ETCSlaveStack.ClearEmergency (METH) ¶ METHOD ClearEmergency : BOOL Clears the last CoE emergency message InOut: Scope Name Type Return ClearEmergency BOOL
ETCSlaveStack.ConfigProductID (PROP) ¶ PROPERTY ConfigProductID : DWORD returns the product id from the configration
ETCSlaveStack.ConfigRevisionID (PROP) ¶ PROPERTY ConfigRevisionID : DWORD returns the revision id from the configration
ETCSlaveStack.ConfigVendorID (PROP) ¶ PROPERTY ConfigVendorID : DWORD returns the vendor id from the configration
DynamicConfig ¶ AddCoEInit (Method) AddFMMU (Method) AddSoEInit (Method) AddSyncManager (Method) AlignFMMU (Method) ChangeFMMU (Method) ChangeSyncManager (Method) ClearCoEInit (Method) ClearSoEInit (Method) GetFMMU (Method) GetSyncManager (Method) HasCoEInit (Method) InputBitOffset (Property) InputBitSize (Property) InputData (Property) NbrFMMU (Property) NbrSyncManager (Property) OutputBitOffset (Property) OutputBitSize (Property) OutputData (Property) SetAssignToPDI (Method) SetConfigData (Method) SetDCSettings (Method) SetEoeSettings (Method) SetLatchSettings (Method) SetOptional (Method) SetStartupChecks (Method) SetSyncUnit (Method) SetTimeouts (Method) SetUseLrdLwr (Method) SetWatchdog (Method) Sync0ShiftTimeInputBased (Property)
ISMCoupledKinematics2.JoinConfig (METH) ¶ METHOD JoinConfig : BOOL Joins the configurations of the position and orientation kinematics. InOut: Scope Name Type Comment Return JoinConfig BOOL Inout cd CONFIGDATA The combined configuration Inout Const cd1 CONFIGDATA The configuration of the position kinematics cd2 CONFIGDATA The configuration of the orientation kinematics
ISMCoupledKinematics2.SplitAxes (METH) ¶ METHOD SplitAxes : BOOL Splits the combined axes into the axes of the position and of the orientation kinematics. InOut: Scope Name Type Comment Return SplitAxes BOOL Inout a1 AXISPOS_REF The axes of the position kinematics a2 AXISPOS_REF The axes of the orientation kinematics Inout Const a AXISPOS_REF The combined axes
ISMCoupledKinematics2.SplitConfig (METH) ¶ METHOD SplitConfig : BOOL Splits the configurations of the position and orientation kinematics. InOut: Scope Name Type Comment Return SplitConfig BOOL Inout cd1 CONFIGDATA The configuration of the position kinematics cd2 CONFIGDATA The configuration of the orientation kinematics Inout Const cd CONFIGDATA The combined configuration
ISMCoupledKinematics3 (ITF) ¶ INTERFACE ISMCoupledKinematics3 EXTENDS ISMCoupledKinematics2 Extension interface of ISMCoupledKinematics2 Has been replaced by ISMCoupledKinematics4 . Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetAxisMapping AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetPosAndToolKinematics , inherited from ISMCoupledKinematics JoinAxes , inherited from ISMCoupledKinematics2 JoinConfig , inherited from ISMCoupledKinematics2 SplitAxes , inherited from ISMCoupledKinematics2 SplitConfig , inherited from ISMCoupledKinematics2 Structure: GetAxisMapping (Method)
ISMCoupledKinematics3.GetAxisMapping (METH) ¶ METHOD GetAxisMapping This method should be implemented based on |ISMCoupledKineamtics4.GetAxisMapping2| . The latter method avoids copying the whole mapping. InOut: Scope Name Type Comment Output aAxisMapping ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF Coupled_Kin_Axis_Map Out: Array containing the type of coupled kinematics of each axis (position/orientation)