GeoPrimArc_CreateI_NormalR (FUN) ¶ FUNCTION GeoPrimArc_CreateI_NormalR : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext arc GeoPrimArc Inout Const vStart SM3M.SMC_VECTOR3D The start point in world coordinates vDest SM3M.SMC_VECTOR3D The dest point in world coordinates vNormalR SM3M.SMC_VECTOR3D The normal vector with length radius Input bCCW BOOL Return GeoPrimArc_CreateI_NormalR BOOL Output length LREAL
Basic types ¶ IDENT_IN_GROUP_REF_SM3 (Alias) MC_CIRC_PATHCHOICE (Enum) MC_COORD_REF (Struct) MC_EXECUTION_MODE (Enum) MC_SOURCE (Enum) MC_TRANSITION_MODE (Enum) SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS (Struct) SMC_AXIS_GROUP_CONTINUE_DATA (FunctionBlock) SMC_AXIS_GROUP_STATE (Enum) SMC_CIRC_MODE (Enum) SMC_COORD_SYSTEM (Alias) SMC_DYN_LIMITS (Alias) SMC_IDynamicCS (Interface) SMC_ORIENTATION_MODE (Enum) SMC_POS_REF (Union) SMC_PTP_MOVEMENT_TYPE (Enum) SMC_READ_TOOL_MODE (Enum)
IDENT_IN_GROUP_REF_SM3 (ALIAS) ¶ TYPE IDENT_IN_GROUP_REF_SM3 : UDINT 0-based identifier of the axes of an axis group
MC_CIRC_PATHCHOICE (ENUM) ¶ TYPE MC_CIRC_PATHCHOICE : Determines the direction of arc segments. See MC_MoveCircularAbsolute and MC_MoveCircularRelative . Attributes: qualified_only InOut: Name CLOCKWISE COUNTER_CLOCKWISE
GeoPrimArc_Create_Normal (FUN) ¶ FUNCTION GeoPrimArc_Create_Normal : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext ef ElemFun Inout Const vC SM3M.SMC_VECTOR3D The center in world coordinates vN SM3M.SMC_VECTOR3D The normal vector of the arc’s plane (must be a unit) Input dR LREAL dPhiStart_deg LREAL dApex_deg LREAL dHelixDist LREAL The (signed) distance travelled along the arc normal Return GeoPrimArc_Create_Normal BOOL
MC_COORD_REF (STRUCT) ¶ TYPE MC_COORD_REF : STRUCT Stores the position and orientation of the TCP. The orientation is stored with three angles A, B, C according to the ZY’Z’ euler angles convention. The new coordinate system is defined relative to the reference coordinate system Initially is identical with the reference coordinate system. First, it is turned by A degrees around the z axis of the reference system. Second, it is turned about B degrees around the resulting y’ axis. Third, it is turned about C degrees around the resulting z’’ axis. The corresponding rotation matrix is given by R = Rz(A) * Ry(B) * Rz(C). In this matrix, the columns correspond to the axes of the new coordinate system, expressed in coordinates of the reference coordinate system. Note If A, B, C are computed by the system, the angle B is normalized to the range 0° .. 180°. If B is 0° or 180°, C is set to 0°. InOut: Name Type Comment X LREAL X-coordinate of position Y LREAL Y-coordinate of position Z LREAL Z-coordinate of position A LREAL Angle of rotation around z-axis [deg] B LREAL Angle of rotation around y’-axis [deg] C LREAL Angle of rotation around z’’-axis [deg]
MC_EXECUTION_MODE (ENUM) ¶ TYPE MC_EXECUTION_MODE : MC_EXECUTION_MODE provides information on the behavior of administrative function blocks. Attributes: qualified_only InOut: Name Comment Immediately The functionality is immediately valid and may influence the on-going motion. Queued The new functionality becomes valid when all previous motion commands set one of the following output parameters: Done, Aborted or Error. This also implies that the output parameter Busy is set to FALSE. NextCommanded The new functionality becomes valid when the next commanded motion command becomes active.
MC_SOURCE (ENUM) ¶ TYPE MC_SOURCE : Determines the source for position, velocity, acceleration, and jerk of axes or axis groups. Attributes: qualified_only InOut: Name Comment SAVE The save values, i.e. the set values of the previous bus cycle, are used as the source. SET The set values of the current bus cycle are used as the source. The set values are the commanded values computed in the current cycle. ACT The actual values of the axes received in this bus cycle are used as the source.
SMC_COORD_SYSTEM (ALIAS) ¶ TYPE SMC_COORD_SYSTEM : SMRCP.CoordSysType
SMC_DYN_LIMITS (ALIAS) ¶ TYPE SMC_DYN_LIMITS : SMRB.DynLimits Holds limits for the magnitude of the velocity ( fVelMax ), acceleration ( fAccMax ), deceleration ( fDecMax ), jerk ( fJerkMax ) and torque ( fTorqueMax ).
