GetLibVersionNumber (FUN) ¶ FUNCTION GetLibVersionNumber : DWORD This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersionNumber DWORD
GeoPrimArc_CreateI_Normal (FUN) ¶ FUNCTION GeoPrimArc_CreateI_Normal : LREAL InOut: Scope Name Type Comment Return GeoPrimArc_CreateI_Normal LREAL Inout arc GeoPrimArc Inout Const vC SM3M.SMC_Vector3D The center in world coordinates vN SM3M.SMC_Vector3D The normal vector of the arc’s plane (must be a unit) Input dR LREAL dPhiStart_deg LREAL dApex_deg LREAL dHelixDist LREAL The (signed) distance travelled along the arc normal
GetVersion (FUN) ¶ FUNCTION GetVersion : VERSION InOut: Scope Name Type Return GetVersion VERSION
IsLibReleased (FUN) ¶ FUNCTION IsLibReleased : BOOL This function has been automatically generated from the project information. InOut: Scope Name Type Return IsLibReleased BOOL
SM3_Robotics ¶ Basic types IDENT_IN_GROUP_REF_SM3 (Alias) MC_CIRC_PATHCHOICE (Enum) MC_COORD_REF (Struct) MC_EXECUTION_MODE (Enum) MC_SOURCE (Enum) MC_TRANSITION_MODE (Enum) SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS (Struct) SMC_AXIS_GROUP_CONTINUE_DATA (FunctionBlock) SMC_AXIS_GROUP_STATE (Enum) SMC_CIRC_MODE (Enum) SMC_COORD_SYSTEM (Alias) SMC_DYN_LIMITS (Alias) SMC_IDynamicCS (Interface) SMC_ORIENTATION_MODE (Enum) SMC_POS_REF (Union) SMC_PTP_MOVEMENT_TYPE (Enum) SMC_READ_TOOL_MODE (Enum) POUs Additional SMC_StartupAxisGroup (FunctionBlock) Administrative/Configuration AxisGroup MC_AddAxisToGroup (FunctionBlock) MC_GroupDisable (FunctionBlock) MC_GroupEnable (FunctionBlock) MC_GroupReset (FunctionBlock) MC_GroupSetPosition (FunctionBlock) MC_RemoveAxisFromGroup (FunctionBlock) MC_UngroupAllAxes (FunctionBlock) SMC_DynLoad (Struct) SMC_GroupPower (FunctionBlock) SMC_GroupReadTool (FunctionBlock) SMC_GroupSaveContinueData (FunctionBlock) SMC_GroupSetLoad (FunctionBlock) SMC_GroupSetPathTolerance (FunctionBlock) SMC_GroupSetTool (FunctionBlock) SMC_GroupSetUnits (FunctionBlock) SMC_GroupUnits (Struct) Computation SMC_GroupUpdate (FunctionBlock) SMC_SetMovementQueueBuffer (FunctionBlock) SMC_TuneCPKernel (FunctionBlock) Coordinate systems MC_SetCoordinateTransform (FunctionBlock) MC_SetDynCoordTransform (FunctionBlock) MC_TrackConveyorBelt (FunctionBlock) MC_TrackRotaryTable (FunctionBlock) SMC_SetDynCoordTransformEx (FunctionBlock) Dynamics MC_GroupSetOverride (FunctionBlock) SMC_GroupReadAxisLimitFactors (FunctionBlock) SMC_GroupSetAncillaryAxisLimits (FunctionBlock) SMC_GroupSetAncillaryPathLimits (FunctionBlock) SMC_GroupSetAxisLimitFactors (FunctionBlock) SMC_GroupSetDynamics (FunctionBlock) SMC_SetDynamicLimitFactors (FunctionBlock) Kinematics MC_SetKinTransform (FunctionBlock) SMC_KinConfigActivateAutomaticPeriods (FunctionBlock) SMC_SetKinConfiguration (FunctionBlock) Trigger SMC_GroupPrepareTrigger (FunctionBlock) SMC_GroupReadTrigger (FunctionBlock) SMC_TRIGGER_ID (Alias) SMC_TRIGGER_INFO (Struct) SMC_TRIGGER_STATUS (Enum) SMC_TriggerPosition (Union) SMC_TriggerPositionType (Enum) SMC_TriggerPosition_Plane (Struct) AxisGroup AXIS_GROUP_REF_SM3 (FunctionBlock) Diagnostics MC_GroupReadActualAcceleration (FunctionBlock) MC_GroupReadActualPosition (FunctionBlock) MC_GroupReadActualVelocity (FunctionBlock) MC_GroupReadConfiguration (FunctionBlock) MC_GroupReadError (FunctionBlock) MC_GroupReadStatus (FunctionBlock) MC_ReadCoordinateTransform (FunctionBlock) MC_ReadKinTransform (FunctionBlock) SMC_GroupAddOffset (FunctionBlock) SMC_GroupConvertPosition (FunctionBlock) SMC_GroupGetContinuePosition (FunctionBlock) SMC_GroupGetContinueToolOffset (FunctionBlock) SMC_GroupReadPathAcceleration (FunctionBlock) SMC_GroupReadPathDynamics (FunctionBlock) SMC_GroupReadPathVelocity (FunctionBlock) SMC_GroupReadPlanningStatistics (FunctionBlock) SMC_GroupReadPositionInMovement (FunctionBlock) SMC_GroupReadRemainingTrajectoryDuration (FunctionBlock) SMC_GroupReadSetAcceleration (FunctionBlock) SMC_GroupReadSetJerk (FunctionBlock) SMC_GroupReadSetPosition (FunctionBlock) SMC_GroupReadSetVelocity (FunctionBlock) SMC_GroupTargetPosition (FunctionBlock) SMC_ReadKinTransformForAxis (FunctionBlock) Movement GroupInterrupt SMC_GroupInterruptAt (FunctionBlock) SMC_GroupInterruptPosition (Union) SMC_GroupInterruptPositionMvtRel (Struct) MC_GroupContinue (FunctionBlock) MC_GroupHalt (FunctionBlock) MC_GroupInterrupt (FunctionBlock) MC_GroupStop (FunctionBlock) MC_MoveCircularAbsolute (FunctionBlock) MC_MoveCircularRelative (FunctionBlock) MC_MoveDirectAbsolute (FunctionBlock) MC_MoveDirectRelative (FunctionBlock) MC_MoveLinearAbsolute (FunctionBlock) MC_MoveLinearRelative (FunctionBlock) SMC_GroupEnableResumeAfterError (FunctionBlock) SMC_GroupJog (FunctionBlock) SMC_GroupJog2 (FunctionBlock) SMC_GroupUpdateContinueData (FunctionBlock) SMC_GroupWait (FunctionBlock)
Enums ¶ SMC_DCA_PHASE_TYPE (Enum)
SMC_DCA_PHASE_TYPE (ENUM) ¶ TYPE SMC_DCA_PHASE_TYPE : The different supported kinds of motion phases. See SMC_DCA_PHASE . InOut: Name Initial Comment SMC_linear_pos_ramp 1 Motion with constant velocity SMC_linear_vel_ramp 2 Motion with linearly changing velocity SMC_sinsquare_vel_ramp 3 Motion with changing velocity according to a sin² profile SMC_linear_acc_ramp 4 Motion with linearly changing acceleration SMC_smooth_acc_ramp 5 Motion with changing acceleration according to a smoothed curve
GVL (GVL) ¶ InOut: Scope Name Type Initial Constant SMC_gc_maxMonotonicityBoundaries SINT 4
Arc ¶ GeoPrimArc_CartDist (Function) GeoPrimArc_CreateFromArc (Function) GeoPrimArc_CreateI_Border (Function) GeoPrimArc_CreateI_Center (Function) GeoPrimArc_CreateI_Ext (Function) GeoPrimArc_CreateI_Ext2 (Function) GeoPrimArc_CreateI_Normal (Function) GeoPrimArc_CreateI_NormalR (Function) GeoPrimArc_Create_Normal (Function) GeoPrimArc_Create_XY (Function) GeoPrimArc_Eval (Function) GeoPrimArc_EvalDerivs (Function) GeoPrimArc_IntersectWithPlane (Function) GeoPrimArc_Serialize (Function)
Helper ¶ SMC_TG_Ramp_ValidDynRange (Function)