GetVersion (FUN) ¶ FUNCTION GetVersion : VERSION This function has been automatically generated from the project information. InOut: Scope Name Type Return GetVersion VERSION
GetVersionProperty (FUN) ¶ FUNCTION GetVersionProperty : VERSION This function has been automatically generated from the project information. InOut: Scope Name Type Return GetVersionProperty VERSION Input stKey WSTRING
File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 26.07.2024, 12:07:38 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Drive_ETC_EL2521.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Drive_ETC_EL2521.clean.json version version 2.0.0.0 ProjectInformation Released bool True ShowSmartCodingInfo True SystemApplicationLibrary False LastModificationDateTime date 26.07.2024, 12:07:29 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 Description See: Description Placeholder SM3_Drive_ETC_EL2521 Project SM3_Drive_ETC_EL2521 Title SM3_Drive_ETC_EL2521 Version version 4.17.0.0
Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. IoStandard ¶ Library Identification ¶ Placeholder: IoStandard Default Resolution: IoStandard, * (System) Namespace: IoStandard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoStandard SM3_Basic ¶ Library Identification ¶ Placeholder: SM3_Basic Default Resolution: SM3_Basic, * (CODESYS) Namespace: SM3_Basic Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Basic Library Parameter ¶ Parameter: GC_SMC_FILE_MAXCAMEL = 128 Parameter: GC_SMC_FILE_MAXCAMTAP = 128 Parameter: GC_SMC_SET_VALUE_BUFFER_SIZE_BASE2_EXP = 9 SM3_Drive_ETC ¶ Library Identification ¶ Placeholder: SM3_Drive_ETC Default Resolution: SM3_Drive_ETC, * (CODESYS) Namespace: SM3_Drive_ETC Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_ETC Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard
Frame ¶ SMC_Frame (Struct) SMC_Frame_ApplyDir (Function) SMC_Frame_ApplyDynV3State (Function) SMC_Frame_ApplyPos (Function) SMC_Frame_Delta (Function) SMC_Frame_DenavitHartenberg (Function) SMC_Frame_DenavitHartenbergI (Function) SMC_Frame_Derive (Function) SMC_Frame_Dist (Function) SMC_Frame_Equals (Function) SMC_Frame_Inverse (Function) SMC_Frame_Invert (Function) SMC_Frame_IsIdentity (Function) SMC_Frame_Mult (Function) SMC_Frame_Serialize (Function)
SMC_Frame (STRUCT) ¶ TYPE SMC_Frame : STRUCT A frame represents a coordinate system given by the orientation of the axes and origin vector. The representation of the coordinate system is always expressed relative to a base coordinate system. Another interpretation of a frame is the unique transformation between the represented coordinate system C and the base coordinate system B, a map F from C to B given by F(v) = mR * v + vT, where v is a vector expressed in C and F(v) is its representation in B. InOut: Name Type Comment mR SMC_Matrix3 The orientation of the axes. Each column is a unit vector describing the direction of a coordinate axis of F, expressed in base coordinates. vT SMC_Vector3D The offset of the origin in base coordinates.
SMC_Frame_ApplyDir (FUN) ¶ FUNCTION SMC_Frame_ApplyDir Applies a coordinate transformation F to a direction vector: vDst = F.mR * vDir. Thus, the direction vDir is transformed from coordinate system F to the base coordinate system of F. InOut: Scope Name Type Comment Inout vDst SMC_Vector3D The tranformed direction vector Inout Const F SMC_Frame The transformation to apply vDir SMC_Vector3D The source direction vector
SMC_Frame_ApplyDynV3State (FUN) ¶ FUNCTION SMC_Frame_ApplyDynV3State Applies a coordinate transformation F to a DynV3State. Thus, the position and derivateives are transformed from coordinate system F to the base coordinate system of F. InOut: Scope Name Type Comment Inout urDst SMC_DynV3State The tranformed output Inout Const F SMC_Frame The transformation to apply urSrc SMC_DynV3State The source position vector
SMC_Frame_ApplyPos (FUN) ¶ FUNCTION SMC_Frame_ApplyPos Applies a coordinate transformation F to a position vector: vDst = F.mR * vPos + F.vT. Thus, the position vPos is transformed from coordinate system F to the base coordinate system of F. InOut: Scope Name Type Comment Inout vDst SMC_Vector3D The tranformed position vector Inout Const F SMC_Frame The transformation to apply vPos SMC_Vector3D The source position vector
SMC_Frame_Delta (FUN) ¶ FUNCTION SMC_Frame_Delta Computes the frame fD “between” f0 and f1 such that f1*fD = f0. InOut: Scope Name Type Inout fD SMC_Frame Inout Const f0 SMC_Frame f1 SMC_Frame