Trj_PlanningSampleQueue (FB) ¶ FUNCTION_BLOCK FINAL Trj_PlanningSampleQueue Methods: AddSampleToBuffer CommitBufferedSamples GetBufferDuration GetEndState GetQueueDuration GetTotalDuration Init Reinit Reset Structure: AddSampleToBuffer (Method) CommitBufferedSamples (Method) GetBufferDuration (Method) GetEndState (Method) GetQueueDuration (Method) GetTotalDuration (Method) Init (Method) Reinit (Method) Reset (Method)
Trj_PlanningSampleQueue.AddSampleToBuffer (METH) ¶ METHOD FINAL AddSampleToBuffer : BOOL InOut: Scope Name Type Inout Const sample Trj_Sample Input nSegment SegmentId nTrajectory TrajectoryId Return AddSampleToBuffer BOOL
Trj_PlanningSampleQueue.CommitBufferedSamples (METH) ¶ METHOD FINAL CommitBufferedSamples : BOOL InOut: Scope Name Type Return CommitBufferedSamples BOOL
Trj_PlanningSampleQueue.GetBufferDuration (METH) ¶ METHOD FINAL GetBufferDuration : LREAL Returns the duration of the buffered samples in seconds. InOut: Scope Name Type Return GetBufferDuration LREAL
Trj_PlanningSampleQueue.GetEndState (METH) ¶ METHOD GetEndState : BOOL InOut: Scope Name Type Inout w DynState Return GetEndState BOOL Output nSegment SegmentId
Trj_PlanningSampleQueue.GetQueueDuration (METH) ¶ METHOD FINAL GetQueueDuration : LREAL Returns the duration of the committed samples in seconds. InOut: Scope Name Type Return GetQueueDuration LREAL Output durationUntilFinalTau3Phase LREAL
Trj_PlanningSampleQueue.Reset (METH) ¶ METHOD Reset
AxisInfo (STRUCT) ¶ TYPE AxisInfo : STRUCT Holds information about one axis of an axis group. InOut: Name Type jointType TRAFO.Axis_Type limLower LREAL limUpper LREAL isModulo BOOL
AxisInfos (STRUCT) ¶ TYPE AxisInfos : STRUCT Holds information about the axes of a kinematics. InOut: Name Type a ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF AxisInfo
FineInterpolator (FB) ¶ FUNCTION_BLOCK FINAL FineInterpolator This function block performs the fine interpolation of the planned trajectory. It should be called in the motion task. The input is the sample queue and the path queue of the TrajectoryPlanner function block. InOut: Scope Name Type Comment Output w DynState The current position on the path, path velocity and path acceleration dJerk LREAL The jerk during the last cycle nSegment SegmentId The segment of the current position on the path nTrajectory TrajectoryId The trajectory that is currently interpolated. internalId PathElem_Id The internal Id of the path element. 0 if no movement is active. dS_rel LREAL The relative position in the current element set AxesDynState The current position, velocity, acceleration and jerk of all axes dbgData Trj_DebugData Trajectory debug data. Only written if compiler define SMC_TRJ_DEBUG_DATA is set. cs_Start SM3M.SMC_Frame Start coordinate system of the current path elem. Only written if compiler define SMC_TRJ_DEBUG_DATA is set. cs_Dest SM3M.SMC_Frame Dest coordinate system of the current path elem. Only written if compiler define SMC_TRJ_DEBUG_DATA is set. Methods: ClearTrajectory EvalCurrentAxesPos Execute GetAxisPosition GetCartPositionWithTimeOffset GetCurrentDynInfo GetCurrentRelPos GetIpoBufferDurations GetPathPosition HasReachedEndOfMovement HasValidPosition Init InitTrjInfo IsInSync IsStopped IsTrackingDynCS ReadTrajectoryDuration Reinit Reset SetDynAxesState SetDynVTracker StartCycle WaitForSamplesAtCurrentPosition Structure: ClearTrajectory (Method) EvalCurrentAxesPos (Method) Execute (Method) GetAxisPosition (Method) GetCartPositionWithTimeOffset (Method) GetCurrentDynInfo (Method) GetCurrentRelPos (Method) GetIpoBufferDurations (Method) GetPathPosition (Method) HasReachedEndOfMovement (Method) HasValidPosition (Method) Init (Method) InitTrjInfo (Method) IsInSync (Method) IsStopped (Method) IsTrackingDynCS (Method) ReadTrajectoryDuration (Method) Reinit (Method) Reset (Method) SetDynAxesState (Method) SetDynVTracker (Method) StartCycle (Method) WaitForSamplesAtCurrentPosition (Method)