SM3_RError ¶ Common ErrorContext ErrorContext (Struct) ErrorContext_Err (Function) ErrorContext_HasId (Function) ErrorContext_Id (Function) ErrorContext_OK (Function) ErrorContext_ReadErrorString (Function) ErrorContext_ReadErrorStrings (Function) ErrorContext_ReadTypeSpecificStrings (Function) ErrorContext_SetOK (Function) ErrorContext_SetSimple (Function) ErrorContext_TypeDataSet (Function) ErrorStrings Cnst_ErrorStrings (GVL) ErrorIdSpecificStrings (Alias) ErrorStrings (Struct) ErrorStrings_Clear (Function) ErrorStrings_Log (Function) ErrorStrings_ToString (Function) ErrorTypeSpecificStrings (Alias) ErrorType ErrorContext_SetErrorTypeInterpolation (Function) ErrorContext_SetErrorTypeNewMovement (Function) ErrorContext_SetErrorTypePlanning (Function) ErrorType (Enum) ErrorTypeData (Union) ErrorTypeData_Interpolation (Struct) ErrorTypeData_Interpolation_ReadStrings (Function) ErrorTypeData_NewMovement (Struct) ErrorTypeData_NewMovement_ReadStrings (Function) ErrorTypeData_Planning (Struct) ErrorTypeData_Planning_ReadStrings (Function) Error specific AxisInverseTrafoExceedingPoslimits ErrorContext_AxisInverseTrafoFromAxisPositionExceedPoslimits (Function) ErrorContext_SetAxisInverseTrafoExceedingPoslimits (Function) ErrorData_AxisInverseTrafoExceedingPoslimits (Struct) ErrorData_AxisInverseTrafoExceedingPoslimits_ReadStrings (Function) AxisPositionExceedsPoslimits ErrorContext_SetAxisPositionExceedsPoslimits (Function) ErrorData_AxisPositionExceedsPoslimits (Struct) ErrorData_AxisPositionExceedsPoslimits_ReadStrings (Function) ErrorContext_ReadIdSpecificStrings (Function) ErrorData (Union) MaxAxisLagExceeded ErrorContext_SetMaxAxisLagExceeded (Function) ErrorData_MaxAxisLagExceeded (Struct) ErrorData_MaxAxisLagExceeded_ReadStrings (Function) MaxOrientationLagExceeded ErrorContext_SetMaxOrientationLagExceeded (Function) ErrorData_MaxOrientationLagExceeded (Struct) ErrorData_MaxOrientationLagExceeded_ReadStrings (Function) MaxPositionLagExceeded ErrorContext_SetMaxPositionLagExceeded (Function) ErrorData_MaxPositionLagExceeded (Struct) ErrorData_MaxPositionLagExceeded_ReadStrings (Function) RotaryAxisPeriodMismatch ErrorContext_SetRotaryAxisPeriodMismatch (Function) ErrorData_RotaryAxisPeriodMismatch (Struct) ErrorData_RotaryAxisPeriodMismatch_ReadStrings (Function) RotaryAxisRangeViolation ErrorContext_SetRotaryAxisRangeViolation (Function) ErrorData_RotaryAxisRangeViolation (Struct) ErrorData_RotaryAxisRangeViolation_ReadStrings (Function)
Common ¶ ErrorContext ErrorContext (Struct) ErrorContext_Err (Function) ErrorContext_HasId (Function) ErrorContext_Id (Function) ErrorContext_OK (Function) ErrorContext_ReadErrorString (Function) ErrorContext_ReadErrorStrings (Function) ErrorContext_ReadTypeSpecificStrings (Function) ErrorContext_SetOK (Function) ErrorContext_SetSimple (Function) ErrorContext_TypeDataSet (Function) ErrorStrings Cnst_ErrorStrings (GVL) ErrorIdSpecificStrings (Alias) ErrorStrings (Struct) ErrorStrings_Clear (Function) ErrorStrings_Log (Function) ErrorStrings_ToString (Function) ErrorTypeSpecificStrings (Alias) ErrorType ErrorContext_SetErrorTypeInterpolation (Function) ErrorContext_SetErrorTypeNewMovement (Function) ErrorContext_SetErrorTypePlanning (Function) ErrorType (Enum) ErrorTypeData (Union) ErrorTypeData_Interpolation (Struct) ErrorTypeData_Interpolation_ReadStrings (Function) ErrorTypeData_NewMovement (Struct) ErrorTypeData_NewMovement_ReadStrings (Function) ErrorTypeData_Planning (Struct) ErrorTypeData_Planning_ReadStrings (Function)
ErrorContext ¶ ErrorContext (Struct) ErrorContext_Err (Function) ErrorContext_HasId (Function) ErrorContext_Id (Function) ErrorContext_OK (Function) ErrorContext_ReadErrorString (Function) ErrorContext_ReadErrorStrings (Function) ErrorContext_ReadTypeSpecificStrings (Function) ErrorContext_SetOK (Function) ErrorContext_SetSimple (Function) ErrorContext_TypeDataSet (Function)
ErrorContext (STRUCT) ¶ TYPE ErrorContext : STRUCT InOut: Name Type id SMC_ERROR data ErrorData typ ErrorType typeData ErrorTypeData
ErrorContext_Err (FUN) ¶ FUNCTION ErrorContext_Err : BOOL InOut: Scope Name Type Inout Const errCtx ErrorContext Return ErrorContext_Err BOOL
Bound (FUN) ¶ FUNCTION Bound : Boundary Returns a boundary with the given values. InOut: Scope Name Type Initial Comment Return Bound Boundary Input x LREAL 0 Master position y LREAL 0 Slave position v LREAL 0 Slave velocity: First derivative of the slave position as a function of the master position. a LREAL 0 Slave acceleration: Second derivative of the slave position as a function of the master position. j LREAL 0 Slave jerk: Third derivative of the slave position as a function of the master position.
BoundImplicit (FUN) ¶ FUNCTION BoundImplicit : Boundary Returns an implicit boundary. This is a boundary for which the values are determined by the previous cam segment (if the implicit boundary is inserted as a left boundary), or by the next cam segment (if the implicit boundary is inserted as a right boundary). This function can be used to append cam segments in a continuous way. InOut: Scope Name Type Return BoundImplicit Boundary
Line (FUN) ¶ FUNCTION Line : CAM_SEGMENT Initializes a line cam segment with the given boundary conditions left and right . The boundary conditions can be initialized with BoundImplicit for implicit and with Bound for explicit boundaries. InOut: Scope Name Type Return Line CAM_SEGMENT Input left Boundary right Boundary
Poly5 (FUN) ¶ FUNCTION Poly5 : CAM_SEGMENT Initializes a 5th degree polynomial cam segment with the given boundary conditions left and right . The boundary conditions can be initialized with BoundImplicit for implicit and with Bound for explicit boundaries. InOut: Scope Name Type Return Poly5 CAM_SEGMENT Input left Boundary right Boundary
Poly5_Coeffs (FUN) ¶ FUNCTION Poly5_Coeffs : CAM_SEGMENT Initializes a 5th degree polynomial cam segment with the given coefficients. The function is defined in the domain of 0 <= x <= (x1-x0) and is represented by the following equation: y = a0 + a1 * x + a2 * x^2 + a3 * x^3 + a4 * x^4 + a5 * x^5 InOut: Scope Name Type Comment Return Poly5_Coeffs CAM_SEGMENT Input x0 LREAL Master start position x1 LREAL Master end position a0 LREAL First coefficient a1 LREAL Second coefficient a2 LREAL Third coefficient a3 LREAL Fourth coefficient a4 LREAL Fifth coefficient a5 LREAL Sixth coefficient
