Scope Name Type Inout Const pe PathElem Return PathElem_Trafo TRAFO.MC_KIN_REF_SM3

PathElem_TimeDerivStepSize (FUN) ¶ FUNCTION PathElem_TimeDerivStepSize : LREAL InOut: Scope Name Type Inout Const pe PathElem Return PathElem_TimeDerivStepSize LREAL

PathElem_AddData (STRUCT) ¶ TYPE PathElem_AddData : STRUCT InOut: Name Type Comment dynLimitsPathCommanded Path_DynLimits The commanded dynamic path limits of the element. (The maximum path velocity, path acceleration, and path jerk.) dynLimitsPathCommanded_est Path_DynLimits The estimated commanded path limits, taking into account the axis limits. These limits are never higher than dynLimitsPathCommanded, but may be lower. dynLimitsIpoParamCommanded_est Path_DynLimits The estimated limits of the interpolation parameter x of the path. Computed by projecting the axis limits on the path. These may differ from the path limits if the element is not parametrized by arc length. dynLimitsPathAncillary Path_DynLimits The ancillary dynamic path limits of the element dynLimitsAxesCommanded DynLimitsA The commanded dynamic axis limits of the element (may be lower than the global limits) dynLimitsAxesAncillary DynLimitsA The ancillary dynamic axis limits of the element ovrAxes DynFactorsA The override factors for the axis limits ovrPath SMRB.DynFactors The override factors for the path limits configOrig TRAFO.CONFIGDATA The kinematic configuration of the target position mvtIds MvtIdRange An range of the movement ids that resulted in the creation of this element. For simple buffered movements (e.g. MoveLinear, MoveDirect), the range has the movement id as the single element. For blending movements, the range is the union of the ranges of the first and second movement. cmdTargetPos PathElem_CmdPos The target position as commanded by the user. Not known for cut elements or for blending elements. bCacheMembersInitialized BOOL Internal member, used only by Trj_EvalCache, initialize with FALSE. bNoStopFromPrevElem BOOL Internal member, used only by Trj_EvalCache, initialize with FALSE. dynLimitsEffPathPrev Path_DynLimits Internal member, set and read only by Trj_EvalCache. The effective dynamic path limits valid before the element. Only valid if bNoStopFromPrevElem is TRUE. In this case, this member holds the limits of the previous movement. dynLimitsIpoParamCommandedPrev_est Path_DynLimits Internal member, set and read only by Trj_EvalCache. The estimated dynamic limits of the interpolation parameter valid before the element. Only valid if bNoStopFromPrevElem is TRUE. In this case, this member holds the limits of the previous movement. dynLimitsEffAxesPrev DynLimitsA Internal member, set and read only by Trj_EvalCache. The effective dynamic axis limits valid before the element. Only valid if bNoStopFromPrevElem is TRUE. In this case, this member holds the limits of the previous movement. dynLimitsEffPath Path_DynLimits Internal member, set and read only by Trj_EvalCache and PathElem_GetLimits. The effective dynamic path limits. dynLimitsEffAxes DynLimitsA Internal member, set and read only by Trj_EvalCache and PathElem_GetLimits. The effective dynamic axis limits. pathTolerance PathTolerance The path tolerance for the current path element. bTransition BOOL Only for debugging. Signals whether the path element is a transition, e.g. blending, element or a path element that represents the actual movement.

PathElem_AddData_CalculateEffectiveLimits (FUN) ¶ FUNCTION PathElem_AddData_CalculateEffectiveLimits : BOOL InOut: Scope Name Type Return PathElem_AddData_CalculateEffectiveLimits BOOL Inout addData PathElem_AddData pathLimitsEff SMRB.DynLimits axisLimitsEff DynLimitsA

PathElem_Triggers (STRUCT) ¶ TYPE PathElem_Triggers : STRUCT A sorted list of ascending trigger positions InOut: Name Type n UDINT a ARRAY [0..((2 * Defaults.LibParams.MAX_NUM_TRIGGERS_PER_MOVEMENT) - 1)] OF PathElem_TriggerPosition

PathElemRange_ContainsId (FUN) ¶ FUNCTION PathElemRange_ContainsId : BOOL Returns whether the specified pathElemId is contained in the PathElem range from kStart to kEnd . InOut: Scope Name Type Inout Const path PathQueue Input kStart UDINT kEnd UDINT pathElemId PathElem_Id Return PathElemRange_ContainsId BOOL