Dyn_Epsilons (STRUCT) ¶ TYPE Dyn_Epsilons : STRUCT InOut: Name Type dEps_t LREAL dEps_s LREAL dEps_v LREAL dEps_a LREAL
SMC_Track1DReferenceSignal (FB) ¶ FUNCTION_BLOCK FINAL SMC_Track1DReferenceSignal A filter that respects the given bounds and tracks a reference signal. InOut: Scope Name Type Comment Inout wX SMC_TG_DynState The new state of the signal at time Ts (end of cycle) Inout Const wQ SMC_TG_DynState The current state of the tracker at time 0 (start of cycle) wR SMC_TG_DynState The reference signal to follow at time Ts in the future (end of cycle) lim_in SMRB.DynLimits The bounds to apply. May change for each call. Input Ts LREAL The cycle interval, the new signal state wX is evaluated Ts seconds into the future. fEPS_T LREAL fEPS_Q LREAL limitJerk BOOL Output error SMC_ERROR The error Id, SMC_NO_ERROR on success.
Helper ¶ SMC_InterpolateableProfile_To_Phases (Function) SMC_TG_JerkPhase (Function)
SMC_InterpolateableProfile_To_Phases (FUN) ¶ FUNCTION SMC_InterpolateableProfile_To_Phases : SMC_ERROR InOut: Scope Name Type Comment Return SMC_InterpolateableProfile_To_Phases SMC_ERROR Inout Const intprof SMC_TG_InterpolateableProfile boun SMC_Q_BOUNDARIES qramp1 SMC_TG_Ramp_Quadratic qramp2 SMC_TG_Ramp_Quadratic Inout lim SMC_Q_LIMITS Input pPhases POINTER TO SMC_DCA_PHASE nPhasesCapacity UDINT nDirection SINT fEPS_T LREAL bSmooth BOOL fEpsilon LREAL used inside SMC_Phase_Add for the comparison of velocities / accelerations, formerly g_fSMC_CNC_EPS Output nPhases UDINT
SMC_TG_JerkPhase (FUN) ¶ FUNCTION SMC_TG_JerkPhase InOut: Scope Name Type Input fV0 LREAL fA0 LREAL fJ LREAL fDuration LREAL Output fQ LREAL fV LREAL fA LREAL
Structures ¶ SMC_TG_ProfileList (Struct) SMC_TG_StdProfileStub (Struct) Solutions SMC_TG_Solution (Struct) SMC_TG_SolutionData (Union) SMC_TG_SolutionInterval (Struct) SMC_TG_SolutionSpecialProfile (Struct) SMC_TG_SolutionStandardProfile (Struct) SMC_TG_SolutionType (Enum) SMC_TG_Solution_ProfileStub (Function)
SMC_TG_ProfileList (STRUCT) ¶ TYPE SMC_TG_ProfileList : STRUCT InOut: Name Type siSize SINT sign INT asiIndex ARRAY [0..10] OF SINT siHighestReasonable SINT
SMC_TG_StdProfileStub (STRUCT) ¶ TYPE SMC_TG_StdProfileStub : STRUCT InOut: Name Type Comment fVTarget LREAL fVConstant LREAL may slightly differ from fVTarget, see SMC_TG_AxisCalculation.TryVelJump fDistanceConstantVelocity LREAL distance to be covered by constant velocity phase fDuration LREAL including constant velocity phase bDontLookUp BOOL very internal parameter
SM3_TrajectoryGeneration Library Documentation ¶ Company : CODESYS Title : SM3_TrajectoryGeneration Version : 4.17.0.0 Categories : Intern|SoftMotion Namespace : SM3_TrajectoryGeneration Author : CODESYS Development GmbH Placeholder : SM3_TrajectoryGeneration Description [ 1 ] ¶ Library containing all necessary equipment for generating trajectories with user-defined or standard ramp-types, used by SM3_Basic and SM3_Robotics. Supported compiler defines: SM3_TG_COUNT_ITERATIONS Count iterations in SMC_TG_AxisCalculation Contents: ¶ SM3_TrajectoryGeneration Common Filter Helper Structures Indices and tables ¶ [ 1 ] Based on SM3_TrajectoryGeneration.library, last modified 26.07.2024, 11:50:29. LibDoc 4.5.0.0 The content file SM3_TrajectoryGeneration.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 26.07.2024, 11:50:31.
SM3_TrajectoryGeneration ¶ Common GVL (GVL) SMC_TG_InterpolateableProfile (FunctionBlock) Duration (Method) Extrapolate (Method) Interpolate (Method) Profile_ATo0 (Method) Profile_VA_1 (Method) Reset (Method) Filter Dyn_Epsilons (Struct) SMC_Track1DReferenceSignal (FunctionBlock) Helper SMC_InterpolateableProfile_To_Phases (Function) SMC_TG_JerkPhase (Function) Structures SMC_TG_ProfileList (Struct) SMC_TG_StdProfileStub (Struct) Solutions SMC_TG_Solution (Struct) SMC_TG_SolutionData (Union) SMC_TG_SolutionInterval (Struct) SMC_TG_SolutionSpecialProfile (Struct) SMC_TG_SolutionStandardProfile (Struct) SMC_TG_SolutionType (Enum) SMC_TG_Solution_ProfileStub (Function)
