SMC_CamOut_EvalContext (STRUCT) ¶ TYPE SMC_CamOut_EvalContext : STRUCT InOut: Name Type wCount WORD startPosition LREAL

SMC_GearInPos_EvalContext (STRUCT) ¶ TYPE SMC_GearInPos_EvalContext : STRUCT InOut: Name Type state UDINT rampIn SMC_RampIn_DistanceBased_EvalContext gearing SMC_Gearing_EvalContext

SMC_GearIn_EvalContext (STRUCT) ¶ TYPE SMC_GearIn_EvalContext : STRUCT InOut: Name Type state UDINT rampIn SMC_GearIn_RampIn_EvalContext gearing SMC_Gearing_EvalContext

SMC_GearIn_RampInQuad_EvalContext (STRUCT) ¶ TYPE SMC_GearIn_RampInQuad_EvalContext : STRUCT InOut: Name Type iGearInQuadState INT gearInCycle UDINT

SMC_GearIn_RampInTrap_EvalContext (STRUCT) ¶ TYPE SMC_GearIn_RampInTrap_EvalContext : STRUCT InOut: Name Type slaveStartPos LREAL

SMC_GearIn_RampIn_EvalContext (UNION) ¶ TYPE SMC_GearIn_RampIn_EvalContext : UNION InOut: Name Type trap SMC_GearIn_RampInTrap_EvalContext quad SMC_GearIn_RampInQuad_EvalContext

SMC_BrakingDistance (FUN) ¶ FUNCTION SMC_BrakingDistance : LREAL Computes the (signed) braking distance from a given velocity and acceleration to velocity 0 and acceleration 0. The signed distance is the difference between the position where standstill is reached and the current position. InOut: Scope Name Type Comment Inout Const Axis AXIS_REF_SM3 Input v0 LREAL Velocity at start a0 LREAL Acceleration at start Deceleration LREAL Maximum deceleration in u/s^2 (positive) Jerk LREAL Maximum jerk in u/s^3 (positive) Return SMC_BrakingDistance LREAL

SMC_CalculateProfile_VA (FUN) ¶ FUNCTION SMC_CalculateProfile_VA : SMC_ERROR InOut: Scope Name Type Comment Inout Const dyn0 SMC_TG_DynState Inout diNoPhases DINT Input pPhases POINTER TO SMC_DCA_PHASE diMaxPhases DINT eRampType SMC_RAMPTYPE bLastMoveWasSinSquare BOOL Acceleration LREAL Deceleration LREAL Jerk LREAL RampJerk LREAL Legacy parameter for sin². Fill with AXIS_REF_SM3.fRampJerk fV1_In LREAL taskInterval LREAL Return SMC_CalculateProfile_VA SMC_ERROR Output t0 LREAL The start time in the first phase. Usually 0, but can be > 0 if a sin² phase has been reconstructed. sinsquare_startCorr LREAL Additional offset for the position. Usually 0, but can be <> 0 if a sin² phase has been reconstructed.

SMC_DynLimits_Set (FUN) ¶ FUNCTION SMC_DynLimits_Set InOut: Scope Name Type Inout limits SMRB.DynLimits Input Velocity LREAL Acceleration LREAL Deceleration LREAL Jerk LREAL

SMC_AxisTrajectoryBuffer_ResetCounter (STRUCT) ¶ TYPE SMC_AxisTrajectoryBuffer_ResetCounter : STRUCT InOut: Name Type baseCounter UDINT superImposedCounter UDINT