Stream.CheckConnectivity (METH) ¶ METHOD CheckConnectivity : BOOL Return TRUE if connection is established, FALSE if an error occurred. InOut: Scope Name Type Return CheckConnectivity BOOL
Stream.CheckReceive (METH) ¶ METHOD CheckReceive : BOOL TRUE: Stream is ready to receive data. InOut: Scope Name Type Return CheckReceive BOOL
OriPrimAxis_AxisPos (FUN) ¶ FUNCTION OriPrimAxis_AxisPos : BOOL Computes the axis positions based on the TCP position, the axis positions of the tool axes, and the offset configuration. InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const aOri TRAFO.AXISPOS_REF The axis positions of the tool kinematics vTCP SM3M.SMC_VECTOR3D The position of the TCP (expressed in the MCS) aRef TRAFO.AXISPOS_REF The reference position of all axes cdOffset TRAFO.CONFIGDATA The offset configuration fToolOffset SM3M.SMC_Frame Tool offset aInfosPos AxisInfos The axis infos of the position axes aPeriodsPos AxisPeriods The periods of the position kinematics Inout mOri SM3M.SMC_Matrix3 The orientation at position vTCP, expressed in the MCS a TRAFO.AXISPOS_REF The position of all axes at position vTCP Input kinCoupled TRAFO.ISMCoupledKinematics The coupled kinematics kinPos TRAFO.ISMPositionKinematics_Offset The position kinematics kinTool TRAFO.ISMOrientationKinematics The Orientation kinematics bComputeACSOnly BOOL Whether to compute only the axis positions or also the orientation matrix bApplyARef BOOL Return OriPrimAxis_AxisPos BOOL
Stream.CheckSend (METH) ¶ METHOD CheckSend : BOOL TRUE: Stream is ready to send data. InOut: Scope Name Type Return CheckSend BOOL
Stream.Close (METH) ¶ METHOD Close : ERROR Closes the stream. InOut: Scope Name Type Return Close ERROR
Stream.Create (METH) ¶ METHOD Create : ERROR Creates a new Stream. InOut: Scope Name Type Return Create ERROR Input hSocket SysTypes.RTS_IEC_HANDLE
Stream.FdIsSet (METH) ¶ METHOD FdIsSet : BOOL Returns TRUE if the stream’s socket is part of the file descriptor set InOut: Scope Name Type Return FdIsSet BOOL Input socketFD_SET SysSocket.SOCKET_FD_SET
Stream.FdSet (METH) ¶ METHOD FdSet Adds the stream’s socket to the file descriptor set InOut: Scope Name Type Inout socketFD_SET SysSocket.SOCKET_FD_SET
Stream.GetOption (METH) ¶ METHOD GetOption : ERROR Get a certain option from the socket InOut: Scope Name Type Comment Input diOption DINT requested option Return GetOption ERROR Output diValue DINT Value of the requested option
Stream.IoControl (METH) ¶ METHOD IoControl : ERROR Call an IoCtl on the stream InOut: Scope Name Type Comment Input diCommand DINT IoCtl command to be executed Inout diParameter DINT Parameter of the command Return IoControl ERROR
