GeoPrimWait_Eval (FUN) ¶ FUNCTION GeoPrimWait_Eval : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun Inout v SM3M.SMC_VECTOR3D Input t LREAL Return GeoPrimWait_Eval BOOL

GeoPrimWait_Serialize (FUN) ¶ FUNCTION GeoPrimWait_Serialize : BOOL InOut: Scope Name Type Return GeoPrimWait_Serialize BOOL Input stream SM0.IOutStream Inout Const wait GeoPrimWait

Helpers ¶ AxisInfo_Serialize (Function) AxisInfos_Serialize (Function) CP_HaltStop CP_HaltStop (FunctionBlock) Active (Property) Done (Property) Idle (Property) Reset (Method) SetDone (Method) Start (Method) CP_HaltStop_ProfileData (Struct) CP_HaltStop_State (Enum) CP_HaltStop_State_IsActive (Function) ICP_HaltStop (Interface) Active (Property) Done (Property) Idle (Property) Reset (Method) Start (Method) CacheElem_Serialize (Function) CacheElems_Serialize (Function) CacheSlot_Serialize (Function) CacheSlots_Serialize (Function) CartesianToAxes_PosLimits (Function) CheckPosLimits (Function) CheckPosLimitsAxisSpaceFun (Function) ComputeBisector (Function) ComputeTrajectoryLimits (Function) Coupled_SplitAxisInfos (Function) CreateCS_4Points (Function) DynFactorsA_Serialize (Function) DynLimitsA_LimitRatio (Function) DynLimitsA_Serialize (Function) DynLimits_LimitRatio (Function) DynV3State_ApplyParamState (Function) DynVState_ApplyParamState (Function) DynVState_UnapplyParamState (Function) ElemFunQueue_Serialize (Function) ElemFun_IsArcLengthParam (Function) ElemFun_Serialize (FunctionBlock) Serialize (Method) ElemFun_SetPositionAxes (Function) Frame_SanityCheck (Function) IsKinSupportingOriAxisInterpolation (Function) Is_Lines_2D (Function) Is_PlaneWithLineAS (Function) Is_SphereWithGeneric (Function) Is_SphereWithPoly (Function) Line (Struct) MvtIdRange MvtIdRange_Contains (Function) MvtIdRange_ContainsRange (Function) MvtIdRange_Create (Function) MvtIdRange_CreateSingle (Function) MvtIdRange_Extend (Function) MvtIdRange_Union (Function) PathElem_AddData_Serialize (Function) PathElem_CalculateRelativePositionRight (Function) PathElem_EvalFactor (Function) PathElem_IsArcLengthParam (Function) PathElem_IsAxisSpaceElem (Function) PathElem_IsOriAxisSpaceElem (Function) PathElem_ProjectPos (Function) PathElem_Serialize (Function) PathQueue_Serialize (Function) Path_DynLimits_ApplySx (Function) Path_DynLimits_CompensateSx (Function) ProjectOnBisector (Function) RotaryAxesApplyPeriod (Function) RotaryAxesApplyPeriodV (Function) SMCVec_From_Vec (Function) Sample_Serialize (Function) TCPToAxes (Function) TG_DynState_FromDynVState_i (Function) ToolOffset ArePosesConstSameDynCSSameTool (Function) AxesToCartesian_ToolOffset (Function) GetFlange (Function) IsToolCompatibleWithKin (Function) IsToolCompatibleWithOriSpace (Function) Vec_3 (Function) Vec_From_AxisPosRef (Function) Vec_From_SMCVec (Function) Vec_To_AxisPosRef (Function)

GeoPrim_PointDistSq_Derivs (FUN) ¶ FUNCTION GeoPrim_PointDistSq_Derivs : BOOL Computes the squared distance and the first and second derivative of the squared distance function d(x) = | ef(x) - v|^2. Helper function for GeoPrim_ProjectPoint . InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext result DynState The distance and the first two derivatives Inout Const ef ElemFun v SM3M.SMC_VECTOR3D The position to be projected, given in the coordinate system of the element function. Input x LREAL The interpolation parameter on ef Return GeoPrim_PointDistSq_Derivs BOOL

GeoPrim_ProjectPoint (FUN) ¶ FUNCTION GeoPrim_ProjectPoint : BOOL Projects a given point to a geometric element. The closest position to the point on the geometric element is returned. InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Returns an error if the evaluation of the element returns an error or if there is not exactly one closest position. Inout Const ef ElemFun The element function v should be projected to. v SM3M.SMC_VECTOR3D The position to be projected, given in the coordinate system of the element function. Return GeoPrim_ProjectPoint BOOL Output x LREAL On success: the interpolation parameter of the closest position on ef.

CP_HaltStop ¶ CP_HaltStop (FunctionBlock) Active (Property) Done (Property) Idle (Property) Reset (Method) SetDone (Method) Start (Method) CP_HaltStop_ProfileData (Struct) CP_HaltStop_State (Enum) CP_HaltStop_State_IsActive (Function) ICP_HaltStop (Interface) Active (Property) Done (Property) Idle (Property) Reset (Method) Start (Method)

CP_HaltStop (FB) ¶ FUNCTION_BLOCK PUBLIC FINAL CP_HaltStop IMPLEMENTS ICP_HaltStop This function block is used for performing an immediate halt/stop from the bus task. This is done by rescaling the trajectory planned by the planner in conjunction with the FineInterpolator. The method |ScaleTime| rescales the time parameter used by the FineInterpolator to evaluate the trajectory and to ultimately determine the dynamic state of the axes at the end of the bus task cycle. This state is then rescaled by the method |ScaleIpoResult| . InOut: Scope Name Type Output dynTauLimits Path_DynLimitsAsym Properties: Active Done Idle Methods: Reset SetDone Start Structure: Active (Property) Done (Property) Idle (Property) Reset (Method) SetDone (Method) Start (Method)

CP_HaltStop_State_IsActive (FUN) ¶ FUNCTION CP_HaltStop_State_IsActive : BOOL InOut: Scope Name Type Inout Const state CP_HaltStop_State Return CP_HaltStop_State_IsActive BOOL

ICP_HaltStop (ITF) ¶ INTERFACE ICP_HaltStop Interface for the halt/stop functionality of the FineInterpolator . Properties: Active Done Idle Methods: Reset Start Structure: Active (Property) Done (Property) Idle (Property) Reset (Method) Start (Method)

CacheElem_Serialize (FUN) ¶ FUNCTION CacheElem_Serialize : BOOL InOut: Scope Name Type Return CacheElem_Serialize BOOL Input stream SM0.IOutStream Inout Const ce Trj_CacheElem