Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. 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 CmpLog ¶ Library Identification ¶ Placeholder: CmpLog Default Resolution: CmpLog, * (System) Namespace: CmpLog Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpLog IODrvEtherCAT ¶ Library Identification ¶ Placeholder: IODrvEtherCAT Default Resolution: IODrvEtherCAT, * (3S - Smart Software Solutions GmbH) Namespace: IoDrvEtherCAT Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IODrvEtherCAT Library Parameter ¶ Parameter: ETC_FOE_TIMEOUT = 10000 Parameter: ETC_MAX_SLAVES = 1024 Parameter: MAX_ASYNC_MSG = 4 Parameter: MAX_MAILBOX_CHANNELS = 100 Parameter: MAX_SDO_CHANNELS = 100 Parameter: MAX_STATUS_CYCLE_DELAY = 3 IoStandard ¶ Library Identification ¶ Placeholder: IoStandard Default Resolution: IoStandard, * (System) Namespace: IoStandard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoStandard 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_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 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
SM3_Dynamics Library Documentation ¶ Company : CODESYS Title : SM3_Dynamics Version : 4.16.0.0 Categories : Intern|SoftMotion Namespace : SMDYN Author : CODESYS Development GmbH Placeholder : SM3_Dynamics Description [ 1 ] ¶ CODESYS SoftMotion Dynamics Contents: ¶ Library Information GetLibVersion (Function) GetLibVersionNumber (Function) IsLibReleased (Function) SM3_Dynamics ISMDynamics Indices and tables ¶ [ 1 ] Based on SM3_Dynamics.library, last modified 13.12.2023, 08:53:05. LibDoc 4.4.0.0-b.37 The content file SM3_Dynamics.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 13.12.2023, 08:53:07.
Library Information ¶ GetLibVersion (Function) GetLibVersionNumber (Function) IsLibReleased (Function)
GetLibVersion (FUN) ¶ FUNCTION GetLibVersion : VERSION This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersion VERSION
GetLibVersionNumber (FUN) ¶ FUNCTION GetLibVersionNumber : DWORD This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersionNumber DWORD
IsLibReleased (FUN) ¶ FUNCTION IsLibReleased : BOOL This function has been automatically generated from the project information. InOut: Scope Name Type Return IsLibReleased BOOL
SM3_Dynamics ¶ ISMDynamics DynLoad (Struct) DynSpatialInertia (Struct) DynUnits (Struct) DynamicsParams (Struct) ISMDynamics (Interface) AxesStateToTorque (Method)
ISMDynamics ¶ DynLoad (Struct) DynSpatialInertia (Struct) DynUnits (Struct) DynamicsParams (Struct) ISMDynamics (Interface) AxesStateToTorque (Method)
DynLoad (STRUCT) ¶ TYPE DynLoad : STRUCT A load that is attached to the end effector. InOut: Name Type Initial Comment Inertia DynSpatialInertia The inertia of the load defined in the center of mass frame. CenterOfMassFrame SM3M.SMC_Frame SM3M.SMC_FRAME_IDENTITY The center of mass frame of the load relative to the machines flange. [vT.dX] = [vT.dY] = [vT.dZ] = u
DynSpatialInertia (STRUCT) ¶ TYPE DynSpatialInertia : STRUCT The spatial inertia of a body, relative to a frame at the center of mass. Being situated at the center of mass means that the spatial inertia can be represented by a 3x3 rotational inertia matrix I and the mass of the body m . InOut: Name Type Comment I SM3M.SMC_Matrix3 The 3x3 rotational inertia matrix in kg*u². m LREAL The mass in kg.