GeoPrimLineAS_CreateI_Ext (FUN) ¶ FUNCTION GeoPrimLineAS_CreateI_Ext : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext ef ElemFun traces ElemFunTraces Inout Const poseStart ElemFunPose cdStart TRAFO.CONFIGDATA poseDest ElemFunPose cdDest TRAFO.CONFIGDATA aRefStart TRAFO.AXISPOS_REF aRefDest TRAFO.AXISPOS_REF Input trf TRAFO.MC_KIN_REF_SM3 Return GeoPrimLineAS_CreateI_Ext BOOL Output fLength LREAL

SMC_GroupSetAxisLimitFactors (FB) ¶ FUNCTION_BLOCK SMC_GroupSetAxisLimitFactors This function block sets limit factors for the maximum velocity, acceleration, and jerk of each axis. The limits are effective only for movements commanded after this function block returns done. Calling this function block does not cause any movement and does not influence the ongoing motion of the axis group. The factors for all axes currently configured in the axis group need to be provided. Each individual factor needs to be positive and not greater than 1. Initially, all factors are 1. The factors are not reset when the axis group is disabled or enabled. If an axis is removed from the group, the limit factors for this axis are reset. If the axis is added again, later, then the limit factors are 1. The axis group must not be in state GroupDisabled or GroupErrorStop when this FB receives the rising edge on execute. The factors can be read with SMC_GroupReadAxisLimitFactors . The factors are used in combination with the ancillary limits, the global limits, the factors given at the movement function blocks, and the override as follows: G: the global axis limits stored in the axis configuration, M: the factors given at the movement function blocks (inputs VelFactor, AccFactor, …), F: the factors set with this function block, O: the current override factors, and A: the ancillary axis limits set with SMC_GroupSetAncillaryAxisLimits . The effective axis limits L are computed from these inputs as L = O * min(A, M * F * G). InOut: Scope Name Type Initial Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to an axis group Input Execute BOOL Sets the factors on rising edge. VelFactors ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL The velocity factors for all axes AccFactors ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL The acceleration factors for all axes JerkFactors ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL The jerk factors for all axes TorqueFactors ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL [SMC_RCNST.MAX_AXES(1)] The torque factors for all axes. A dynamic model must have been set using SMC_GroupSetDynamics for these factors to have an effect. Output Done BOOL The limits have been set successfully. Busy BOOL The FB is not finished. Error BOOL Signals that an error has occurred within the function block. ErrorID SMC_ERROR Error identification

SMC_GroupSetDynamics (FB) ¶ FUNCTION_BLOCK SMC_GroupSetDynamics This function block allows setting a dynamic model for an axis group. Setting a dynamic model allows the axis group to calculate and limit axis torques. Setting or changing the dynamic model is only allowed while the axis group is disabled. See SMC_ChangeDynamicLimits in SM3_Basic for setting axis torque limits. Note A load (see SMC_GroupSetLoad ) will be reset when executing this function block. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Input Execute BOOL The dynamic model is set on a rising edge Dynamics SMDYN.ISMDynamics The dynamic model. Setting it to 0 removes the current dynamic model and disables calculation and limitation of axis torques. GravitationalAcceleration SMC_VECTOR3D The gravitational acceleration, defined in the MCS in u/s^2. Output Done BOOL The dynamic model has been set successfully Busy BOOL The function block is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification

SMC_SetDynamicLimitFactors (FB) ¶ FUNCTION_BLOCK SMC_SetDynamicLimitFactors This function block is deprecated and will be removed in the future. Please use SMC_GroupSetAxisLimitFactors or SMC_GroupSetAncillaryAxisLimits instead. Allows to configure factors for the dynamic limits of all axes of an axis group. Initially (after MC_GroupEnable ), all factors are 1. This function block may not be called in state GroupDisabled or GroupErrorStop . Note The ancillary limits are set to the product of the dynamic factors given here and the global dynamic limits of the axis. See SMC_GroupSetAncillaryAxisLimits . InOut: Scope Name Type Initial Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axis Input Execute BOOL Sets the factors on rising edge VelFactors ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL The velocity factor of each axis. Must be in the range ]0, 1] for each axis used by the axis group. AccFactors ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL The acceleration factor of each axis. Must be in the range ]0, 1] for each axis used by the axis group. DecFactors ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL The deceleration factor of each axis. Must be in the range ]0, 1] for each axis used by the axis group. JerkFactors ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL The jerk factor of each axis. Must be in the range ]0, 1] for each axis used by the axis group. TorqueFactors ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL [SMC_RCNST.MAX_AXES(1)] The torque factor of each axis. Must be in the range ]0, 1] for each axis used by the axis group. A dynamic model must have been set using SMC_GroupSetDynamics for these factors to have an effect. Output Done BOOL The factors have been set successfully Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification

GeoPrimLineAS_Eval (FUN) ¶ FUNCTION GeoPrimLineAS_Eval : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun Inout f SM3M.SMC_Frame Input x LREAL t LREAL Return GeoPrimLineAS_Eval BOOL

MC_SetKinTransform (FB) ¶ FUNCTION_BLOCK MC_SetKinTransform This function block sets a kinematic transformation between the axis coordinate system (ACS) and the machine coordinate system (MCS). Note A tool offset (see SMC_GroupSetTool ) will be reset when executing this function block. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axis Input Execute BOOL Sets the kinematic transformation on rising edge KinTransform TRAFO.MC_KIN_REF_SM3 The kinematic transformation Output Done BOOL The transformation has been set successfully Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification

Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. 3SLicense ¶ Library Identification ¶ Placeholder: 3SLicense Default Resolution: 3SLicense, * (3S - Smart Software Solutions GmbH) Namespace: _3S_LICENSE Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: 3SLicense CmpApp ¶ Library Identification ¶ Placeholder: CmpApp Default Resolution: CmpApp, * (System) Namespace: CmpApp Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpApp CmpIecTask ¶ Library Identification ¶ Placeholder: CmpIecTask Default Resolution: CmpIecTask, * (System) Namespace: CmpIecTask Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpIecTask CmpLog ¶ Library Identification ¶ Placeholder: CmpLog Default Resolution: CmpLog, * (System) Namespace: CmpLog Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpLog FloatingPointUtils ¶ Library Identification ¶ Placeholder: FloatingPointUtils Default Resolution: FloatingPointUtils, * (System) Namespace: FPU Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: FloatingPointUtils SM3_AddRampsDefault ¶ Library Identification ¶ Placeholder: SoftMotion_AddRamps Default Resolution: SM3_AddRampsDefault, * (CODESYS) Namespace: SoftMotion_AddRamps Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SoftMotion_AddRamps SM3_Basic ¶ Library Identification ¶ Placeholder: SM3_Basic Default Resolution: SM3_Basic, * (CODESYS) Namespace: SM3_Basic Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Basic Library Parameter ¶ Parameter: GC_SMC_FILE_MAXCAMEL = 128 Parameter: GC_SMC_FILE_MAXCAMTAP = 128 Parameter: GC_SMC_SET_VALUE_BUFFER_SIZE_BASE2_EXP = 9 SM3_CPKernelDefaults ¶ Library Identification ¶ Placeholder: SM3_CPKernelDefaults Default Resolution: SM3_CPKernelDefaults, * (CODESYS) Namespace: Defaults Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_CPKernelDefaults Library Parameter ¶ Parameter: MAX_NUM_TRIGGERS_PER_MOVEMENT = 8 SM3_CommonPublic ¶ Library Identification ¶ Placeholder: SM3_CommonPublic Default Resolution: SM3_CommonPublic, * (CODESYS) Namespace: SM3_Common Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_CommonPublic SM3_Dynamics ¶ Library Identification ¶ Placeholder: SM3_Dynamics Default Resolution: SM3_Dynamics, * (CODESYS Development GmbH) Namespace: SMDYN Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Dynamics SM3_Error ¶ Library Identification ¶ Placeholder: SM3_Error Default Resolution: SM3_Error, * (CODESYS) Namespace: SM3_Error Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Error SM3_RBase ¶ Library Identification ¶ Placeholder: SM3_RBase Default Resolution: SM3_RBase, * (CODESYS) Namespace: SMRB Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_RBase SM3_RCP ¶ Library Identification ¶ Placeholder: SM3_RCP Default Resolution: SM3_RCP, * (CODESYS) Namespace: SMRCP Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_RCP SM3_RError ¶ Library Identification ¶ Placeholder: SM3_RError Default Resolution: SM3_RError, * (CODESYS) Namespace: SMRE Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_RError SM3_Ramps ¶ Library Identification ¶ Placeholder: SM3_Ramps Default Resolution: SM3_Ramps, * (CODESYS) Namespace: SM3_Ramps Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Ramps SM3_Shared ¶ Library Identification ¶ Placeholder: SM3_Shared Default Resolution: SM3_Shared, * (CODESYS) Namespace: SM0 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Shared SM3_TrajectoryGeneration ¶ Library Identification ¶ Placeholder: SM3_TrajectoryGeneration Default Resolution: SM3_TrajectoryGeneration, * (CODESYS) Namespace: SM3_TrajectoryGeneration Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_TrajectoryGeneration SM3_Transformation ¶ Library Identification ¶ Placeholder: SM3_Transformation Default Resolution: SM3_Transformation, * (CODESYS) Namespace: TRAFO Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Transformation Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard SysMem ¶ Library Identification ¶ Placeholder: SysMem Default Resolution: SysMem, * (System) Namespace: SysMem Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysMem SysTarget ¶ Library Identification ¶ Placeholder: SysTarget Default Resolution: SysTarget, * (System) Namespace: SysTarget Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTarget SysTime ¶ Library Identification ¶ Name: SysTime Version: 3.5.5.0 Company: System Namespace: SysTime Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SysTime, 3.5.5.0 (System) SysTypes2 Interfaces ¶ Library Identification ¶ Name: SysTypes2 Interfaces Version: newest Company: System Namespace: SysTypes Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTypes2 Interfaces, * (System)

MC_AddAxisToGroup (FB) ¶ FUNCTION_BLOCK MC_AddAxisToGroup This function block adds one axis to an axis group. If the state of the axis group is not GroupDisabled , an error is created and the axis is not added to the group. This is an administrative FB, since no movement is generated. The command cannot be buffered. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Axis AXIS_REF_SM3 Reference to the axis to be added Input Execute BOOL Start the grouping process at the rising edge Output Done BOOL The axis has been added Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification

GeoPrimLine_Eval (FUN) ¶ FUNCTION GeoPrimLine_Eval : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const line GeoPrimLine Inout vr SM3M.SMC_VECTOR3D Input x LREAL Return GeoPrimLine_Eval BOOL

MC_GroupDisable (FB) ¶ FUNCTION_BLOCK MC_GroupDisable This function block changes the state for a group from GroupStandby to GroupDisabled . This is an administrative FB, since no movement is generated. Note The command does not influence the power state of any of the single axes in the group If the group is not in state GroupStandby when the command is issued, the FB returns with an error and does not influence the group in any way. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Input Execute BOOL Start the change of state at the rising edge Output Done BOOL Group is in state GroupDisabled Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification