ElemFun_CSDest (FUN) ¶ FUNCTION ElemFun_CSDest : POINTER TO ElemFun_CS InOut: Scope Name Type Inout Const ef ElemFun Return ElemFun_CSDest POINTER TO ElemFun_CS

AbortingElemFuns_FunE (FUN) ¶ FUNCTION AbortingElemFuns_FunE : POINTER TO ElemFun Returns the ElemFun for the line element connecting the two blending elements. InOut: Scope Name Type Inout Const aef AbortingElemFuns Return AbortingElemFuns_FunE POINTER TO ElemFun

AbortingElemFuns_FunEB (FUN) ¶ FUNCTION AbortingElemFuns_FunEB : POINTER TO ElemFun Returns the ElemFun for the blending element from E to B. InOut: Scope Name Type Inout Const aef AbortingElemFuns Return AbortingElemFuns_FunEB POINTER TO ElemFun

DerivInfo_Set (FUN) ¶ FUNCTION DerivInfo_Set InOut: Scope Name Type Inout derivs ElemFun_DerivInfo Input pMax POINTER TO LREAL nMax UINT

ElemFun (STRUCT) ¶ TYPE ElemFun : STRUCT Represents an element function, that is the function that maps from the interpolation parameter to axis values. This structure holds only the information necessary to evaluate the element function, no additional information like the element Id, dynamic limits and so on. It has been separated from the PathElem structure to allow for “composite” element functions, e.g. an element function blending between two existing element functions. InOut: Name Type Comment t GeoPrimType The type of the geometric primitive tOr OriPrimType The type of the orientation primitive u GeoPrimUnion Parameters of the geometric primitive that depend on the type t ptGeo ParamTransform The mapping between the path elem parameter and the parameter of the geo element. uOri OriPrimUnion Parameters of the orientation primitive that depend on the type tOr ptOri ParamTransform The mapping between the path elem parameter and the parameter of the orientation element. l LREAL The interpolation length of the element. For cartesian elements, the arc length. For pure orientation elements, the angle (degrees) between start and dest. For blending elements, this may be neither arc length nor angle. lOrig LREAL The original length of the element. Differs from l after cutting prefix or suffix. derivStepSize LREAL Internal member, the step size for numerical derivation. timeDerivStepSize LREAL Internal member, the step size for numerical derivation. trf TRAFO.MC_KIN_REF_SM3 The kinematic transformation configAuto TRAFO.CONFIGDATA The kinematic configuration with automatic period selection aPositionAxes ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF BOOL Cached information about which axes of the kinematics belong to the position kinematics (TRUE) and the orientation kinematics (FALSE). If the kinematics is not a coupled kinematics all entries are set to TRUE. aInfos AxisInfos The information (type and limits) of all axes origPathElemId PathElem_Id The id of the path element. Only for debugging (composite elements). deriv2 ElemFun_DerivInfo Internal member, information about the maximum magnitude of the second and third derivative. Depending on the element type, the derivatives are wrt. to arc length or the interpolation parameter x. deriv3 ElemFun_DerivInfo fToolOffset SM3M.SMC_Frame Tool offset: Transforms from TCP coordinates to flange coordinates endOfPath BOOL poseEndOfPath ElemFunPose csStart ElemFun_CS The coordinate system of the start position, expressed in the MCS csDest ElemFun_CS The coordinate system of the target position, expressed in the MCS mvtInfo ElemFun_MovementInfo pausePosition Path_PausePosition canBeCut BOOL dynInfo ElemFun_DynamicsInfo cache ElemFunCache cacheOri ElemFunCache

ElemFun_CS (STRUCT) ¶ TYPE ElemFun_CS : STRUCT InOut: Name Type Initial Comment t CoordSysType eCS SMRB.ICoordinateSystem The dynamic coordinate system, transforms to the WCS. If eCS is 0, the static coordinate system is stored in eCSStatic. Points to either eCSPlanning or eCSBustask eCSPlanning ICoordinateSystemPlanning The dynamic coordinate system used for planning eCSBustask SMRB.ICoordinateSystem The dynamic coordinate system used from the bus task eCSStatic SM3M.SMC_Frame SM3M.SMC_FRAME_IDENTITY If eCSPlanning = 0, the static element coordinate system (expressed in the MCS) is stored here. If eCSPlanning <> 0, the static transformation from WCS to MCS is stored here. refCount SM0.ICounter The reference counter for the dynamic coordinate system.

ICoordinateSystemPlanning (ITF) ¶ INTERFACE ICoordinateSystemPlanning EXTENDS SMRB.ICoordinateSystem Interface for the planning part of an SMRB.ICoordinateSystem. The planning part contains a state that has to be updated. Methods: Update Structure: Update (Method)

DerivInfo_InsertSorted (FUN) ¶ FUNCTION DerivInfo_InsertSorted : UDINT InOut: Scope Name Type Inout derivs ElemFun_DerivInfo Input v LREAL Return DerivInfo_InsertSorted UDINT

ElemFunCache ¶ ElemFunCache (Struct) ElemFunCacheElemLineAS (Struct) ElemFunCacheElemLinear (Struct) ElemFunCacheElemOriAxis (Struct) ElemFunCacheElemOriLinear (Struct) ElemFunCacheElemUnion (Union) ElemFunCache_CacheElem (Function) ElemFunCache_CacheLineAS (Function) ElemFunCache_CacheLinear (Function) ElemFunCache_CacheOriAxis (Function) ElemFunCache_CacheOriLinear (Function) ElemFunCache_CacheQuat (Function) ElemFunCache_CacheVec (Function) ElemFunCache_CacheVector (Function) ElemFunCache_ClearCache (Function) ElemFunCache_IsCached (Function) ElemFunCache_SetCaching (Function)

ElemFunCache (STRUCT) ¶ TYPE ElemFunCache : STRUCT InOut: Name Type enabled BOOL valid BOOL tRef LREAL elem ElemFunCacheElemUnion