SMC_TG_Ramptype_Trapezoid.GetMonotonicityBoundariesEnd (METH) ¶ METHOD GetMonotonicityBoundariesEnd InOut: Scope Name Type Comment Inout av ARRAY [0..(SMC_gc_maxMonotonicityBoundaries - 1)] OF LREAL array containing the results of the computation Inout Const lim SMC_Q_LIMITS Input param SMC_TG_MonotonicityParams Output nrBoundaries SINT the number of monotonicity boundaries
SMC_TG_Ramptype_Trapezoid.GetMonotonicityBoundariesStart (METH) ¶ METHOD GetMonotonicityBoundariesStart InOut: Scope Name Type Comment Inout av ARRAY [0..(SMC_gc_maxMonotonicityBoundaries - 1)] OF LREAL array containing the results of the computation Inout Const lim SMC_Q_LIMITS Input param SMC_TG_MonotonicityParams Output nrBoundaries SINT the number of monotonicity boundaries
SMC_TG_Ramptype_Trapezoid.IsAllowedAccelerationJump (PROP) ¶ PROPERTY IsAllowedAccelerationJump : BOOL
SMC_TG_Ramptype_Trapezoid.IsInterruptible (PROP) ¶ PROPERTY IsInterruptible : BOOL
SMC_TG_Ramptype_Trapezoid.Select (METH) ¶ METHOD Select selects the correct ramp from a certain collection InOut: Scope Name Type Comment Inout selectedRamp SMC_TG_IRAMP Inout Const stdRamps SMC_StandardRamps Input pAddRamps POINTER TO BYTE Output eError SMC_Error SMC_NO_ERROR in case of success; we can add one or two entries that you need to this enumeration
File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 26.07.2024, 11:50:04 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Ramps.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Ramps.clean.json version version 2.0.0.0 ProjectInformation IsEndUserLibrary bool False Released True LastModificationDateTime date 26.07.2024, 11:50:02 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 DefaultNamespace SM3_Ramps Description See: Description DocFormat reStructuredText Placeholder SM3_Ramps Project SM3_Ramps Title SM3_Ramps Version version 4.17.0.0
Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. SM3_Error ¶ Library Identification ¶ Placeholder: SM3_Error Default Resolution: SM3_Error, * (CODESYS) Namespace: SM3_Error Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Error SM3_Math ¶ Library Identification ¶ Placeholder: SM3_Math Default Resolution: SM3_Math, * (CODESYS) Namespace: SM3M Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Math SM3_RBase ¶ Library Identification ¶ Placeholder: SM3_RBase Default Resolution: SM3_RBase, * (CODESYS) Namespace: SMRB Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_RBase
SMC_GroupReadSetAcceleration (FB) ¶ FUNCTION_BLOCK SMC_GroupReadSetAcceleration This function block returns the current set-acceleration of an axis group in the selected coordinate system. If the information of the current cycle is required, it should be combined with SMC_GroupUpdate . This is an administrative FB, since no movement is generated. InOut: Scope Name Type Comment Inout AxisGroup AXIS_GROUP_REF_SM3 Reference to a group of axes Input Enable BOOL Get the acceleration in the selected coordinate system of the axis group continuously while enabled CoordSystem SMC_COORD_SYSTEM Applicable coordinate system Output Valid BOOL TRUE if valid outputs are available Busy BOOL The FB is not finished Error BOOL Signals that an error has occurred within the function block ErrorID SMC_ERROR Error identification Acceleration SMC_POS_REF Current acceleration of the group. If a cartesian coordinate system is selected, Acceleration.c contains the cartesian acceleration: (X,Y,Z) is the acceleration vector in u/s², (A,B,C) is the angular acceleration around the x, y, z axis in °/s² .
Dyn_Epsilons (STRUCT) ¶ TYPE Dyn_Epsilons : STRUCT InOut: Name Type dEps_t LREAL dEps_s LREAL dEps_v LREAL dEps_a LREAL
SMC_Track1DReferenceSignal (FB) ¶ FUNCTION_BLOCK FINAL SMC_Track1DReferenceSignal A filter that respects the given bounds and tracks a reference signal. InOut: Scope Name Type Comment Inout wX SMC_TG_DynState The new state of the signal at time Ts (end of cycle) Inout Const wQ SMC_TG_DynState The current state of the tracker at time 0 (start of cycle) wR SMC_TG_DynState The reference signal to follow at time Ts in the future (end of cycle) lim_in SMRB.DynLimits The bounds to apply. May change for each call. Input Ts LREAL The cycle interval, the new signal state wX is evaluated Ts seconds into the future. fEPS_T LREAL fEPS_Q LREAL limitJerk BOOL Output error SMC_ERROR The error Id, SMC_NO_ERROR on success.
