Supported function codes

scrolling function. (See

SharedArea (FB) ¶ FUNCTION_BLOCK FINAL SharedArea EXTENDS FBF

SMC_Trafo_HandleWristSingularity (FUN) ¶ FUNCTION SMC_Trafo_HandleWristSingularity : BOOL Computes angles

SMC_SolveSinCosLin (FUN) ¶ FUNCTION SMC_SolveSinCosLin : BOOL Solves the

SMC_TRAFO_Bipod_Arm (FB) ¶ FUNCTION_BLOCK SMC

element function blends

Trj_FindMinTau2 (FUN) ¶ FUNCTION Trj_FindMinTau2 : BOOL Determines the

Is_SphereWithPoly (FUN) ¶ FUNCTION Is_SphereWithPoly : UDINT Intersects a

TrajectoryPlanner_MVC (FB) ¶ FUNCTION_BLOCK FINAL Trajectory