SMC_GroupGetContinuePosition (FB) ¶ FUNCTION_BLOCK SMC_GroupGetContinuePosition Reads the continue position from the continueData . The continue position is the position, from where a MC_GroupContinue can be performed using the continueData . InOut: Scope Name Type Comment Inout Const AxisGroup AXIS_GROUP_REF_SM3 Reference to the axis group continueData SMC_AXIS_GROUP_CONTINUE_DATA The continue data. Input Execute BOOL Reads the position on rising edge Output Done BOOL The operation has been finished successfully Busy BOOL The operation is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification Position SMC_POS_REF The position where the interrupted path can be continued. CoordSystem SMC_COORD_SYSTEM The coordinate system in which the position has been stored. MovementId SMC_Movement_Id The movemnet Id corresponding to the interrupt position

SMC_GroupGetContinueToolOffset (FB) ¶ FUNCTION_BLOCK SMC_GroupGetContinueToolOffset Reads the tool offset that was active when the continueData was written. InOut: Scope Name Type Comment Inout Const AxisGroup AXIS_GROUP_REF_SM3 Reference to the axis group continueData SMC_AXIS_GROUP_CONTINUE_DATA The continue data. Input Execute BOOL Reads the tool offset on rising edge Output Done BOOL The operation has been finished successfully Busy BOOL The operation is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification ToolOffset MC_COORD_REF The tool offset stored in the continueData

GeoPrimType (ENUM) ¶ TYPE GeoPrimType : The supported types of geometric primitives Attributes: qualified_only InOut: Name Line Linear Arc LineAS Wait AxisBlending CartBlending

GeoPrimType_Serialize (FUN) ¶ FUNCTION GeoPrimType_Serialize : BOOL InOut: Scope Name Type Return GeoPrimType_Serialize BOOL Input stream SM0.IOutStream t GeoPrimType

SMC_GroupReadPositionInMovement (FB) ¶ FUNCTION_BLOCK SMC_GroupReadPositionInMovement Function block for reading the position in the current movement. The result can be used for preparing a trigger using SMC_GroupPrepareTrigger by setting the PositionType to MvtRelative and the Position.MvtPosition to the Position output of this function block. Note If the position is read while blending between movements, then on the first half of the blending the MovementId and Position will belong to the first movement and on the second half, they will belong to the second movement. This is consistent with how trigger positions are handled when blending, but in contrast to the behavior of the Active outputs of the movement command FBs. The Active output of the second movement will become TRUE as soon as the blending starts. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Input Enable BOOL The position is read continuously while enabled. Output Valid BOOL TRUE if the Position and MovementId are valid. Busy BOOL The FB is not finished Position LREAL The current position within the current movement. The value is between 0 and 1, where 0 is the start and 1 the end of the movement. MovementId SMC_Movement_Id The id of the current movement. Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification

SMC_GroupReadRemainingTrajectoryDuration (FB) ¶ FUNCTION_BLOCK SMC_GroupReadRemainingTrajectoryDuration Function block that enables reading the duration of the current trajectory, until the next standstill is reached. The next standstill position is either before the next buffered movement starts, or at the end of the last movement, whichever comes first. A valid duration can only be read if the remaining duration of the trajectory is within the CurrentPlanningForecast reported by MC_GroupReadStatus . The maximum forecast can be configured by changing fPlanningForecastDuration of SMC_TuneCPKernel . Note The trajectory duration cannot be read while MC_GroupHalt or MC_GroupStop are active. The output Valid is FALSE in this case. The trajectory duration cannot be read while an MC_GroupInterrupt is active or the axis group stops due to SMC_GroupInterruptAt . The output Valid is FALSE in this case. The trajectory duration cannot by read while an MC_GroupSetOverride with VelFactor = 0 or PathVelFactor = 0 is active. The output Valid is FALSE in this case. When the axis group has reached standstill and will not immediately start moving again (e.g. because an SMC_GroupWait is active, or there is no followup movement), the output Valid is FALSE. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Input Enable BOOL The trajectory duration is read continuously while enabled. Output Valid BOOL TRUE if the RemainingDuration and MovementId are valid. Busy BOOL The FB has not finished. RemainingDuration LREAL The remaining duration until the next standstill in seconds. MovementId SMC_Movement_Id The ID of the last movement of the trajectory. Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification

SMC_GroupReadSetAcceleration (FB) ¶ FUNCTION_BLOCK SMC_GroupReadSetAcceleration This function block returns the current set-acceleration of an axis group in the selected coordinate system. If the information of the current cycle is required, it should be combined with SMC_GroupUpdate . This is an administrative FB, since no movement is generated. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Input Enable BOOL Get the acceleration in the selected coordinate system of the axis group continuously while enabled CoordSystem SMC_COORD_SYSTEM Applicable coordinate system Output Valid BOOL TRUE if valid outputs are available Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification Acceleration SMC_POS_REF Current acceleration of the group. If a cartesian coordinate system is selected, Acceleration.c contains the cartesian acceleration: (X,Y,Z) is the acceleration vector in u/s², (A,B,C) is the angular acceleration around the x, y, z axis in °/s² .

GeoPrimUnion (UNION) ¶ TYPE GeoPrimUnion : UNION All member of this union have to extend ElemPrimBase! InOut: Name Type base ElemPrimBase line GeoPrimLine linear GeoPrimLinear arc GeoPrimArc lineAS GeoPrimLineAS wait GeoPrimWait ab ElemFunAxisBlending cb ElemFunCartBlending

SMC_GroupReadSetJerk (FB) ¶ FUNCTION_BLOCK SMC_GroupReadSetJerk This function block returns the current set-jerk of an axis group in the selected coordinate system. If the information of the current cycle is required, it should be combined with SMC_GroupUpdate . This is an administrative FB, since no movement is generated. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Input Enable BOOL Get the jerk in the selected coordinate system of the axis group continuously while enabled CoordSystem SMC_COORD_SYSTEM Applicable coordinate system Output Valid BOOL TRUE if valid outputs are available Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification Jerk SMC_POS_REF Current jerk of the group. If a cartesian coordinate system is selected, Jerk.c contains the cartesian jerk: (X,Y,Z) is the jerk vector in u/s³, (A,B,C) is the angular jerk around the x, y, z axis in °/s³.

SMC_GroupReadSetPosition (FB) ¶ FUNCTION_BLOCK SMC_GroupReadSetPosition This function block returns the current set-position of an axis group in the selected coordinate system. Typically, this will be the set-position from the end of the previous cycle. In order to obtain the set-position from the end of the current cycle, SMC_GroupUpdate has to be called before this function block. This is an administrative FB, since no movement is generated. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Input Enable BOOL Get the position in the selected coordinate system of the axis group continuously while enabled CoordSystem SMC_COORD_SYSTEM Applicable coordinate system Output Valid BOOL TRUE if valid outputs are available Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification Position SMC_POS_REF Current position of the group KinematicConfig TRAFO.CONFIGDATA Kinematic configuration of current position. Only set if the coordinate system is cartesian (i.e. not set for ACS) Automatic periods are activated for any rotary axis with multiple periods. See SMC_KinConfigActivateAutomaticPeriods for more information. A kinematic configuration without automatic periods can be obtained by reading an ACS position and converting it to the MCS using SMC_GroupConvertPosition .