GeoPrimArc_Create_XY (FUN) ¶ FUNCTION GeoPrimArc_Create_XY : BOOL Creates an arc in the XY plane. InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext ef ElemFun Inout Const vC SM3M.SMC_VECTOR3D The center in world coordinates Input dR LREAL dPhiStart_deg LREAL dApex_deg LREAL Return GeoPrimArc_Create_XY BOOL
SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS (STRUCT) ¶ TYPE SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS : STRUCT Deprecated, no longer used. This structure will be removed in future versions. InOut: Name Type Initial Comment bBlendHalfOfFirstElemOnly BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bBlendingDefaultWeightingUpdate BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bTMStartVelocityUpdate BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bBlendingMaxCutRatioUpdate BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bLineBlendingImprovedWeighting BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bSmallBlendingMinLength BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bImprovedSymmetricBlending BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bPTP_PI_CompositeBlending BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bCPCompositeBlending BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bOmitBlendingSameTangentCurvature BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions.
SMC_AXIS_GROUP_CONTINUE_DATA (FB) ¶ FUNCTION_BLOCK SMC_AXIS_GROUP_CONTINUE_DATA Used for continuation of interrupted paths. Please note that moving this POU to a new location during online changes is not allowed.
SMC_AXIS_GROUP_STATE (ENUM) ¶ TYPE SMC_AXIS_GROUP_STATE : The possible states of an axis group according to PLCopen for Motion Control part 4. Attributes: qualified_only InOut: Name Disabled Standby Moving Homing Stopping ErrorStop
GeoPrimArc_Eval (FUN) ¶ FUNCTION GeoPrimArc_Eval : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const arc GeoPrimArc Inout vr SM3M.SMC_VECTOR3D Input x LREAL Return GeoPrimArc_Eval BOOL
SMC_CIRC_MODE (ENUM) ¶ TYPE SMC_CIRC_MODE : The circ mode defines how an arc segment is described. See MC_MoveCircularAbsolute and MC_MoveCircularRelative . Attributes: qualified_only InOut: Name Comment BORDER The user defines the end point and a border point (input AuxPoint ) on the sector of the circle, which shall be cruised by the machine. (Input PathChoice is not considered for mode BORDER .) Advantage of this mode: the border point usually can be reached by the machine, i.e. it can be teached. Inconvenience of this mode: Restriction to angles < 2π in one single command. Note The three points (starting point, end point, and aux point) must not be collinear. CENTER The user defines the end point and the center point (input AuxPoint ) of the circle. When using this mode, the input PathChoice defines, which of the two possible arcs is used. The plane normal is the unit vector in the direction of (start - center) x (dest - center). The direction of the arc is chosen according to the rule of right thumb: counter-clockwise direction is along the fingers bending around the axis of the thumb which represents the normal vector. Inconveniencies of this mode: Restriction to angles < 2π and ≠ π in one single command; The center point usually cannot be teached in due to collisions with obstacles. Note If the center point is not exactly at the same distance to the start- and the end-point (which is often the case due to the limited precision in which the center-point is programmed), then it is projected onto the perpendicular bisector of start- and end-point. Once the center-point is too far off (more than 1 percent of the radius), an error is returned. RADIUS The user defines the end point and the perpendicular vector of the circle plane according to the rule of right thumb: counter-clockwise direction is along the fingers bending around the axis of the thumb. The normal vector is the input AuxPoint . That is, AuxPoint is not a position but a direction vector. The radius of the circle is the length of the vector. If the distance between start- and end-point is not equal to the diameter, there are two possible circles with the given radius. The input PathChoice defines the direction of the arc. The system then chooses the circle for which the distance from start- to end-point is shorter. This means that the total angle will be at most π. If the movement is commanded in ACS-coordinates, then the auxiliary point will just be transformed into MCS using the kinematic transformation in order to interprete it as an MCS-direction. Note If start- and end-point are not in the plane defined by the normal vector, a helical movement from start- to end-point is created. That means a circular movement in the plane plus a linear movement orthogonal to the plane. Inconveniences of this mode: Restriction to angles <= π in one single command; The perpendicular vector has to be computed. Example: AuxPoint = (50,0,0) -> Circle in plane parallel to yz plane with radius 50 and rotation around axis parallel to x-axis according to the rule of right thumb (CoordSystem = MCS)
SM3_Ramps Library Documentation ¶ Company : CODESYS Title : SM3_Ramps Version : 4.17.0.0 Categories : Intern|SoftMotion Namespace : SM3_Ramps Author : CODESYS Development GmbH Placeholder : SM3_Ramps Description [ 1 ] ¶ Library containing SoftMotion standard ramptypes and interfaces for creating customized ramptypes Contents: ¶ SM3_Ramps DynState Enums GVL (GVL) Helper Interfaces Quadratic SMC_StandardRamps (FunctionBlock) Structs Trapez Indices and tables ¶ [ 1 ] Based on SM3_Ramps.library, last modified 26.07.2024, 11:50:02. LibDoc 4.5.0.0 The content file SM3_Ramps.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 26.07.2024, 11:50:04.
SM3_Ramps ¶ DynState SMC_TG_DynState_Add (Function) SMC_TG_DynState_Compose (Function) SMC_TG_DynState_Equal (Function) SMC_TG_DynState_Interpolate (Function) SMC_TG_DynState_InterpolatingPoly (Function) SMC_TG_DynState_Max (Function) SMC_TG_DynState_Min (Function) SMC_TG_DynState_ScaleAndOffset (Function) SMC_TG_DynState_ScalingComposition (Function) Enums SMC_DCA_PHASE_TYPE (Enum) GVL (GVL) Helper SMC_TG_Ramp_ValidDynRange (Function) Interfaces SMC_TG_IRAMP (Interface) Interpolate (Method) Set (Method) SMC_TG_IRAMPTYPE (Interface) GetMonotonicityBoundariesEnd (Method) GetMonotonicityBoundariesStart (Method) IsAllowedAccelerationJump (Property) IsInterruptible (Property) Select (Method) Quadratic SMC_TG_Ramp_Quadratic (FunctionBlock) Interpolate (Method) Set (Method) To_Phases (Method) SMC_TG_Ramptype_Quadratic (FunctionBlock) GetMonotonicityBoundariesEnd (Method) GetMonotonicityBoundariesStart (Method) IsAllowedAccelerationJump (Property) IsInterruptible (Property) Select (Method) SMC_StandardRamps (FunctionBlock) Structs SMC_DCA_PHASE (Struct) SMC_Q_LIMITS (Struct) SMC_TG_DynState (Struct) SMC_TG_MonotonicityParams (Struct) SMC_TG_RAMP_BOUNDARIES (Struct) Trapez SMC_TG_Ramp_Trapezoid (FunctionBlock) Interpolate (Method) Set (Method) To_Phases (Method) SMC_TG_Ramptype_Trapezoid (FunctionBlock) GetMonotonicityBoundariesEnd (Method) GetMonotonicityBoundariesStart (Method) IsAllowedAccelerationJump (Property) IsInterruptible (Property) Select (Method)
DynState ¶ SMC_TG_DynState_Add (Function) SMC_TG_DynState_Compose (Function) SMC_TG_DynState_Equal (Function) SMC_TG_DynState_Interpolate (Function) SMC_TG_DynState_InterpolatingPoly (Function) SMC_TG_DynState_Max (Function) SMC_TG_DynState_Min (Function) SMC_TG_DynState_ScaleAndOffset (Function) SMC_TG_DynState_ScalingComposition (Function)
SMC_TG_DynState_Add (FUN) ¶ FUNCTION SMC_TG_DynState_Add InOut: Scope Name Type Inout dyn SMC_TG_DynState Inout Const dynA SMC_TG_DynState dynB SMC_TG_DynState