DiffGrid2 (STRUCT) ¶ TYPE DiffGrid2 : STRUCT InOut: Name Type aI ARRAY [0..2] OF LREAL aII ARRAY [0..2] OF LREAL
RotaryAxesDifferentPeriod (FUN) ¶ FUNCTION RotaryAxesDifferentPeriod InOut: Scope Name Type Comment Inout Const ef ElemFun v0 SM3M.SMC_Vec v1 SM3M.SMC_Vec Input bCheckPosKinAxesOnly BOOL Output CheckRotaryAxesSamePeriod BOOL idxAxis UDINT The index of the violating axis (only if return value is true)
Trj_CheckTrajectories (FUN) ¶ FUNCTION Trj_CheckTrajectories : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const w_ini DynState tr_off Trajectory tr_rst Trajectory eps Trj_Epsilons Return Trj_CheckTrajectories BOOL
Trj_ComputeEpsilons (FUN) ¶ FUNCTION Trj_ComputeEpsilons : BOOL InOut: Scope Name Type Return Trj_ComputeEpsilons BOOL Inout eps Trj_Epsilons Input dTs LREAL dSEnd LREAL Inout Const dynLimits Path_DynLimits
EvalAxisDerivs_h_Array (FUN) ¶ FUNCTION EvalAxisDerivs_h_Array : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout auq ARRAY [0..1] OF SMRB.DynVState Input aS ARRAY [0..1] OF LREAL The arc lengths where to evaluate h LREAL The step size for numerical derivation Return EvalAxisDerivs_h_Array BOOL
EvalAxisDerivs_h_Array3 (FUN) ¶ FUNCTION EvalAxisDerivs_h_Array3 : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout auq ARRAY [0..2] OF SMRB.DynVState Input aS ARRAY [0..2] OF LREAL The arc lengths where to evaluate h LREAL The step size for numerical derivation bPosValid BOOL Whether all auq.v have already been computed Return EvalAxisDerivs_h_Array3 BOOL
ExtractOriAxesValues (FUN) ¶ FUNCTION ExtractOriAxesValues Extracts the orientation axes values from a given position in axis space. InOut: Scope Name Type Comment Inout Const a TRAFO.AXISPOS_REF Inout vOri SM3M.SMC_Vec The axis values of the orientation axes Input kinCoupled TRAFO.ISMCoupledKinematics
PathElem_ProjectCommandedAxisLimitsToPath (FUN) ¶ FUNCTION PathElem_ProjectCommandedAxisLimitsToPath : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext dynLimitsIpoParam Path_DynLimits Inout Const pe PathElem aRef TRAFO.AXISPOS_REF Input x LREAL Return PathElem_ProjectCommandedAxisLimitsToPath BOOL Output s_x LREAL The derivative of the arc-length reparametrization at x.
PathRefLen (FUN) ¶ FUNCTION PathRefLen : LREAL Returns the reference length of the path element with the given cycle interval. This is an upper bound on the interpolation parameter distance that can be travelled during the cycle interval. Return value is in (-Infinity, Infinity]. InOut: Scope Name Type Inout Const ad PathElem_AddData Input dTs LREAL Return PathRefLen LREAL
PathRefLenI (FUN) ¶ FUNCTION PathRefLenI : LREAL Returns the reference length of the path element with the given cycle interval. This is an upper bound on the interpolation parameter distance that can be travelled during the cycle interval. InOut: Scope Name Type Inout Const limits Path_DynLimits Input dTs LREAL Return PathRefLenI LREAL