IDynVTracker (ITF) ¶ INTERFACE IDynVTracker Methods: Track Structure: Track (Method)
IDynVTracker.Track (METH) ¶ METHOD Track : BOOL InOut: Scope Name Type Return Track BOOL Inout errCtx SMRE.ErrorContext set AxesDynState Inout Const uq SMRB.DynVState Input ctx ITrackingContext Output inSync BOOL
IEndOfElemObserver.OnEndOfElemReached (METH) ¶ METHOD OnEndOfElemReached Called as soon as the planner reaches the end of an element for the first time. This method may be called multiple times for the same element due to the iterative computation of the planner. InOut: Scope Name Type Comment Inout Const pe PathElem The path element whose end has been reached endPos TRAFO.AXISPOS_REF The axis end position of the end of the element. For tracking movements, this value is time-dependent.
ITrackingContext (ITF) ¶ INTERFACE ITrackingContext Properties: AncillaryAxisLimits AxesOverrideFactors CommandedAxisLimits PathTolerance ToolOffset Trafo Structure: AncillaryAxisLimits (Property) AxesOverrideFactors (Property) CommandedAxisLimits (Property) PathTolerance (Property) ToolOffset (Property) Trafo (Property)
FineInterpolator_TrjDuration.Init (METH) ¶ METHOD FINAL Init InOut: Scope Name Type Comment Inout sampleQueue Trj_SampleQueue The sample queue of the fine interpolator. w0 DynState The current state of the fine interpolator. Input segment0 SegmentId ds1 LREAL segment1 SegmentId taskCycleTime LREAL
FineInterpolator_TrjInfo (STRUCT) ¶ TYPE FineInterpolator_TrjInfo : STRUCT InOut: Name Type valid BOOL triggers FineInterpolator_TriggersIter duration FineInterpolator_TrjDuration taskCycleTime LREAL forecastDuration LREAL
ITrackingContext.PathTolerance (PROP) ¶ PROPERTY PathTolerance : POINTER TO PathTolerance
ITrackingContext.AncillaryAxisLimits (PROP) ¶ PROPERTY AncillaryAxisLimits : POINTER TO ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF SMRB.DynLimits
ITrackingContext.AxesOverrideFactors (PROP) ¶ PROPERTY AxesOverrideFactors : POINTER TO ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF SMRB.DynFactors
ITrackingContext.CommandedAxisLimits (PROP) ¶ PROPERTY CommandedAxisLimits : POINTER TO ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF SMRB.DynLimits