MC_COORD_REF (STRUCT) ¶ TYPE MC_COORD_REF : STRUCT Stores the position and orientation of the TCP. The orientation is stored with three angles A, B, C according to the ZY’Z’ euler angles convention. The new coordinate system is defined relative to the reference coordinate system Initially is identical with the reference coordinate system. First, it is turned by A degrees around the z axis of the reference system. Second, it is turned about B degrees around the resulting y’ axis. Third, it is turned about C degrees around the resulting z’’ axis. The corresponding rotation matrix is given by R = Rz(A) * Ry(B) * Rz(C). In this matrix, the columns correspond to the axes of the new coordinate system, expressed in coordinates of the reference coordinate system. Note If A, B, C are computed by the system, the angle B is normalized to the range 0° .. 180°. If B is 0° or 180°, C is set to 0°. InOut: Name Type Comment X LREAL X-coordinate of position Y LREAL Y-coordinate of position Z LREAL Z-coordinate of position A LREAL Angle of rotation around z-axis [deg] B LREAL Angle of rotation around y’-axis [deg] C LREAL Angle of rotation around z’’-axis [deg]
MC_EXECUTION_MODE (ENUM) ¶ TYPE MC_EXECUTION_MODE : MC_EXECUTION_MODE provides information on the behavior of administrative function blocks. Attributes: qualified_only InOut: Name Comment Immediately The functionality is immediately valid and may influence the on-going motion. Queued The new functionality becomes valid when all previous motion commands set one of the following output parameters: Done, Aborted or Error. This also implies that the output parameter Busy is set to FALSE. NextCommanded The new functionality becomes valid when the next commanded motion command becomes active.
MC_SOURCE (ENUM) ¶ TYPE MC_SOURCE : Determines the source for position, velocity, acceleration, and jerk of axes or axis groups. Attributes: qualified_only InOut: Name Comment SAVE The save values, i.e. the set values of the previous bus cycle, are used as the source. SET The set values of the current bus cycle are used as the source. The set values are the commanded values computed in the current cycle. ACT The actual values of the axes received in this bus cycle are used as the source.
MC_TRANSITION_MODE (ENUM) ¶ TYPE MC_TRANSITION_MODE : The transition mode describes how consecutive motion commands are blended. Attributes: qualified_only InOut: Name Comment TMNone No blending. TMStartVelocity Velocity based blending. In the case of PTP movements, the cut-off points are determined from the previously calculated trajectories for the two original movements. The first transition parameter (to be chosen between 0 and 1) specifies the time portion of the deceleration-/acceleration-ramp to be cut. In the case of CP movements, we simulate a deceleration ramp on the original path towards the vertex and an acceleration ramp away from the vertex. TransitionParameter[0] acts again as a factor, however not in time, but in relation to the path length: A value of 1 means the start of the deceleration ramp and the end of the acceleration ramp; a value of 0.5 means exactly halfway in between. In case of CP movements, the second transition parameter specifies the minimal curvature radius that a blending element may have. TMCornerDistance Distance based blending. The first transition parameter specifies the distance between the corner (i.e. the end of the first movement) and the cut points where the blending starts and ends. In case of CP movements, the second transition parameter specifies the minimal curvature radius that a blending element may have. Note In case of tracking between different coordinate systems and tracking with PTP movements, the corner distance is evaluated when the axis group plans the trajectory on the blended path. This means that, when the axis group travels the blending, the distance may be slightly different, depending on the movement of the tracked coordinate systems.
SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS (STRUCT) ¶ TYPE SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS : STRUCT Deprecated, no longer used. This structure will be removed in future versions. InOut: Name Type Initial Comment bBlendHalfOfFirstElemOnly BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bBlendingDefaultWeightingUpdate BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bTMStartVelocityUpdate BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bBlendingMaxCutRatioUpdate BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bLineBlendingImprovedWeighting BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bSmallBlendingMinLength BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bImprovedSymmetricBlending BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bPTP_PI_CompositeBlending BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bCPCompositeBlending BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions. bOmitBlendingSameTangentCurvature BOOL TRUE Deprecated, no longer used. This setting will be removed in future versions.
SMC_AXIS_GROUP_CONTINUE_DATA (FB) ¶ FUNCTION_BLOCK SMC_AXIS_GROUP_CONTINUE_DATA Used for continuation of interrupted paths. Please note that moving this POU to a new location during online changes is not allowed.
SM3_Robotics Library Documentation ¶ Company : CODESYS Title : SM3_Robotics Version : 4.17.0.0 Categories : Intern|SoftMotion Namespace : SM3_Robotics Author : CODESYS Development GmbH Placeholder : SM3_Robotics Description [ 1 ] ¶ CODESYS SoftMotion functionality for robotics. Supported compiler defines: SM3_PLCOPEN_PART4_LOG_GROUP_STATES Log every change of the group state SM3_CPTR_COMPUTE_PATH_DYN Compute the path derivatives in the CPTR kernel. SoftMotionPerformance Measure the time consumed by implicit calls. SM3_CHECK_JERK_LIMITS If set, the axis group also checks fSetJerk for limit violations. (Used for regression tests.) SM3_PLAN_IN_BUSTASK If set, planning is executed in the bustask, with simplified heuristics for the maximum planning time (only for virtual applications on a Soft PLC). Contents: ¶ Library Information GetLibVersion (Function) GetLibVersionNumber (Function) GetVersion (Function) IsLibReleased (Function) SM3_Robotics Basic types POUs Indices and tables ¶ [ 1 ] Based on SM3_Robotics.library, last modified 26.07.2024, 12:03:27. LibDoc 4.5.0.0 The content file SM3_Robotics.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 26.07.2024, 12:03:39.
Library Information ¶ GetLibVersion (Function) GetLibVersionNumber (Function) GetVersion (Function) IsLibReleased (Function)
GetLibVersion (FUN) ¶ FUNCTION GetLibVersion : VERSION This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersion VERSION
GetLibVersionNumber (FUN) ¶ FUNCTION GetLibVersionNumber : DWORD This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersionNumber DWORD
