TCPToAxes (FUN) ¶ FUNCTION TCPToAxes : BOOL Given the TCP frame in the MCS and the tool offset, computes the flange frame in the MCS and then computes the inverse kinematic transformation followed by a calculation of the axis values for the configured period. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Input kin TRAFO.MC_KIN_REF_SM3 Inout a TRAFO.AXISPOS_REF Inout Const f SM3M.SMC_Frame aRef TRAFO.AXISPOS_REF cd TRAFO.CONFIGDATA fToolOffset SM3M.SMC_Frame aInfos AxisInfos aPeriods AxisPeriods Return TCPToAxes BOOL

TG_DynState_FromDynVState_i (FUN) ¶ FUNCTION TG_DynState_FromDynVState_i InOut: Scope Name Type Inout ds SM3_Ramps.SMC_TG_DynState Inout Const uq SMRB.DynVState Input i DINT

AxesToCartesian_ToolOffset (FUN) ¶ FUNCTION AxesToCartesian_ToolOffset : BOOL given the axis coordinates and tool offset, this function returns the TCP frame InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Input kin TRAFO.MC_KIN_REF_SM3 Inout fTcp SM3M.SMC_Frame cd TRAFO.CONFIGDATA Inout Const a TRAFO.AXISPOS_REF fToolOffset SM3M.SMC_Frame Return AxesToCartesian_ToolOffset BOOL

GetFlange (FUN) ¶ FUNCTION GetFlange : SM3_Error.SMC_ERROR For the given TCP frame and tool offset, this function returns the flange frame. If possible, the orientation of the flange frame is projected onto the space of attainable orientations. InOut: Scope Name Type Inout fFlange SM3M.SMC_Frame Inout Const fTcp SM3M.SMC_Frame fToolOffset SM3M.SMC_Frame cd TRAFO.CONFIGDATA Input Kin TRAFO.MC_KIN_REF_SM3 Return GetFlange SM3_Error.SMC_ERROR

ToolOffset ¶ ArePosesConstSameDynCSSameTool (Function) AxesToCartesian_ToolOffset (Function) GetFlange (Function) IsToolCompatibleWithKin (Function) IsToolCompatibleWithOriSpace (Function)

ArePosesConstSameDynCSSameTool (FUN) ¶ FUNCTION ArePosesConstSameDynCSSameTool : BOOL Returns whether two poses are both constant, defined in the same dynamic CS or both in a static CS, and have the same tool offset. Note that for static CS, it is not checked whether the static coordinate systems of poseA and poseB are equal. InOut: Scope Name Type Inout Const poseA ElemFunPose poseB ElemFunPose Return ArePosesConstSameDynCSSameTool BOOL

Path_DynLimits_ApplySx (FUN) ¶ FUNCTION Path_DynLimits_ApplySx : BOOL Apply a parametrization that is not by arc-length. (Approximate) inverse of Path_DynLimits_CompensateSx InOut: Scope Name Type Return Path_DynLimits_ApplySx BOOL Inout limitsDst Path_DynLimits Inout Const limitsSrc Path_DynLimits sx ParamState

Path_DynLimits_CompensateSx (FUN) ¶ FUNCTION Path_DynLimits_CompensateSx Compensate the path limits for a parametrization that is not by arc-length. InOut: Scope Name Type Inout limitsComp Path_DynLimitsAsym Inout Const limitsSrc Path_DynLimits sx ParamState Input v LREAL a LREAL

PathElem_Serialize (FUN) ¶ FUNCTION PathElem_Serialize : BOOL InOut: Scope Name Type Return PathElem_Serialize BOOL Input stream SM0.IOutStream includeElemFun BOOL Inout Const pe PathElem

PathQueue_Serialize (FUN) ¶ FUNCTION PathQueue_Serialize : BOOL InOut: Scope Name Type Return PathQueue_Serialize BOOL Input stream SM0.IOutStream i0 UDINT includeElemFun BOOL Inout Const q PathQueue Output nPathElems UDINT