Helper ¶ SMC_InterpolateableProfile_To_Phases (Function) SMC_TG_JerkPhase (Function)
SMC_InterpolateableProfile_To_Phases (FUN) ¶ FUNCTION SMC_InterpolateableProfile_To_Phases : SMC_ERROR InOut: Scope Name Type Comment Return SMC_InterpolateableProfile_To_Phases SMC_ERROR Inout Const intprof SMC_TG_InterpolateableProfile boun SMC_Q_BOUNDARIES qramp1 SMC_TG_Ramp_Quadratic qramp2 SMC_TG_Ramp_Quadratic Inout lim SMC_Q_LIMITS Input pPhases POINTER TO SMC_DCA_PHASE nPhasesCapacity UDINT nDirection SINT fEPS_T LREAL bSmooth BOOL fEpsilon LREAL used inside SMC_Phase_Add for the comparison of velocities / accelerations, formerly g_fSMC_CNC_EPS Output nPhases UDINT
SMC_TG_JerkPhase (FUN) ¶ FUNCTION SMC_TG_JerkPhase InOut: Scope Name Type Input fV0 LREAL fA0 LREAL fJ LREAL fDuration LREAL Output fQ LREAL fV LREAL fA LREAL
Structures ¶ SMC_TG_ProfileList (Struct) SMC_TG_StdProfileStub (Struct) Solutions SMC_TG_Solution (Struct) SMC_TG_SolutionData (Union) SMC_TG_SolutionInterval (Struct) SMC_TG_SolutionSpecialProfile (Struct) SMC_TG_SolutionStandardProfile (Struct) SMC_TG_SolutionType (Enum) SMC_TG_Solution_ProfileStub (Function)
SMC_TG_ProfileList (STRUCT) ¶ TYPE SMC_TG_ProfileList : STRUCT InOut: Name Type siSize SINT sign INT asiIndex ARRAY [0..10] OF SINT siHighestReasonable SINT
SMC_TG_StdProfileStub (STRUCT) ¶ TYPE SMC_TG_StdProfileStub : STRUCT InOut: Name Type Comment fVTarget LREAL fVConstant LREAL may slightly differ from fVTarget, see SMC_TG_AxisCalculation.TryVelJump fDistanceConstantVelocity LREAL distance to be covered by constant velocity phase fDuration LREAL including constant velocity phase bDontLookUp BOOL very internal parameter
Solutions ¶ SMC_TG_Solution (Struct) SMC_TG_SolutionData (Union) SMC_TG_SolutionInterval (Struct) SMC_TG_SolutionSpecialProfile (Struct) SMC_TG_SolutionStandardProfile (Struct) SMC_TG_SolutionType (Enum) SMC_TG_Solution_ProfileStub (Function)
SMC_TG_Solution (STRUCT) ¶ TYPE SMC_TG_Solution : STRUCT InOut: Name Type solType SMC_TG_SolutionType solData SMC_TG_SolutionData
SMC_TG_SolutionData (UNION) ¶ TYPE SMC_TG_SolutionData : UNION InOut: Name Type ssp SMC_TG_SolutionStandardProfile sspp SMC_TG_SolutionSpecialProfile si SMC_TG_SolutionInterval soobp SMC_TG_StdProfileStub
SMC_TG_SolutionInterval (STRUCT) ¶ TYPE SMC_TG_SolutionInterval : STRUCT InOut: Name Type siIndexSlower SINT siIndexQuicker SINT sign INT
