Kin_Wrist2.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)
Kin_Wrist2.GetOrientationImageTotal (METH) ¶ METHOD GetOrientationImageTotal : SM3_Error.SMC_ERROR InOut: Scope Name Type Return GetOrientationImageTotal SM3_Error.SMC_ERROR Inout oriInfo OrientationSpace Inout Const oriInfoBase OrientationSpace
Kin_Wrist2.GetOrientationImageWithOri (METH) ¶ METHOD GetOrientationImageWithOri : SMC_ERROR InOut: Scope Name Type Return GetOrientationImageWithOri SMC_ERROR Inout oriInfo OrientationSpace csOriKin MCS_OR_FLANGE bActive BOOL Inout Const mR_flange SM3M.SMC_Matrix3 aRef AXISPOS_REF cd CONFIGDATA oriInfoBase OrientationSpace
Kin_Gantry3.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT
Kin_Gantry3.ProjectPosition (METH) ¶ METHOD ProjectPosition InOut: Scope Name Type Inout vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D
Kin_HGantry2 (FB) ¶ FUNCTION_BLOCK Kin_HGantry2 IMPLEMENTS ISMPositionKinematics_Offset , ISMPositionKinematicsInternal, ISMKinematicWithInfo2 Transformation FB for a 2-axis H gantry. The kinematics configuration is similar to that described in Kin_Gantry2 . However, the drives are mounted stationary. They move the y-axis rail and slider by means of a drive belt on the perimeter of the frame. (see picture aside; belt in pink). Machine coordinate system (MCS) Origin Location of the TCP when the position values of both axes are 0. X The X axis is defined so that a positive velocity on the first axis (a0) together with a negative velocity of the same amount on the second axis (a1), leads to a movement purely along the X axis in positive direction. Y The Y axis is defined so that negative velocities of the same amount on both axes, lead to a movement purely along the Y axis in positive direction. The location of the tool coordinate system (TCS) relative to the MCS in zero position: Tool coordinate system (TCS) Origin Relative to MCS: dX = 0 dY = 0 dZ = 0 X Along the X-Axis of the MCS in positive direction Y Along the Y-Axis of the MCS in positive direction Z Along the Z-Axis of the MCS in positive direction The transformation is adequate for the following axes configurations (other configurations can be reached by interchanging A and B): The single axes values have the following interpretation: a0 position of the 1st axis of the machine (A) a1 position of the 2nd axis of the machine (B) Attributes: sm_kin_libdoc Properties: NumAxes Methods: AxesToCartesian AxesToOrientation CartesianToAxes CartesianToAxes_Offset GetAxisProperties GetKinematicsName GetOrientationImage IsSingularity ProjectPosition Structure: AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method)
Kin_HGantry2.AxesToCartesian (METH) ¶ METHOD AxesToCartesian : SMC_Error InOut: Scope Name Type Return AxesToCartesian SMC_Error Inout f SMC_Frame cd CONFIGDATA Inout Const a AXISPOS_REF
CmpIecTask Library Documentation ¶ Company : System Title : CmpIecTask Version : 3.5.20.30 Categories : System|SysLibs Author : CODESYS Development GmbH Placeholder : CmpIecTask Description [ 1 ] ¶ Library to get access to the IEC-task manager. Contents: ¶ EventIDs (GVL) EventParameter EVTPARAM_CmpIecTask (Struct) EVTPARAM_CmpIecTask2 (Struct) EVTPARAM_CmpIecTask_OmittedCycleCounters (Struct) IEC_CYCLE_STRUCT (Struct) IecTaskCreate (Function) IecTaskCreate2 (Function) IecTaskDelete2 (Function) IecTaskDelete3 (Function) IecTaskDisableScheduling (Function) IecTaskDisableWatchdog (Function) IecTaskDisableWatchdog2 (Function) IecTaskEnableScheduling (Function) IecTaskEnableWatchdog (Function) IecTaskEnableWatchdog2 (Function) IecTaskGetCurrent (Function) IecTaskGetDesc (Function) IecTaskGetFirst (Function) IecTaskGetInfo3 (Function) IecTaskGetNext (Function) IecTaskGetOmittedCycleCounters (Function) IecTaskGetProfiling (Function) IecTaskGetWatchdogHitCount (Function) IecTaskOmittedCycleCounters (Struct) IecTaskReload (Function) IecTaskResetStatistics (Function) Jitter_Distribution (Struct) TaskState (GVL) TaskType (GVL) Task_Desc (Struct) Task_Desc2 (Struct) Task_Info2 (Struct) Task_WatchdogHitCount (Struct) Timeout (GVL) Version (GVL) Indices and tables ¶ [ 1 ] Based on CmpIecTask.library, last modified 18.09.2024, 16:35:16. LibDoc 4.5.0.0 The content file CmpIecTask.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 18.09.2024, 16:35:18.
EventIDs (GVL) ¶ InOut: Scope Name Type Initial Comment Constant CMPID_CmpIecTask DWORD 16#11 ComponentID of CmpIecTask EVTPARAMID_CmpIecTask WORD 16#1 EVTVERSION_CmpIecTask WORD 16#1 EVTPARAMID_CmpIecTask_OmittedCycleCounters WORD 16#2 EVTVERSION_CmpIecTask_OmittedCycleCounters WORD 16#1 EVT_AfterReadingInputs DWORD 16#10001 Event parameter: EVTPARAM_CmpIecTask2 EVT_BeforeWritingOutputs DWORD 16#10002 Event parameter: EVTPARAM_CmpIecTask2 EVT_BeforeReadingInputs DWORD 16#10003 Event parameter: EVTPARAM_CmpIecTask2 EVT_AfterWritingOutputs DWORD 16#10004 Event parameter: EVTPARAM_CmpIecTask2 EVT_IecTask_ReloadInit DWORD 16#10005 Event parameter: EVTPARAM_CmpIecTask2 EVT_IecTaskCreateDone DWORD 16#10006 Event parameter: EVTPARAM_CmpIecTask2 EVT_IecTaskPrepareDelete DWORD 16#10007 Event parameter: EVTPARAM_CmpIecTask2 EVT_IecTaskDebugLoop DWORD 16#10008 Event parameter: EVTPARAM_CmpIecTask2 EVT_IecTaskOmittedCycleCounters DWORD 16#10009 Event parameter: EVTPARAM_CmpIecTask_OmittedCycleCounters
EventParameter ¶ EVTPARAM_CmpIecTask (Struct) EVTPARAM_CmpIecTask2 (Struct) EVTPARAM_CmpIecTask_OmittedCycleCounters (Struct)
