SMC_IDynamicCS (ITF) ¶ INTERFACE SMC_IDynamicCS EXTENDS SMRB.ICoordinateSystem See interface ICoordinateSystem in library SM3_RBase.
GeoPrimArc_EvalDerivs (FUN) ¶ FUNCTION GeoPrimArc_EvalDerivs : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const arc GeoPrimArc Inout ur SM3M.SMC_DynV3State Input x LREAL Return GeoPrimArc_EvalDerivs BOOL
SMC_ORIENTATION_MODE (ENUM) ¶ TYPE SMC_ORIENTATION_MODE : The orientation mode describes how the orientation is interpolated for CP movements. Attributes: qualified_only InOut: Name Comment GreatCircle The orientation is interpolated from the start orientation to the target orientation along the shortest path. Even if the start and the target orientation are in the working space, this interpolation mode may leave the working space. Axis The orientation axes are interpolated in axis space from their start values to their target values. This mode can be used to move through singularities of the orientation. Coupled kinematics and position kinematics support this mode.
SMC_POS_REF (UNION) ¶ TYPE SMC_POS_REF : UNION Represents a position of the TCP. A position can be either defined in cartesian coordinates (X,Y,Z,A,B,C) or in axis coordinates (A0, … A5). InOut: Name Type Comment a TRAFO.AXISPOS_REF Axis coordinates c MC_COORD_REF Cartesian position v ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL Array of values, interpretation depends on coordinate system used
SMC_PTP_MOVEMENT_TYPE (ENUM) ¶ TYPE SMC_PTP_MOVEMENT_TYPE : Attributes: qualified_only InOut: Name Initial Comment Fast 0 Time optimal PTP movement Path_Invariant For this type of PTP Movement the path in space is independent of the override and, except for blending with TransitionMode TMStartVelocity , of all dynamic limits of the axes (ancillary and global limits for speed, acceleration, deceleration and jerk). with TransitionMode TMCornerDistance independent of the type of blending (BlendingHigh / Low / Previous / Next). not left at Halt or Stop ( MC_GroupHalt / MC_GroupStop ). not left when interrupting and continuing ( MC_GroupInterrupt / MC_GroupContinue ).
SMC_READ_TOOL_MODE (ENUM) ¶ TYPE SMC_READ_TOOL_MODE : Attributes: qualified_only InOut: Name Initial Comment last_set 0 Read the tool offset last set using SMC_GroupSetTool active_movement Read the tool offset of the active movement. last_movement Read the tool offset of the last commanded movement.
GeoPrimArc_IntersectWithPlane (FUN) ¶ FUNCTION GeoPrimArc_IntersectWithPlane Returns the intersection in the element parameter. InOut: Scope Name Type Comment Inout Const arc GeoPrimArc vN SM3M.SMC_VECTOR3D The normal vector of the plane Input d LREAL The distance of the plane eMode EIntersectMode xElem0 LREAL xElem1 LREAL Output ElemFun_IntersectWithPlane LREAL bError BOOL bNoIntersectionFound BOOL
Additional ¶ SMC_StartupAxisGroup (FunctionBlock)
SMC_StartupAxisGroup (FB) ¶ FUNCTION_BLOCK SMC_StartupAxisGroup This function block comprises a set of often used function blocks and is used for testing and commissioning an axis group. Please note, that there is a compatible visualization template. InOut: Scope Name Type Inout AxisGroup AXIS_GROUP_REF_SM3
Administrative/Configuration ¶ AxisGroup MC_AddAxisToGroup (FunctionBlock) MC_GroupDisable (FunctionBlock) MC_GroupEnable (FunctionBlock) MC_GroupReset (FunctionBlock) MC_GroupSetPosition (FunctionBlock) MC_RemoveAxisFromGroup (FunctionBlock) MC_UngroupAllAxes (FunctionBlock) SMC_DynLoad (Struct) SMC_GroupPower (FunctionBlock) SMC_GroupReadTool (FunctionBlock) SMC_GroupSaveContinueData (FunctionBlock) SMC_GroupSetLoad (FunctionBlock) SMC_GroupSetPathTolerance (FunctionBlock) SMC_GroupSetTool (FunctionBlock) SMC_GroupSetUnits (FunctionBlock) SMC_GroupUnits (Struct) Computation SMC_GroupUpdate (FunctionBlock) SMC_SetMovementQueueBuffer (FunctionBlock) SMC_TuneCPKernel (FunctionBlock) Coordinate systems MC_SetCoordinateTransform (FunctionBlock) MC_SetDynCoordTransform (FunctionBlock) MC_TrackConveyorBelt (FunctionBlock) MC_TrackRotaryTable (FunctionBlock) SMC_SetDynCoordTransformEx (FunctionBlock) Dynamics MC_GroupSetOverride (FunctionBlock) SMC_GroupReadAxisLimitFactors (FunctionBlock) SMC_GroupSetAncillaryAxisLimits (FunctionBlock) SMC_GroupSetAncillaryPathLimits (FunctionBlock) SMC_GroupSetAxisLimitFactors (FunctionBlock) SMC_GroupSetDynamics (FunctionBlock) SMC_SetDynamicLimitFactors (FunctionBlock) 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)
