CmdPos ¶ PathElem_CmdPos (Struct) PathElem_CmdPosTag (Enum) PathElem_CmdPosUnion (Union)

PathElem_CmdPos (STRUCT) ¶ TYPE PathElem_CmdPos : STRUCT Represents a commanded target position of a path element. InOut: Name Type Comment tag PathElem_CmdPosTag The tag describing the data in u u PathElem_CmdPosUnion The position, either in ACS or cartesian

EIntersectMode (ENUM) ¶ TYPE EIntersectMode : Determines which intersection is returned Attributes: qualified_only InOut: Name Comment FIRST The first intersection is returned LAST The last intersection is returned

ElemFun_MovementInfo_RemoveSuffix (FUN) ¶ FUNCTION ElemFun_MovementInfo_RemoveSuffix InOut: Scope Name Type Inout mvtInfo ElemFun_MovementInfo Input lElem LREAL xCutPoint LREAL

Predicates ¶ ElemFun_CSStartDestDynEq (Function) ElemFun_ContainsVariablePosition (Function) ElemFun_ContainsVariablePositionTrans (FunctionBlock) Check (Method) ElemFun_ECSIsDynEqTrans (FunctionBlock) Check (Method) ElemFun_EvalsToConstPose (Function) ElemFun_EvalsToStaticPose (Function) ElemFun_HasTooHighDerivatives (Function) ElemFun_IsAtOrigEnd (Function) ElemFun_IsAtOrigStart (Function) ElemFun_IsAxisSpaceFun (Function) ElemFun_IsBlending (Function) ElemFun_IsGeoPrimType (Function) ElemFun_IsInDynCS (Function) ElemFun_IsInStaticCS (Function) ElemFun_IsOriAxisSpaceFun (Function) ElemFun_IsOriPrimType (Function) ElemFun_IsValidPausePosition (Function) ElemFun_NestingDepthLessEq (Function) ElemFun_NoCartMovement (Function) ElemFun_NoOriMovement (Function) ElemFun_OriIsConstant (Function) ElemFuns_CSDynEqTrans (FunctionBlock) Check (Method)

ElemFun_EvalsToStaticPose (FUN) ¶ FUNCTION ElemFun_EvalsToStaticPose : BOOL Returns whether the position x inside the ElemFun ef evaluates to a static pose. Note: FALSE is returned for blendings between different CS with at least one being dynamic even though the start- or end position of the element might be a static pose. InOut: Scope Name Type Inout Const ef ElemFun Input x LREAL Return ElemFun_EvalsToStaticPose BOOL

ElemFun_HasTooHighDerivatives (FUN) ¶ FUNCTION ElemFun_HasTooHighDerivatives : BOOL InOut: Scope Name Type Inout Const ef ElemFun dynLimitsPathCommanded_est Path_DynLimits dynLimitsIpoParamCommanded_est Path_DynLimits dynLimitsAxesCommanded DynLimitsA Input dMinFractionOfVMax LREAL dMinCurvatureRadius LREAL bConsiderThirdDeriv BOOL Return ElemFun_HasTooHighDerivatives BOOL

ElemFun_MovementInfo_PosToMvtRelPos (FUN) ¶ FUNCTION ElemFun_MovementInfo_PosToMvtRelPos : LREAL InOut: Scope Name Type Inout Const mvtInfo ElemFun_MovementInfo Input x LREAL curExternalID ULINT lElem LREAL Return ElemFun_MovementInfo_PosToMvtRelPos LREAL Output externalID ULINT

ElemFun_MovementInfo_RemovePrefix (FUN) ¶ FUNCTION ElemFun_MovementInfo_RemovePrefix InOut: Scope Name Type Inout mvtInfo ElemFun_MovementInfo Input lElem LREAL xCutPoint LREAL

ElemFun_CSStartDestDynEq (FUN) ¶ FUNCTION ElemFun_CSStartDestDynEq : BOOL InOut: Scope Name Type Inout Const ef ElemFun Return ElemFun_CSStartDestDynEq BOOL