Kinematics ¶ MC_SetKinTransform (FunctionBlock) SMC_KinConfigActivateAutomaticPeriods (FunctionBlock) SMC_SetKinConfiguration (FunctionBlock)

Trigger ¶ SMC_GroupPrepareTrigger (FunctionBlock) SMC_GroupReadTrigger (FunctionBlock) SMC_TRIGGER_ID (Alias) SMC_TRIGGER_INFO (Struct) SMC_TRIGGER_STATUS (Enum) SMC_TriggerPosition (Union) SMC_TriggerPositionType (Enum) SMC_TriggerPosition_Plane (Struct)

GeoPrimArc (STRUCT) ¶ TYPE GeoPrimArc EXTENDS ElemPrimBase : STRUCT InOut: Name Type Comment Inherited from pef0 POINTER TO ElemFun Pointer to a copy of the previous element. If set, can be evaluated at x = 0 to obtain the start position of this element. ElemPrimBase pef1 POINTER TO ElemFun Pointer to a copy of the subsequent element. If set, can be evaluated at x = pef1^.l to obtain the end position of this element. ElemPrimBase pTrace0 POINTER TO ElemFunTrace ElemPrimBase pTrace1 POINTER TO ElemFunTrace ElemPrimBase dR LREAL The radius vC SM3M.SMC_VECTOR3D The center in local coordinates dPhiStart LREAL The starting angle dApexByLength LREAL The (signed) apex divided by the arc length. This value does not change if the element is cut. This information is essential if the element is cut to length zero. dHelixDistByLength LREAL The (signed) helix distance divided by the arc length. This value does not change if the element is cut. This information is essential if the element is cut to length zero. K_local SM3M.SMC_Matrix3 The local coordinate system of the arc, expressed in MCS

AxisGroup ¶ AXIS_GROUP_REF_SM3 (FunctionBlock)

AXIS_GROUP_REF_SM3 (FB) ¶ FUNCTION_BLOCK AXIS_GROUP_REF_SM3 IMPLEMENTS SMC_IAxisGroup Represents an axis group. The axis group is the central handle referenced by all motion and administrative function blocks. An axis group consists of references to the grouped axes, several transformations (kinematics, product coordinate system, …) and several internal state variables.

Diagnostics ¶ MC_GroupReadActualAcceleration (FunctionBlock) MC_GroupReadActualPosition (FunctionBlock) MC_GroupReadActualVelocity (FunctionBlock) MC_GroupReadConfiguration (FunctionBlock) MC_GroupReadError (FunctionBlock) MC_GroupReadStatus (FunctionBlock) MC_ReadCoordinateTransform (FunctionBlock) MC_ReadKinTransform (FunctionBlock) SMC_GroupAddOffset (FunctionBlock) SMC_GroupConvertPosition (FunctionBlock) SMC_GroupGetContinuePosition (FunctionBlock) SMC_GroupGetContinueToolOffset (FunctionBlock) SMC_GroupReadPathAcceleration (FunctionBlock) SMC_GroupReadPathDynamics (FunctionBlock) SMC_GroupReadPathVelocity (FunctionBlock) SMC_GroupReadPlanningStatistics (FunctionBlock) SMC_GroupReadPositionInMovement (FunctionBlock) SMC_GroupReadRemainingTrajectoryDuration (FunctionBlock) SMC_GroupReadSetAcceleration (FunctionBlock) SMC_GroupReadSetJerk (FunctionBlock) SMC_GroupReadSetPosition (FunctionBlock) SMC_GroupReadSetVelocity (FunctionBlock) SMC_GroupTargetPosition (FunctionBlock) SMC_ReadKinTransformForAxis (FunctionBlock)

MC_GroupReadActualAcceleration (FB) ¶ FUNCTION_BLOCK MC_GroupReadActualAcceleration This function block returns the current acceleration of an axis group in the selected coordinate system. 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 of the axis group in the selected coordinate system 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.

GeoPrimLine (STRUCT) ¶ TYPE GeoPrimLine EXTENDS ElemPrimBase : STRUCT InOut: Name Type Comment Inherited from pef0 POINTER TO ElemFun Pointer to a copy of the previous element. If set, can be evaluated at x = 0 to obtain the start position of this element. ElemPrimBase pef1 POINTER TO ElemFun Pointer to a copy of the subsequent element. If set, can be evaluated at x = pef1^.l to obtain the end position of this element. ElemPrimBase pTrace0 POINTER TO ElemFunTrace ElemPrimBase pTrace1 POINTER TO ElemFunTrace ElemPrimBase vS SM3M.SMC_VECTOR3D The (initial) start vector. (The actual start position of the element may change after the element is cut. This vector will stay the same.) vN SM3M.SMC_VECTOR3D The unit vector in direction of the line

MC_GroupReadActualPosition (FB) ¶ FUNCTION_BLOCK MC_GroupReadActualPosition This function block returns the current position of an axis group in the selected coordinate system. 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 of the axis group in the selected coordinate system 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 in case 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 .

MC_GroupReadActualVelocity (FB) ¶ FUNCTION_BLOCK MC_GroupReadActualVelocity This function block returns the current velocity of an axis group in the selected coordinate system. 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 velocity of the axis group in the selected coordinate system 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 Velocity SMC_POS_REF Current velocity of the group. If a cartesian coordinate system is selected, Velocity.c contains the cartesian velocity: (X,Y,Z) is the velocity vector in u/s, (A,B,C) is the angular velocity around the x, y, z axis in °/s.