OriPrimAxis (STRUCT) ¶ TYPE OriPrimAxis EXTENDS ElemPrimBase : STRUCT Data for linear orientation axis interpolation. 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 kinCoupled TRAFO.ISMCoupledKinematics The coupled kinematics kinPos TRAFO.ISMPositionKinematics_Offset The positioning kinematics kinOri TRAFO.ISMOrientationKinematics The orientation kinematics aInfosPos AxisInfos The axis information for the position axes aInfosOri AxisInfos The axis info for the orientation axes

Select (FB) ¶ FUNCTION_BLOCK Select Encapsulates SysSockSelect Methods: Check CheckError CheckReceive CheckSend Structure: Check (Method) CheckError (Method) CheckReceive (Method) CheckSend (Method)

Select.Check (METH) ¶ METHOD Check : ERROR InOut: Scope Name Type Comment Input iTimeOut INT Time out in micro seconds Inout strRecvSet SysSocket.SOCKET_FD_SET List of streams to be checked for receive. Only streams which are ready for reception will remain in this list. strSendSet SysSocket.SOCKET_FD_SET List of streams to be checked for send. Only streams which are ready for sending will remain in this list. strErrorSet SysSocket.SOCKET_FD_SET List of streams to be checked for errors. Only streams which are having an error will remain in this list. Return Check ERROR Output diReady DINT

Connector.Reset (METH) ¶ METHOD PUBLIC Reset

Connector.ResolveHostName (METH) ¶ METHOD ResolveHostName : ERROR Resolves the host name to an ip address. Attention! This function is blocking until the host name is resolved or an error occurred! InOut: Scope Name Type Input sHostName STRING Return ResolveHostName ERROR Output sIPAddress STRING

Listener (FB) ¶ FUNCTION_BLOCK Listener Listener fb opens a socket on a port and listens for new incomming streams. Represents a TCP Server. Order of calls: Start: Binds the listening socket and starts listening on it. Listen: This method may be called at any time after start. The new Streams are appended to the already listening streams. Accept: Returns a new connected TCP Stream. Stop: Stops listening on the port. Properties: IPAddress Port Socket Methods: Accept Listen Start Stop Structure: Accept (Method) IPAddress (Property) Listen (Method) Port (Property) Socket (Property) Start (Method) Stop (Method)

Listener.Accept (METH) ¶ METHOD Accept : ERROR Returns a new connected TCP Stream InOut: Scope Name Type Comment Input pStream POINTER TO Stream Stream to open Return Accept ERROR

OriDynState_UnapplyParamState (FUN) ¶ FUNCTION OriDynState_UnapplyParamState : BOOL Assuming ovSrc(x) = ovDst(sigma(x)), and given ps = (sigma(x), sigma’(x), sigma’’(x)), computes the first two derivatives of ovDst(sigma(x)) according to the chain rule. Note: if sigma’(x) = 0, then an error is returned. InOut: Scope Name Type Return OriDynState_UnapplyParamState BOOL Inout ovDst OriDynState Inout Const ovSrc OriDynState ps ParamState

Select.CheckError (METH) ¶ METHOD CheckError : ERROR InOut: Scope Name Type Comment Input iTimeOut INT Time out in micro seconds; -1 is for infinite time out. Inout socketFD_SET SysSocket.SOCKET_FD_SET List of streams to be checked for errors. Only streams which are having an error will remain in this list. Return CheckError ERROR Output diReady DINT

Select.CheckReceive (METH) ¶ METHOD CheckReceive : ERROR InOut: Scope Name Type Comment Input iTimeOut INT Time out in micro seconds; -1 is for infinite time out. Inout socketFD_SET SysSocket.SOCKET_FD_SET List of streams to be checked for receive. Only streams which are ready for reception will remain in this list. Return CheckReceive ERROR Output diReady DINT