SMC_TG_Ramptype_Quadratic.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

SMC_StandardRamps (FB) ¶ FUNCTION_BLOCK SMC_StandardRamps

Structs ¶ SMC_DCA_PHASE (Struct) SMC_Q_LIMITS (Struct) SMC_TG_DynState (Struct) SMC_TG_MonotonicityParams (Struct) SMC_TG_RAMP_BOUNDARIES (Struct)

SMC_DCA_PHASE (STRUCT) ¶ TYPE SMC_DCA_PHASE : STRUCT A movement phase with a fixed type, such as steady motion, changing velocity, or changing acceleration. InOut: Name Type Comment typ SMC_DCA_PHASE_TYPE fPosOff LREAL The position offset. Only <> 0 if the phase has been split. The phase starts at this position fDeltaQ LREAL The (signed) distance travelled fVelStart LREAL The (signed) velocity at the start fOrgVelStart LREAL The (signed) original velocity at the start. Only <> fVelStart if the phase as been split fVelEnd LREAL The (signed) velocity at the end fOrgVelEnd LREAL The (signed) original velocity at the end. Only <> fVelEnd if the phase as been split fAccStart LREAL The (signed) acceleration at the start fOrgAccStart LREAL The (signed) original acceleration at the start. Only <> fAccStart if the phase as been split fAccEnd LREAL The (signed) acceleration at the end fOrgAccEnd LREAL The (signed) original acceleration at the end. Only <> fAccEnd if the phase as been split fJerk LREAL The (signed) jerk, only used for type SMC_const_jerk fJerkEnd LREAL The (signed) jerk at the end of the phase. Only <> 0 if the phase has been cut fDuration LREAL The duration in seconds fOrgDuration LREAL The original duration of the phase. Only <> fDuration if the phase has been split fTimeOff LREAL The time offset. Only <> 0 if the phase has been split. fPosOff = phase(fTimeOff)

SMC_Q_LIMITS (STRUCT) ¶ TYPE SMC_Q_LIMITS : STRUCT InOut: Name Type fVMax LREAL fAccMax LREAL fDecMax LREAL fJerkMax LREAL fVMaxGlobal LREAL fJerkMaxGlobal LREAL fVelToAdd LREAL fAccToAdd LREAL

SMC_TG_DynState (STRUCT) ¶ TYPE SMC_TG_DynState : STRUCT InOut: Name Type Comment x LREAL position v LREAL velocity a LREAL acceleration j LREAL jerk

SMC_TG_MonotonicityParams (STRUCT) ¶ TYPE SMC_TG_MonotonicityParams : STRUCT InOut: Name Type fV LREAL fA LREAL fTolerance LREAL

SMC_TG_RAMP_BOUNDARIES (STRUCT) ¶ TYPE SMC_TG_RAMP_BOUNDARIES : STRUCT InOut: Name Type fV0 LREAL fV1 LREAL fA0 LREAL fA1 LREAL

Trapez ¶ SMC_TG_Ramp_Trapezoid (FunctionBlock) Interpolate (Method) Set (Method) To_Phases (Method) SMC_TG_Ramptype_Trapezoid (FunctionBlock) GetMonotonicityBoundariesEnd (Method) GetMonotonicityBoundariesStart (Method) IsAllowedAccelerationJump (Property) IsInterruptible (Property) Select (Method)

SMC_TG_Ramp_Trapezoid (FB) ¶ FUNCTION_BLOCK SMC_TG_Ramp_Trapezoid IMPLEMENTS SMC_TG_IRAMP Methods: Interpolate Set To_Phases Structure: Interpolate (Method) Set (Method) To_Phases (Method)