Trj_JerkBounds.ApplyTrajectoryLimits (METH) ¶ METHOD PUBLIC ApplyTrajectoryLimits InOut: Scope Name Type Input k0 UDINT dS0 LREAL dSEndSegment LREAL
Trj_CP_Stop (FB) ¶ FUNCTION_BLOCK FINAL Trj_CP_Stop Methods: Compute Structure: Compute (Method)
Trj_CP_Stop.Compute (METH) ¶ METHOD FINAL Compute : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext iv Trj_Interval tiv Trj_TargetInterval jerkBounds Trj_JerkBounds timer SMRB.TimerHires result Trj_PlanningResult plTime PlannerTime Inout Const cfg Trj_PlanningConfig trsInit Trj_State Input dTau1_I LREAL Return Compute BOOL Output trjDur LREAL trjEnd LREAL
Trj_CP_Target (FB) ¶ FUNCTION_BLOCK FINAL Trj_CP_Target Methods: Compute Structure: Compute (Method)
Trj_CP_Target.Compute (METH) ¶ METHOD FINAL Compute : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext iv Trj_Interval jerkBounds Trj_JerkBounds timer SMRB.TimerHires result Trj_PlanningResult Inout Const tiv Trj_TargetInterval trsInit Trj_State Return Compute BOOL
ElemFun_ECSIsDynEqTrans.Check (METH) ¶ METHOD FINAL Check : BOOL Checks whether this element function and all its children are defined in the coordinate system cs . InOut: Scope Name Type Comment Inout Const ef ElemFun cs ElemFun_CS Input nDepth UDINT The current layering depth Return Check BOOL Output isDynEq BOOL
ElemFuns_CSDynEqTrans.Check (METH) ¶ METHOD FINAL Check : BOOL Checks whether two ElemFuns reference the same coordinate systems. InOut: Scope Name Type Comment Inout Const efA ElemFun efB ElemFun Input nDepth UDINT The current layering depth Return Check BOOL Output areDynEq BOOL
CP_HaltStop.SetDone (METH) ¶ METHOD SetDone
CP_HaltStop.Start (METH) ¶ METHOD FINAL Start : SMC_ERROR InOut: Scope Name Type Return Start SMC_ERROR Input movementId ULINT deceleration LREAL jerk LREAL taskCycleTime LREAL Inout Const axisDynLimitsCommanded ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF SMRB.DynLimits axisDynLimitsAncillary ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF SMRB.DynLimits axesOverride ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF SMRB.DynFactors pathDynLimitsAncillary SMRB.DynLimits pathOverride SMRB.DynFactors
ICP_HaltStop.Start (METH) ¶ METHOD FINAL Start : SMC_ERROR InOut: Scope Name Type Return Start SMC_ERROR Input movementId ULINT deceleration LREAL jerk LREAL taskCycleTime LREAL Inout Const axisDynLimitsCommanded ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF SMRB.DynLimits axisDynLimitsAncillary ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF SMRB.DynLimits axesOverride ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF SMRB.DynFactors pathDynLimitsAncillary SMRB.DynLimits pathOverride SMRB.DynFactors
