GeoPrim_ProjectPoint_PreImg (FUN) ¶ FUNCTION GeoPrim_ProjectPoint_PreImg : BOOL Returns the first element of the preimage of GeoPrim_ProjectPoint, in the sense that if v is a point on a path, v_s the tangent, and ef some element function, generically not part of the path, GeoPrim_ProjectPoint will project the result of evaluating ef at x to v . Returns FALSE if there is no such x . InOut: Scope Name Type Comment Inout Const ef ElemFun The element function where the preimage of v under GeoPrim_ProjectPoint should lie. v SM3M.SMC_VECTOR3D A point on some path. v_s SM3M.SMC_VECTOR3D The tangent to the path at v . Return GeoPrim_ProjectPoint_PreImg BOOL Output x LREAL The first point on ef that will be projected to v .

CP_HaltStop_ProfileData (STRUCT) ¶ TYPE CP_HaltStop_ProfileData : STRUCT InOut: Name Type aPhases ARRAY [0..5] OF SM3_Ramps.SMC_DCA_PHASE nPhases DINT

CP_HaltStop_State (ENUM) ¶ TYPE CP_HaltStop_State : Attributes: qualified_only InOut: Name IDLE ACTIVE PROFILE_MIN_JERK PROFILE_CONST_DEC PROFILE_MAX_JERK FORCED_MIN_JERK FORCED_CONST_DEC FORCED_MAX_JERK DONE

CacheElems_Serialize (FUN) ¶ FUNCTION CacheElems_Serialize : BOOL InOut: Scope Name Type Return CacheElems_Serialize BOOL Input stream SM0.IOutStream i0 UDINT Inout Const cache Trj_EvalCache Output nCacheElems UDINT

CacheSlot_Serialize (FUN) ¶ FUNCTION CacheSlot_Serialize : BOOL InOut: Scope Name Type Return CacheSlot_Serialize BOOL Input stream SM0.IOutStream Inout Const slot Trj_CacheSlot

Wait ¶ GeoPrimWait_Create (Function) GeoPrimWait_Eval (Function) GeoPrimWait_Serialize (Function)

GeoPrimWait_Create (FUN) ¶ FUNCTION GeoPrimWait_Create : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext ef ElemFun Inout Const pose ElemFunPose Input dWaitTime LREAL Return GeoPrimWait_Create BOOL

AxisInfo_Serialize (FUN) ¶ FUNCTION AxisInfo_Serialize : BOOL InOut: Scope Name Type Return AxisInfo_Serialize BOOL Input stream SM0.IOutStream Inout Const ai AxisInfo

AxisInfos_Serialize (FUN) ¶ FUNCTION AxisInfos_Serialize : BOOL InOut: Scope Name Type Return AxisInfos_Serialize BOOL Input stream SM0.IOutStream Inout Const ais AxisInfos

OriPrimAxis_AxisPos (FUN) ¶ FUNCTION OriPrimAxis_AxisPos : BOOL Computes the axis positions based on the TCP position, the axis positions of the tool axes, and the offset configuration. InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const aOri TRAFO.AXISPOS_REF The axis positions of the tool kinematics vTCP SM3M.SMC_VECTOR3D The position of the TCP (expressed in the MCS) aRef TRAFO.AXISPOS_REF The reference position of all axes cdOffset TRAFO.CONFIGDATA The offset configuration fToolOffset SM3M.SMC_Frame Tool offset aInfosPos AxisInfos The axis infos of the position axes aPeriodsPos AxisPeriods The periods of the position kinematics Inout mOri SM3M.SMC_Matrix3 The orientation at position vTCP, expressed in the MCS a TRAFO.AXISPOS_REF The position of all axes at position vTCP Input kinCoupled TRAFO.ISMCoupledKinematics The coupled kinematics kinPos TRAFO.ISMPositionKinematics_Offset The position kinematics kinTool TRAFO.ISMOrientationKinematics The Orientation kinematics bComputeACSOnly BOOL Whether to compute only the axis positions or also the orientation matrix bApplyARef BOOL Return OriPrimAxis_AxisPos BOOL