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)
CacheSlots_Serialize (FUN) ¶ FUNCTION CacheSlots_Serialize : BOOL InOut: Scope Name Type Return CacheSlots_Serialize BOOL Input stream SM0.IOutStream k0 UDINT x0_rel LREAL Inout Const cache Trj_EvalCache Output nCacheSlots UDINT
GetMappingParams (FUN) ¶ FUNCTION GetMappingParams : BOOL Reads the parameters for cyclic outputs (starting at parameter 8000) and cyclic inputs (starting at parameter 8500) and fills ameOutputs and ameInputs. InOut: Scope Name Type Return GetMappingParams BOOL Input pConnector POINTER TO IoConfigConnector Inout ameOutputs ARRAY [0..(gc_uiNumberOfMappings - 1)] OF MappingEntry ameInputs ARRAY [0..(gc_uiNumberOfMappings - 1)] OF MappingEntry Output uiDriveInterfaceError UINT strDriveInterfaceError STRING
IsParameterMapped (FUN) ¶ FUNCTION IsParameterMapped : BOOL Returns whether a given SML parameter is mapped in ameMappings InOut: Scope Name Type Comment Input iParameterNumber INT The SML parameter Inout ameMappings ARRAY [0..(gc_uiNumberOfMappings - 1)] OF MappingEntry The mapping table Return IsParameterMapped BOOL
MappingEntry (STRUCT) ¶ TYPE MappingEntry : STRUCT Describes a parameter that is mapped cyclically InOut: Name Type Comment dwAddress POINTER TO BYTE The address in the process I/O memory where the parameter is stored dwBitmask DWORD A bit mask to the portion of a DWORD where the value resided iSMParamID INT The SML parameter number that is mapped usiBitOffset USINT The bit offset in the DWORD usiBitLength USINT The length of the value in bits
Math ¶ Add64_64 (Function) Div64_32 (Function) LEQ64_64 (Function) Mul64_32 (Function) SHL64 (Function) SHR64 (Function) Sub64_64 (Function) UI64 (Struct)
Add64_64 (FUN) ¶ FUNCTION Add64_64 : UI64 Adds two unsigned 64-bit numbers, given as pairs of 32 bit numbers. The result is an unsigned 64-bit number, given as a pair of 32 bit numbers. The addition is performed modulo 2^64, i.e. it “wraps” around. Note: this function can always be used, no matter whether the target system supports 64 bit types. InOut: Scope Name Type Input s1 UI64 s2 UI64 Return Add64_64 UI64
PT1_Extrapolate.InSteadyState (METH) ¶ METHOD FINAL InSteadyState : BOOL InOut: Scope Name Type Return InSteadyState BOOL