SMC_SetDynCoordTransformEx (FB) ¶ FUNCTION_BLOCK SMC_SetDynCoordTransformEx This FB sets a dynamic product coordinate system (PCS). A movement commanded in this dynamic PCS will automatically “track” this coordinate system. Simple examples are PCS that are fixed to a conveyor belt or a rotary table. This FB may be called with a new rising edge on Execute only after the configured dynamic coordinate system is no longer in use by any movement, otherwise error SMC_AXIS_GROUP_PCS_STILL_IN_USE will be returned. See output InUse . Note For special cases of a dynamic PCS, the function blocks, MC_SetDynCoordTransform , MC_TrackConveyorBelt and MC_TrackRotaryTable can be used. This FB does not start a movement (administrative FB). The movement is initiated by a command in the defined PCS. The PCS is defined in world coordinates, i.e. dynPCS returns the current pose of the PCS relative to the WCS. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axis Input Execute BOOL Sets the coordinate transformation on rising edge dynPCS SMRB.ICoordinateSystem The dynamic coordinate transformation. It returns the current pose of the PCS relative to the WCS. The FB that implements SMC_IDynamicCS shall not be changed as long as it is used by active or upcoming movements. (See output InUse .) CoordSystem SMC_COORD_SYSTEM Which PCS is to be set (PCS_1 or PCS_2) StrInstancePath STRING The instance path for error logging (if not set StrInstancePath adopts the instance path of this FB) Output Done BOOL The transformation has been set successfully Busy BOOL The FB is not finished InUse BOOL Signals that the axis group still needs the referenced dynamic coordinate system. A new rising edge of Execute will lead to the error SMC_AXIS_GROUP_PCS_STILL_IN_USE . For this information to be up-to-date, the function block has to be called continuously (even if already Done ). A dynamic coordinate system becomes InUse when a movement to a position in the coordinate system is commanded. It remains InUse until the target position of a movement to a different coordinate system has been reached. Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification

GeoPrimLineAS_CreateI (FUN) ¶ FUNCTION GeoPrimLineAS_CreateI : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext ef ElemFun traces ElemFunTraces Inout Const vS SM3M.SMC_Vec the start-position of the axes vD SM3M.SMC_Vec the end-position of the axes fToolOffset SM3M.SMC_Frame Tool Offset Input trf TRAFO.MC_KIN_REF_SM3 Return GeoPrimLineAS_CreateI BOOL Output fLength LREAL

SMC_GroupInterruptAt (FB) ¶ FUNCTION_BLOCK SMC_GroupInterruptAt This is a variant of MC_GroupInterrupt . While MC_GroupInterrupt interrupts the on-going motion immediately, this function block allows specifying the exact position on the path where the motion shall be interrupted. Note The position on the path has to be known, i.e. the movement that shall be interrupted has to already be commanded before this function block is executed. Otherwise, an error will be reported. This function block does not reverse on the path. If it is not possible to reach the specified position without a reversal, the on-going motion is interrupted at the nearest possible position. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axis continueData SMC_AXIS_GROUP_CONTINUE_DATA Written when getting Done Input Execute BOOL A rising edge starts the function block. Position SMC_GroupInterruptPosition The position where the ongoing motion shall be interrupted. Output Done BOOL Zero velocity reached Busy BOOL The FB is not finished Interrupting BOOL Signals that the FB is currently interrupting CommandAborted BOOL Command is aborted by another command Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification mvtIdInterruptPosition SMC_Movement_Id Movemnet Id corresponding to the interrupt position

TextListForCombobox_SMC_READ_TOOL_MODE (Text List) ¶

TextListForCombobox_SMC_TriggerPositionType (Text List) ¶

Linear ¶ GeoPrimLinear_Create (Function) GeoPrimLinear_Eval (Function) GeoPrimLinear_EvalDerivs (Function) GeoPrimLinear_GetEndPos (Function) GeoPrimLinear_GetStartPos (Function) GeoPrimLinear_Serialize (Function)

File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 26.07.2024, 12:05:05 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Robotics_Visu.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Robotics_Visu.clean.json version version 2.0.0.0 ProjectInformation IsEndUserLibrary bool False Released True LastModificationDateTime date 26.07.2024, 12:04:46 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 DefaultNamespace SM3_Robotics_Visu Description See: Description DocFormat reStructuredText Placeholder SM3_Robotics_Visu Project SM3_Robotics_Visu Title SM3_Robotics_Visu Version version 4.17.0.0

Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. CAA Behaviour Model ¶ Library Identification ¶ Placeholder: CAA Behaviour Model Default Resolution: CAA Behaviour Model, * (CAA Technical Workgroup) Namespace: CBM Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA Behaviour Model CAA FB Factory ¶ Library Identification ¶ Placeholder: CAA FB Factory Default Resolution: CAA FB Factory, * (CAA Technical Workgroup) Namespace: FBF Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA FB Factory CAA Types Extern ¶ Library Identification ¶ Placeholder: CAA Types Default Resolution: CAA Types Extern, * (CAA Technical Workgroup) Namespace: CAA Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA Types 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_Robotics ¶ Library Identification ¶ Placeholder: SM3_Robotics Default Resolution: SM3_Robotics, * (CODESYS) Namespace: SM3_Robotics Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Robotics VisuElem3DPath ¶ Library Identification ¶ Placeholder: System_VisuElem3DPath Default Resolution: VisuElem3DPath, 3.5.15.0 (System) Namespace: VisuElem3DPath Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElem3DPath Library Parameter ¶ Parameter: GC_POINTS_PER_POLYGON = 100 VisuElemCamDisplayer ¶ Library Identification ¶ Placeholder: System_VisuElemCamDisplayer Default Resolution: VisuElemCamDisplayer, 3.5.15.0 (System) Namespace: VisuElemCamDisplayer Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemCamDisplayer Library Parameter ¶ Parameter: GC_POINTS_PER_CAM = 100 VisuElemMeter ¶ Library Identification ¶ Placeholder: System_VisuElemMeter Default Resolution: VisuElemMeter, 3.5.15.0 (System) Namespace: VisuElemMeter Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemMeter VisuElemTextEditor ¶ Library Identification ¶ Placeholder: System_VisuElemTextEditor Default Resolution: VisuElemTextEditor, 3.5.15.0 (System) Namespace: VisuElemTextEditor Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemTextEditor VisuElemTrace ¶ Library Identification ¶ Placeholder: System_VisuElemTrace Default Resolution: VisuElemTrace, 3.5.15.0 (System) Namespace: VisuElemTrace Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemTrace VisuElemXYChart ¶ Library Identification ¶ Placeholder: System_VisuElemXYChart Default Resolution: VisuElemXYChart, 3.5.15.0 (System) Namespace: VisuElemXYChart Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemXYChart VisuElems ¶ Library Identification ¶ Placeholder: System_VisuElems Default Resolution: VisuElems, 3.5.15.0 (System) Namespace: VisuElems Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElems VisuElemsAlarm ¶ Library Identification ¶ Placeholder: System_VisuElemsAlarm Default Resolution: VisuElemsAlarm, 3.5.15.0 (System) Namespace: VisuElemsAlarm Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemsAlarm VisuElemsDateTime ¶ Library Identification ¶ Placeholder: System_VisuElemsDateTime Default Resolution: VisuElemsDateTime, 3.5.15.0 (System) Namespace: VisuElemsDateTime Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemsDateTime VisuElemsSpecialControls ¶ Library Identification ¶ Placeholder: System_VisuElemsSpecialControls Default Resolution: VisuElemsSpecialControls, 3.5.15.0 (System) Namespace: VisuElemsSpecialControls Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemsSpecialControls VisuElemsWinControls ¶ Library Identification ¶ Placeholder: System_VisuElemsWinControls Default Resolution: VisuElemsWinControls, 3.5.15.0 (System) Namespace: VisuElemsWinControls Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuElemsWinControls VisuInputs ¶ Library Identification ¶ Placeholder: system_visuinputs Default Resolution: VisuInputs, 3.5.15.0 (System) Namespace: visuinputs Library Properties ¶ LinkAllContent: False Optional: False PublishSymbolsInContainer: True QualifiedOnly: False SystemLibrary: True Key: system_visuinputs VisuNativeControl ¶ Library Identification ¶ Placeholder: System_VisuNativeControl Default Resolution: VisuNativeControl, 3.5.15.0 (System) Namespace: VisuNativeControl Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: True Key: System_VisuNativeControl

SM3_Shared Library Documentation ¶ Company : CODESYS Title : SM3_Shared Version : 4.17.0.0 Categories : Intern|SoftMotion Namespace : SM0 Author : CODESYS Development GmbH Placeholder : SM3_Shared Description [ 1 ] ¶ Shared functionality for SoftMotion and SoftMotionLight libraries. Contents: ¶ SM3_Shared ByteOrder Callee Cnst (GVL) Constants (GVL) Conversion Counter Dbg_Fun EdgeAbortLogic (FunctionBlock) EdgeLogic (FunctionBlock) File Filter IO Logging Logging (GVL) Mapping Math Queue Random Sort Stream String StringFormat Tasks Indices and tables ¶ [ 1 ] Based on SM3_Shared.library, last modified 26.07.2024, 11:48:57. LibDoc 4.5.0.0 The content file SM3_Shared.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 26.07.2024, 11:48:59.

GeoPrimLinear_Create (FUN) ¶ FUNCTION GeoPrimLinear_Create InOut: Scope Name Type Inout ef ElemFun Inout Const poseStart ElemFunPose poseDest ElemFunPose