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

SM3_Dynamics Library Documentation ¶ Company : CODESYS Title : SM3_Dynamics Version : 4.16.0.0 Categories : Intern|SoftMotion Namespace : SMDYN Author : CODESYS Development GmbH Placeholder : SM3_Dynamics Description [ 1 ] ¶ CODESYS SoftMotion Dynamics Contents: ¶ Library Information GetLibVersion (Function) GetLibVersionNumber (Function) IsLibReleased (Function) SM3_Dynamics ISMDynamics Indices and tables ¶ [ 1 ] Based on SM3_Dynamics.library, last modified 13.12.2023, 08:53:05. LibDoc 4.4.0.0-b.37 The content file SM3_Dynamics.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 13.12.2023, 08:53:07.

Library Information ¶ GetLibVersion (Function) GetLibVersionNumber (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

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

SM3_Dynamics ¶ ISMDynamics DynLoad (Struct) DynSpatialInertia (Struct) DynUnits (Struct) DynamicsParams (Struct) ISMDynamics (Interface) AxesStateToTorque (Method)

ISMDynamics ¶ DynLoad (Struct) DynSpatialInertia (Struct) DynUnits (Struct) DynamicsParams (Struct) ISMDynamics (Interface) AxesStateToTorque (Method)

DynLoad (STRUCT) ¶ TYPE DynLoad : STRUCT A load that is attached to the end effector. InOut: Name Type Initial Comment Inertia DynSpatialInertia The inertia of the load defined in the center of mass frame. CenterOfMassFrame SM3M.SMC_Frame SM3M.SMC_FRAME_IDENTITY The center of mass frame of the load relative to the machines flange. [vT.dX] = [vT.dY] = [vT.dZ] = u

DynSpatialInertia (STRUCT) ¶ TYPE DynSpatialInertia : STRUCT The spatial inertia of a body, relative to a frame at the center of mass. Being situated at the center of mass means that the spatial inertia can be represented by a 3x3 rotational inertia matrix I and the mass of the body m . InOut: Name Type Comment I SM3M.SMC_Matrix3 The 3x3 rotational inertia matrix in kg*u². m LREAL The mass in kg.