GetVersion (FUN) ¶ FUNCTION GetVersion : VERSION InOut: Scope Name Type Return GetVersion VERSION

IsLibReleased (FUN) ¶ FUNCTION IsLibReleased : BOOL This function has been automatically generated from the project information. InOut: Scope Name Type Return IsLibReleased BOOL

SM3_Robotics ¶ Basic types IDENT_IN_GROUP_REF_SM3 (Alias) MC_CIRC_PATHCHOICE (Enum) MC_COORD_REF (Struct) MC_EXECUTION_MODE (Enum) MC_SOURCE (Enum) MC_TRANSITION_MODE (Enum) SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS (Struct) SMC_AXIS_GROUP_CONTINUE_DATA (FunctionBlock) SMC_AXIS_GROUP_STATE (Enum) SMC_CIRC_MODE (Enum) SMC_COORD_SYSTEM (Alias) SMC_DYN_LIMITS (Alias) SMC_IDynamicCS (Interface) SMC_ORIENTATION_MODE (Enum) SMC_POS_REF (Union) SMC_PTP_MOVEMENT_TYPE (Enum) SMC_READ_TOOL_MODE (Enum) POUs Additional SMC_StartupAxisGroup (FunctionBlock) Administrative/Configuration AxisGroup MC_AddAxisToGroup (FunctionBlock) MC_GroupDisable (FunctionBlock) MC_GroupEnable (FunctionBlock) MC_GroupReset (FunctionBlock) MC_GroupSetPosition (FunctionBlock) MC_RemoveAxisFromGroup (FunctionBlock) MC_UngroupAllAxes (FunctionBlock) SMC_DynLoad (Struct) SMC_GroupPower (FunctionBlock) SMC_GroupReadTool (FunctionBlock) SMC_GroupSaveContinueData (FunctionBlock) SMC_GroupSetLoad (FunctionBlock) SMC_GroupSetPathTolerance (FunctionBlock) SMC_GroupSetTool (FunctionBlock) SMC_GroupSetUnits (FunctionBlock) SMC_GroupUnits (Struct) Computation SMC_GroupUpdate (FunctionBlock) SMC_SetMovementQueueBuffer (FunctionBlock) SMC_TuneCPKernel (FunctionBlock) Coordinate systems MC_SetCoordinateTransform (FunctionBlock) MC_SetDynCoordTransform (FunctionBlock) MC_TrackConveyorBelt (FunctionBlock) MC_TrackRotaryTable (FunctionBlock) SMC_SetDynCoordTransformEx (FunctionBlock) Dynamics MC_GroupSetOverride (FunctionBlock) SMC_GroupReadAxisLimitFactors (FunctionBlock) SMC_GroupSetAncillaryAxisLimits (FunctionBlock) SMC_GroupSetAncillaryPathLimits (FunctionBlock) SMC_GroupSetAxisLimitFactors (FunctionBlock) SMC_GroupSetDynamics (FunctionBlock) SMC_SetDynamicLimitFactors (FunctionBlock) Kinematics MC_SetKinTransform (FunctionBlock) SMC_KinConfigActivateAutomaticPeriods (FunctionBlock) SMC_SetKinConfiguration (FunctionBlock) Trigger SMC_GroupPrepareTrigger (FunctionBlock) SMC_GroupReadTrigger (FunctionBlock) SMC_TRIGGER_ID (Alias) SMC_TRIGGER_INFO (Struct) SMC_TRIGGER_STATUS (Enum) SMC_TriggerPosition (Union) SMC_TriggerPositionType (Enum) SMC_TriggerPosition_Plane (Struct) AxisGroup AXIS_GROUP_REF_SM3 (FunctionBlock) Diagnostics MC_GroupReadActualAcceleration (FunctionBlock) MC_GroupReadActualPosition (FunctionBlock) MC_GroupReadActualVelocity (FunctionBlock) MC_GroupReadConfiguration (FunctionBlock) MC_GroupReadError (FunctionBlock) MC_GroupReadStatus (FunctionBlock) MC_ReadCoordinateTransform (FunctionBlock) MC_ReadKinTransform (FunctionBlock) SMC_GroupAddOffset (FunctionBlock) SMC_GroupConvertPosition (FunctionBlock) SMC_GroupGetContinuePosition (FunctionBlock) SMC_GroupGetContinueToolOffset (FunctionBlock) SMC_GroupReadPathAcceleration (FunctionBlock) SMC_GroupReadPathDynamics (FunctionBlock) SMC_GroupReadPathVelocity (FunctionBlock) SMC_GroupReadPlanningStatistics (FunctionBlock) SMC_GroupReadPositionInMovement (FunctionBlock) SMC_GroupReadRemainingTrajectoryDuration (FunctionBlock) SMC_GroupReadSetAcceleration (FunctionBlock) SMC_GroupReadSetJerk (FunctionBlock) SMC_GroupReadSetPosition (FunctionBlock) SMC_GroupReadSetVelocity (FunctionBlock) SMC_GroupTargetPosition (FunctionBlock) SMC_ReadKinTransformForAxis (FunctionBlock) Movement GroupInterrupt SMC_GroupInterruptAt (FunctionBlock) SMC_GroupInterruptPosition (Union) SMC_GroupInterruptPositionMvtRel (Struct) MC_GroupContinue (FunctionBlock) MC_GroupHalt (FunctionBlock) MC_GroupInterrupt (FunctionBlock) MC_GroupStop (FunctionBlock) MC_MoveCircularAbsolute (FunctionBlock) MC_MoveCircularRelative (FunctionBlock) MC_MoveDirectAbsolute (FunctionBlock) MC_MoveDirectRelative (FunctionBlock) MC_MoveLinearAbsolute (FunctionBlock) MC_MoveLinearRelative (FunctionBlock) SMC_GroupEnableResumeAfterError (FunctionBlock) SMC_GroupJog (FunctionBlock) SMC_GroupJog2 (FunctionBlock) SMC_GroupUpdateContinueData (FunctionBlock) SMC_GroupWait (FunctionBlock)

SMC_AXIS_GROUP_STATE (ENUM) ¶ TYPE SMC_AXIS_GROUP_STATE : The possible states of an axis group according to PLCopen for Motion Control part 4. Attributes: qualified_only InOut: Name Disabled Standby Moving Homing Stopping ErrorStop

SMC_CIRC_MODE (ENUM) ¶ TYPE SMC_CIRC_MODE : The circ mode defines how an arc segment is described. See MC_MoveCircularAbsolute and MC_MoveCircularRelative . Attributes: qualified_only InOut: Name Comment BORDER The user defines the end point and a border point (input AuxPoint ) on the sector of the circle, which shall be cruised by the machine. (Input PathChoice is not considered for mode BORDER .) Advantage of this mode: the border point usually can be reached by the machine, i.e. it can be teached. Inconvenience of this mode: Restriction to angles < 2π in one single command. Note The three points (starting point, end point, and aux point) must not be collinear. CENTER The user defines the end point and the center point (input AuxPoint ) of the circle. When using this mode, the input PathChoice defines, which of the two possible arcs is used. The plane normal is the unit vector in the direction of (start - center) x (dest - center). The direction of the arc is chosen according to the rule of right thumb: counter-clockwise direction is along the fingers bending around the axis of the thumb which represents the normal vector. Inconveniencies of this mode: Restriction to angles < 2π and ≠ π in one single command; The center point usually cannot be teached in due to collisions with obstacles. Note If the center point is not exactly at the same distance to the start- and the end-point (which is often the case due to the limited precision in which the center-point is programmed), then it is projected onto the perpendicular bisector of start- and end-point. Once the center-point is too far off (more than 1 percent of the radius), an error is returned. RADIUS The user defines the end point and the perpendicular vector of the circle plane according to the rule of right thumb: counter-clockwise direction is along the fingers bending around the axis of the thumb. The normal vector is the input AuxPoint . That is, AuxPoint is not a position but a direction vector. The radius of the circle is the length of the vector. If the distance between start- and end-point is not equal to the diameter, there are two possible circles with the given radius. The input PathChoice defines the direction of the arc. The system then chooses the circle for which the distance from start- to end-point is shorter. This means that the total angle will be at most π. If the movement is commanded in ACS-coordinates, then the auxiliary point will just be transformed into MCS using the kinematic transformation in order to interprete it as an MCS-direction. Note If start- and end-point are not in the plane defined by the normal vector, a helical movement from start- to end-point is created. That means a circular movement in the plane plus a linear movement orthogonal to the plane. Inconveniences of this mode: Restriction to angles <= π in one single command; The perpendicular vector has to be computed. Example: AuxPoint = (50,0,0) -> Circle in plane parallel to yz plane with radius 50 and rotation around axis parallel to x-axis according to the rule of right thumb (CoordSystem = MCS)

SMC_COORD_SYSTEM (ALIAS) ¶ TYPE SMC_COORD_SYSTEM : SMRCP.CoordSysType

SMC_DYN_LIMITS (ALIAS) ¶ TYPE SMC_DYN_LIMITS : SMRB.DynLimits Holds limits for the magnitude of the velocity ( fVelMax ), acceleration ( fAccMax ), deceleration ( fDecMax ), jerk ( fJerkMax ) and torque ( fTorqueMax ).

SMC_IDynamicCS (ITF) ¶ INTERFACE SMC_IDynamicCS EXTENDS SMRB.ICoordinateSystem See interface ICoordinateSystem in library SM3_RBase.

SMC_ORIENTATION_MODE (ENUM) ¶ TYPE SMC_ORIENTATION_MODE : The orientation mode describes how the orientation is interpolated for CP movements. Attributes: qualified_only InOut: Name Comment GreatCircle The orientation is interpolated from the start orientation to the target orientation along the shortest path. Even if the start and the target orientation are in the working space, this interpolation mode may leave the working space. Axis The orientation axes are interpolated in axis space from their start values to their target values. This mode can be used to move through singularities of the orientation. Coupled kinematics and position kinematics support this mode.

SMC_POS_REF (UNION) ¶ TYPE SMC_POS_REF : UNION Represents a position of the TCP. A position can be either defined in cartesian coordinates (X,Y,Z,A,B,C) or in axis coordinates (A0, … A5). InOut: Name Type Comment a TRAFO.AXISPOS_REF Axis coordinates c MC_COORD_REF Cartesian position v ARRAY [0..(SMC_RCNST.MAX_AXES - 1)] OF LREAL Array of values, interpretation depends on coordinate system used