SMC3_ETC_Parker_SBC_ConfigurationPhase.prv_CyclicAction (METH) ¶ METHOD prv_CyclicAction : BOOL InOut: Scope Name Type Return prv_CyclicAction BOOL
SMC_Trafo_ArticulatedRobot_6DOF (FB) ¶ FUNCTION_BLOCK SMC_Trafo_ArticulatedRobot_6DOF SMC_Trafo_ArticulatedRobot_6DOF implements the mathematic inverse transformation of an articulated robot with six rotary axes used for calculation of the tool center point coordinates from the axes position, the tool orientation and the states of joint. Robots with the following denavit-hartenberg configuration are supported: (the values of d_i and a_i are supplied in the configuration) x joint offset link offset d_i link length a_i link twist 1 0° d1 a1 -90° 2 90° 0 a2 0° 3 0° d3 a3 90° 4 0° d4 0 90° 5 0° 0 0 -90° 6 0° d6 0 0° Assumptions: All lengths in config are positive (greater than g_fSMC_CNC_EPS ) The valid range for axis 0, 1, 3, and 4 is contained in ]-180°, 180°[ The valid range for axis 2 ( dQ2 ) is contained in ]-90°, 180°[ The valid range for axis 5 ( dQ5 ) is not constrained and may be greater than 360° InOut: Scope Name Type Comment Inout config SMC_TrafoConfig_ArticulatedRobot_6DOF The configuration settings of the robot SMC_TrafoConfig_ArticulatedRobot_6DOF pi SMC_PosInfo Position and orientation in world cooridinates: dX , dY , dZ , dA (yaw), dB (pitch), dC (roll) SMC_POSINFO Input dQ0_old LREAL The old value of axis 0 in degrees dQ1_old LREAL The old value of axis 1 in degrees dQ2_old LREAL The old value of axis 2 in degrees dQ3_old LREAL The old value of axis 3 in degrees dQ4_old LREAL The old value of axis 4 in degrees dQ5_old LREAL The old value of axis 5 in degrees armState SMC_ArticulatedRobot_6DOF_J0_State State of joint 0, (forward, straight, backwards) elbowState SMC_ArticulatedRobot_6DOF_J1_State State of joint 1, (up, straight, down) handState SMC_ArticulatedRobot_6DOF_J4_State State of joint 4, (up, straight, down) Output dQ0 LREAL The value of axis 0 in degrees dQ1 LREAL The value of axis 1 in degrees dQ2 LREAL The value of axis 2 in degrees dQ3 LREAL The value of axis 3 in degrees dQ4 LREAL The value of axis 4 in degrees dQ5 LREAL The value of axis 5 in degrees bError BOOL If TRUE , an error has occured during computation result SMC_TrafoResult_ArticulatedRobot_6DOF Result of the computation in detail
SMC3_ETC_Parker_SBC_ConfigurationPhase.prv_Start (METH) ¶ METHOD prv_Start : BOOL InOut: Scope Name Type Return prv_Start BOOL
File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 10.03.2023, 13:37:31 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Drive_ETC_Parker_SBC.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Drive_ETC_Parker_SBC.clean.json version version 2.0.0.0 ProjectInformation Released bool True ShowSmartCodingInfo True LastModificationDateTime date 10.03.2023, 13:37:30 LibraryCategories library-category-list Intern|SoftMotion Company string 3S - Smart Software Solutions GmbH CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 Description See: Description Placeholder SM3_Drive_ETC_Parker_SBC Project SM3_Drive_ETC_Parker_SBC Title SM3_Drive_ETC_Parker_SBC Version version 4.14.0.0
SMC_TrafoF_ArticulatedRobot_6DOF (FB) ¶ FUNCTION_BLOCK SMC_TrafoF_ArticulatedRobot_6DOF SMC_TrafoF_ArticulatedRobot_6DOF implements the mathematic forward transformation of an articulated robot with six rotary axes used for determinating position and orientation of the end effector with the axis angles. Note All drives are assumed to be scaeld so that one technical unit [u] corresponds to one degree. InOut: Scope Name Type Comment Inout config SMC_TrafoConfig_ArticulatedRobot_6DOF The configuration settings of the robot, SMC_TrafoConfig_ArticulatedRobot_6DOF Drive0 AXIS_REF_SM3 The drive of axis 0, AXIS_REF_SM3 Drive1 AXIS_REF_SM3 The drive of axis 1 Drive2 AXIS_REF_SM3 The drive of axis 2 Drive3 AXIS_REF_SM3 The drive of axis 3 Drive4 AXIS_REF_SM3 The drive of axis 4 Drive5 AXIS_REF_SM3 The drive of axis 5 Output vToolPos SMC_Vector3D Current position of the tool center point in world coordinates mToolOrientation SMC_Matrix3 Tool orientation as a rotation matrix armState SMC_ArticulatedRobot_6DOF_J0_State State of joint 0 elbowState SMC_ArticulatedRobot_6DOF_J1_State State of joint 1 handState SMC_ArticulatedRobot_6DOF_J4_State State of joint 4
Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. CmpErrors2 Interfaces ¶ Library Identification ¶ Name: CmpErrors2 Interfaces Version: newest Company: System Namespace: CmpErrors Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpErrors2 Interfaces, * (System) 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, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Basic Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Basic SM3_Drive_CAN_DS402_CyclicSync ¶ Library Identification ¶ Placeholder: SM3_Drive_ETC_DS402_CyclicSync Default Resolution: SM3_Drive_CAN_DS402_CyclicSync, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_ETC_DS402_CyclicSync Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_ETC_DS402_CyclicSync SM3_Drive_CiA_DSP402 ¶ Library Identification ¶ Placeholder: SM3_Drive_CiA_DSP402 Default Resolution: SM3_Drive_CiA_DSP402, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_CiA_DSP402 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_CiA_DSP402 SM3_Drive_ETC ¶ Library Identification ¶ Placeholder: SM3_Drive_ETC Default Resolution: SM3_Drive_ETC, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_ETC Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_ETC Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard SysTypes2 Interfaces ¶ Library Identification ¶ Name: SysTypes2 Interfaces Version: newest Company: System Namespace: SysTypes Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTypes2 Interfaces, * (System)
SMC_CalcDirectionFromVector (FB) ¶ FUNCTION_BLOCK SMC_CalcDirectionFromVector By use of this function the orientation ( dAlpha ) of the tool can be calculated. Note For detailed information on transformation function blocks see the overview on kinematic transformations in the CNC online help. InOut: Scope Name Type Initial Comment Input v SMC_VECTOR3D Tangent vector v . In general, v will be identical to the output vecActTangent of the interpolator. eDir SMC_VECTORDIR SMC_tangential Input eDir specifies, whether the direction has to be calculated parallel to a path tangent ( SMC_tangential ), or oppositely ( SMC_opp_tangential ) or orthogonally to the path ( SMC_orthogonal_r (right to the path tangent) resp. SMC_orthogonal_l (left to the path tangent)). Output dDir LREAL The angle dDir is measured in degrees. It will remain constant during standstill of the interpolator, i.e. when v is the zero vector. eDir is mostly either used as set value at SMC_ControlAxisByPos for a directional axis or as input dAlpha for the transformation.
SMC_TRAFOF_5Axes (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_5Axes The forward transformation function block computes the tool center point coordinates from the axis positions. Note For detailed information on transformations see Overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Inout DriveX AXIS_REF_SM3 Axis X DriveY AXIS_REF_SM3 Axis Y DriveZ AXIS_REF_SM3 Axis Z DriveIncl AXIS_REF_SM3 Orientation inclination DriveAzi AXIS_REF_SM3 Orientation azimuth Input dOffsetX LREAL Offset value X dOffsetY LREAL Offset value Y dOffsetZ LREAL Offset value Z dOffsetIncl LREAL Offset value inclination dOffsetAzi LREAL Offset value azimuth dTool LREAL Length of the tool minX LREAL Minimal display area of axis X for visualization maxX LREAL Maximal display area of axis X for visualization minY LREAL Minimal display area of axis Y or visualization maxY LREAL Maximal display area of axis Y for visualization minZ LREAL Minimal display areas of axis Z for visualization maxZ LREAL Maximal display area of axis Z for visualization Output dx LREAL Position of the tool correction point (TCP) in X dy LREAL Position of the tool correction point (TCP) in Y dz LREAL Position of the tool correction point (TCP) in Z dAzimuth LREAL Orientation or the tool in spherical coordinate azimuth dInclination LREAL Orientation or the tool in spherical coordinate inclination da LREAL Orientation of the tool in vector coordinate a db LREAL Orientation of the tool in vector coordinate b dc LREAL Orientation of the tool in vector coordinate c
SM3_Drive_ETC_Stoeber_SI6_LD6 Library Documentation ¶ Company 3S - Smart Software Solutions GmbH Title SM3_Drive_ETC_Stoeber_SI6_LD6 Version 4.1.1.0 Categories Intern|SoftMotion Author None Placeholder SM3_Drive_ETC_Stoeber_SD6 Description 1 ¶ SoftMotion Stöber SI6_LD6 Contents: ¶ AXIS_REF_ETC_STOEBER_SI6_LD6 (FunctionBlock) DriverName (Property) DriverVersion (Property) GetStandardConfigParams (Method) Mapping ParameterAccess state-machine Constants (GVL) ENCODER_REF_SI6_LD6_ETC_SM3 (FunctionBlock) Helper GetParamWord (Function) Project Information GetBooleanProperty (Function) GetCompany (Function) GetNumberProperty (Function) GetTextProperty (Function) GetTextProperty2 (Function) GetTitle (Function) GetVersion (Function) GetVersionProperty (Function) SMC3_ETC_STOEBER_SI6_LD6_ConfigurationPhase (FunctionBlock) prv_Abort (Method) prv_CyclicAction (Method) prv_Start (Method) SMC_IsPowerOfTen (Function) Indices and tables ¶ 1 Based on SM3_Drive_ETC_Stoeber_SI6_LD6.library, last modified 01.01.1601, 00:53:00. LibDoc 4.4.0.0-b.27 The content file SM3_Drive_ETC_Stoeber_SI6_LD6.clean.json was generated with CODESYS V3.5 SP10 Patch 2 on 17.05.2017, 14:22:29.
SMC_TRAFOF_Gantry2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_Gantry2 Forward transformation for two-dimensional gantries (X/Y). Each instance of SMC_TRAFOF_GANTRY2 can be connected to a visualization template named SMC_VISU_Gantry2 . Note For detailed information on transformations see Overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Inout DriveX AXIS_REF_SM3 Reference to x-axis DriveY AXIS_REF_SM3 Reference to y-axis Input dOffsetX LREAL Offset x-position. Equivalent to SMC_TRAFO_Gantry2 dOffsetY LREAL Offset y-position. Equivalent to SMC_TRAFO_Gantry2 minX LREAL Lower bound of move range in x-direction (for visualization purpose) maxX LREAL Upper bound of move range in x-direction (for visualization purpose) minY LREAL Lower bound of move range in y-direction (for visualization purpose) maxY LREAL Upper bound of move range in y-direction (for visualization purpose) Output dx LREAL X-position dy LREAL Y-position dnx LREAL Normed x-position (with value in [0,1]) dny LREAL Normed y-position (with value in [0,1]) ratio LREAL Ratio x-interval / y-interval dnOffsetX LREAL X-offset for visualization dnOffsetY LREAL Y-offset for visualization