Queue (FB) ¶ FUNCTION_BLOCK FINAL Queue A simple first in first out queue that holds elements of arbitrary size. (Each element may have a different size.) Note: the queue is task safe in the following sense: the task that enqueues elements may differ from the task that dequeues elements. However, if multiple tasks enqueue items, or if multiple tasks dequeue items, these operations must be serialized by external means. The queue operates on a data array supplied externally. The pointer to the data array is not stored but must be passed to some operations, because the address of the array may change between cycles due to an online change. Methods: Clear Dequeue Enqueue Initialize IsEmpty Structure: Clear (Method) Dequeue (Method) Enqueue (Method) Initialize (Method) IsEmpty (Method)

PathJoin (FUN) ¶ FUNCTION PathJoin : STRING(255) InOut: Scope Name Type Input strPath1 STRING(255) strPath2 STRING(255) Return PathJoin STRING(255)

Filter ¶ PT1 (FunctionBlock) Init (Method) Next (Method) Shift (Method) PT1_Extrapolate (FunctionBlock) InSteadyState (Method) Init (Method) Next (Method) Shift (Method)

PT1 (FB) ¶ FUNCTION_BLOCK FINAL PT1 PT1 filter with unit gain. InOut: Scope Name Type Comment Input T LREAL The time constant in seconds, must be non-negative. For T=0, the filter just passes the input signal x unmodified Ts LREAL The sampling interval in seconds, must be positive. Methods: Init Next Shift Structure: Init (Method) Next (Method) Shift (Method)

CP_HaltStop_State_IsActive (FUN) ¶ FUNCTION CP_HaltStop_State_IsActive : BOOL InOut: Scope Name Type Inout Const state CP_HaltStop_State Return CP_HaltStop_State_IsActive BOOL

PT1.Init (METH) ¶ METHOD FINAL Init

PT1.Next (METH) ¶ METHOD FINAL Next : LREAL InOut: Scope Name Type Return Next LREAL Input x LREAL

PT1.Shift (METH) ¶ METHOD FINAL Shift Adapts the filter state to a shift of the input signal by x_delta. The effect is that the filter output signal also shifts by x_delta. InOut: Scope Name Type Input x_delta LREAL

ICP_HaltStop (ITF) ¶ INTERFACE ICP_HaltStop Interface for the halt/stop functionality of the FineInterpolator . Properties: Active Done Idle Methods: Reset Start Structure: Active (Property) Done (Property) Idle (Property) Reset (Method) Start (Method)

PT1_Extrapolate (FB) ¶ FUNCTION_BLOCK FINAL PT1_Extrapolate PT1 filter with unit gain and extrapolation. InOut: Scope Name Type Comment Input T LREAL The time constant in seconds, must be non-negative. For T=0, the filter just passes the input signal x unmodified T_ex LREAL The time constant for the estimation of the velocity used for extrapolation in seconds. If the velocity signal is the numerical derivative of the position signal x, then a value of about T*T / Ts is a good default. Ts LREAL The sampling interval in seconds, must be positive. Methods: InSteadyState Init Next Shift Structure: InSteadyState (Method) Init (Method) Next (Method) Shift (Method)