SysFileStreamFGetPos (FUN) ¶ FUNCTION SysFileStreamFGetPos : DINT InOut: Scope Name Type Comment Return SysFileStreamFGetPos DINT Input File RTS_IEC_HANDLE pFPos POINTER TO BYTE pointer !!
GetFlange (FUN) ¶ FUNCTION GetFlange : SM3_Error.SMC_ERROR For the given TCP frame and tool offset, this function returns the flange frame. If possible, the orientation of the flange frame is projected onto the space of attainable orientations. InOut: Scope Name Type Inout fFlange SM3M.SMC_Frame Inout Const fTcp SM3M.SMC_Frame fToolOffset SM3M.SMC_Frame cd TRAFO.CONFIGDATA Input Kin TRAFO.MC_KIN_REF_SM3 Return GetFlange SM3_Error.SMC_ERROR
IsToolCompatibleWithKin (FUN) ¶ FUNCTION IsToolCompatibleWithKin : BOOL If the orientation image of the kinematics returns dof=zero, then any tool offset is compatible. If it returns dof=one, then only tool position offsets parallel to the unit vector vU corresponding to the axis of rotation vRot are compatible. (This includes zero offsets.) If dof=three, then only position offsets of zero are compatible. InOut: Scope Name Type Comment Inout Const vTool SM3M.SMC_VECTOR3D Tool offset in flange coordinates Input kin TRAFO.MC_KIN_REF_SM3 Return IsToolCompatibleWithKin BOOL
IsToolCompatibleWithOriSpace (FUN) ¶ FUNCTION IsToolCompatibleWithOriSpace : BOOL If the orientation image of the kinematics returns dof=zero, then any tool offset is compatible. If it returns dof=one, then only tool position offsets parallel to the unit vector vU corresponding to the axis of rotation vRot are compatible. (This includes zero offsets.) If dof=three, then only position offsets of zero are compatible. InOut: Scope Name Type Comment Inout Const vTool SM3M.SMC_VECTOR3D Tool offset in flange coordinates oriSpace TRAFO.OrientationSpace The orientation space of the kinematics Return IsToolCompatibleWithOriSpace BOOL
ArePosesConstSameDynCSSameTool (FUN) ¶ FUNCTION ArePosesConstSameDynCSSameTool : BOOL Returns whether two poses are both constant, defined in the same dynamic CS or both in a static CS, and have the same tool offset. Note that for static CS, it is not checked whether the static coordinate systems of poseA and poseB are equal. InOut: Scope Name Type Inout Const poseA ElemFunPose poseB ElemFunPose Return ArePosesConstSameDynCSSameTool BOOL
AxesToCartesian_ToolOffset (FUN) ¶ FUNCTION AxesToCartesian_ToolOffset : BOOL given the axis coordinates and tool offset, this function returns the TCP frame InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Input kin TRAFO.MC_KIN_REF_SM3 Inout fTcp SM3M.SMC_Frame cd TRAFO.CONFIGDATA Inout Const a TRAFO.AXISPOS_REF fToolOffset SM3M.SMC_Frame Return AxesToCartesian_ToolOffset BOOL
SysFileAsyncFB.SysFileCloseAsync (METH) ¶ METHOD SysFileCloseAsync : RTS_IEC_HANDLE Method to close a file asynchronous. For details, see node Documentation InOut: Scope Name Type Comment Return SysFileCloseAsync RTS_IEC_HANDLE Input pSysFileClose POINTER TO tSysFileClose Parameter for this operation. See parameter structure for details. pudState POINTER TO UDINT [OUT] Pointer to actual state of the asynchronous job. See ASYNCSTATE_XXX in CmpAsyncMgr.library for details. pResult POINTER TO RTS_IEC_RESULT [OUT] Pointer to the runtime system error code (see CmpErrors2 Interface Library) Result of the asynchronous manager (if asynchronous job is accepted)
TG_DynState_FromDynVState_i (FUN) ¶ FUNCTION TG_DynState_FromDynVState_i InOut: Scope Name Type Inout ds SM3_Ramps.SMC_TG_DynState Inout Const uq SMRB.DynVState Input i DINT
ToolOffset ¶ ArePosesConstSameDynCSSameTool (Function) AxesToCartesian_ToolOffset (Function) GetFlange (Function) IsToolCompatibleWithKin (Function) IsToolCompatibleWithOriSpace (Function)
SOCKET_LINGER (STRUCT) ¶ TYPE SOCKET_LINGER : STRUCT InOut: Name Type l_onoff WORD l_linger WORD