AbortingPathElems_EB (FUN) ¶ FUNCTION AbortingPathElems_EB : POINTER TO AbortingPathElem Returns the blending AbortingPathElem from E to B. InOut: Scope Name Type Inout Const ape AbortingPathElems Return AbortingPathElems_EB POINTER TO AbortingPathElem

AbortingPathElems_Invalidate (FUN) ¶ FUNCTION AbortingPathElems_Invalidate InOut: Scope Name Type Inout ape AbortingPathElems

ParamTransform_RemoveSuffix (FUN) ¶ FUNCTION ParamTransform_RemoveSuffix : BOOL InOut: Scope Name Type Return ParamTransform_RemoveSuffix BOOL Inout ptDst ParamTransform Inout Const ptSrc ParamTransform Input xCutPoint LREAL

ParamTransform_SanityCheck (FUN) ¶ FUNCTION ParamTransform_SanityCheck : BOOL InOut: Scope Name Type Return ParamTransform_SanityCheck BOOL Inout Const pt ParamTransform Input bZeroAllowed BOOL l LREAL

Path_UpdateCSPlanning (FUN) ¶ FUNCTION Path_UpdateCSPlanning InOut: Scope Name Type Inout path PathQueue Input counter ULINT

Public ¶ AxesDynState (Alias) AxisInfo (Struct) AxisInfos (Struct) AxisInfos_SetUnlimited (Function) AxisPeriods (Struct) ETrajectoryLimit (Enum) ETrajectoryState (Enum) FineInterpolator (FunctionBlock) ClearTrajectory (Method) EvalCurrentAxesPos (Method) Execute (Method) GetAxisPosition (Method) GetCartPositionWithTimeOffset (Method) GetCurrentDynInfo (Method) GetCurrentRelPos (Method) GetIpoBufferDurations (Method) GetPathPosition (Method) HasReachedEndOfMovement (Method) HasValidPosition (Method) Init (Method) InitTrjInfo (Method) IsInSync (Method) IsStopped (Method) IsTrackingDynCS (Method) ReadTrajectoryDuration (Method) Reinit (Method) Reset (Method) SetDynAxesState (Method) SetDynVTracker (Method) StartCycle (Method) WaitForSamplesAtCurrentPosition (Method) FineInterpolator_TriggersIter (FunctionBlock) Advance (Method) Get (Method) Init (Method) FineInterpolator_TrjDuration (FunctionBlock) CalcToPos (Method) Init (Method) FineInterpolator_TrjInfo (Struct) IDynVTracker (Interface) Track (Method) IEndOfElemObserver (Interface) OnEndOfElemReached (Method) ITrackingContext (Interface) AncillaryAxisLimits (Property) AxesOverrideFactors (Property) CommandedAxisLimits (Property) PathTolerance (Property) ToolOffset (Property) Trafo (Property) IpoResult (Struct) IpoResult_AbsoluteStandstill (Function) IpoTracker (FunctionBlock) PathElemAxisPos (Struct) PathElemOff (Struct) PathElemOff_ElemFun (Function) PathElemOff_FindByS (Function) PathElemOff_FindBySegmentId (Function) PathElemOff_GetId (Function) PathElemOff_GetInterpolationParameterAtEnd (Function) PathElemOff_GetSegment (Function) PathElemQueue (FunctionBlock) Append (Method) Capacity (Method) Full (Method) GetFromEnd (Method) GetFromStart (Method) GetReadPos (Method) GetWritePos (Method) HasSpaceFor (Method) Init (Method) IsEmpty (Method) NumElems (Method) RemoveAll (Method) RemoveFirst (Method) Reset (Method) SetPointer (Method) SetReadPos (Method) SetWritePos (Method) SpaceElemFunsLeft (Method) SpaceElemsLeft (Method) StartCycle (Method) PathElemQueue_EndOfSegment (Function) PathElemQueue_ReadWritePos (Struct) PathElemQueue_StartOfSegment (Function) PathPosition (Struct) PathPosition_Equal (Function) PathPosition_FromPathElem (Function) PathPosition_GreaterEq (Function) PathPosition_IsValid (Function) PathPosition_LessEq (Function) PlannerTime (FunctionBlock) GetPlannerTime (Method) Init (Method) IsActive (Method) OnNewSafeTrajectory (Method) OnSamplesPlanned (Method) OnTrajectoryDone (Method) Reset (Method) SetBusTaskCounter (Method) SetIdle (Method) SetIpoStart (Method) SegmentId (Alias) SegmentId_Inc (Function) TrackingContextFromPathElem (FunctionBlock) AncillaryAxisLimits (Property) AxesOverrideFactors (Property) CommandedAxisLimits (Property) PathTolerance (Property) ToolOffset (Property) Trafo (Property) TrajectoryId (Alias) TrajectoryId_LessEq (Function) TrajectoryPlanner_FillOutPath (FunctionBlock) TrajectoryPlanner_GetLookaheadMarker (Function) TrajectoryPlanner_MVC (FunctionBlock) TrajectoryPlanner_UpdateLookaheadMarker (Function) TrajectorySampler (FunctionBlock) Execute (Method) GetPhaseType (Method) IsBuffering (Method) Reset (Method) StartNewSegment (Method) Trj_BusTaskCycleInfo (Struct) Trj_BusTaskCycleInfo_AddTimeOffset (Function) Trj_BustaskCycleInfo_Ceil (Function) Trj_BustaskCycleInfo_IsLessThan (Function) Trj_BustaskCycleInfo_SetZero (Function) Trj_BustaskCycleInfo_ToTime (Function) Trj_BustaskCycle_Diff (Function) Trj_DebugData (Struct) Trj_PlanningSampleQueue (FunctionBlock) AddSampleToBuffer (Method) CommitBufferedSamples (Method) GetBufferDuration (Method) GetEndState (Method) GetQueueDuration (Method) GetTotalDuration (Method) Init (Method) Reinit (Method) Reset (Method) Trj_Sample (Struct) Trj_SampleQueue (FunctionBlock) AddReadCursorTimeOffset (Method) Append (Method) CopyRange (Method) Full (Method) GetDuration (Method) GetFromEnd (Method) GetFromStart (Method) GetReadPos (Method) GetSampleDuration (Method) GetWritePos (Method) Init (Method) IsEmpty (Method) NumElems (Method) RemoveAll (Method) RemoveFirst (Method) Reset (Method) SetPointer (Method) SetReadPos (Method) SetWritePos (Method) SpaceLeft (Method) Trj_SampleQueue_Cursor (Struct) Trj_SampleQueue_EndsInStandstill (Function) Trj_SampleQueue_GetDynStateWithTimeOffset (Function) Trj_SampleQueue_GetNextStandstill (Function) Trj_SampleQueue_InitDynState (Function) Trj_SampleQueue_Interpolate (Function) Trj_SampleQueue_IsFilled (Function) Trj_Sample_IsEndOfPath (Function) Trj_Sample_IsSynchronized (Function) Trj_Sample_ScheduleInfo (Struct) Trj_Samples_CorrectTaskCycleGap (Function) Trj_Samples_TaskCycleGapInbetween (Function)

Path_GetPausePosition (FUN) ¶ FUNCTION Path_GetPausePosition : BOOL InOut: Scope Name Type Return Path_GetPausePosition BOOL Inout path PathQueue ppPause PathPosition Input externalID ULINT relPos LREAL

Path_IsPosAtElementId (FUN) ¶ FUNCTION Path_IsPosAtElementId : BOOL Uses PathElem_FindByS_LeftRight to search for the possible PathElem range at the specified position . Returns whether the PathElem range contains the specified pathElemId by calling PathElemRange_ContainsId . InOut: Scope Name Type Inout Const path PathQueue position PathPosition Input pathElemId PathElem_Id Return Path_IsPosAtElementId BOOL

Path_EndOfSegment (FUN) ¶ FUNCTION Path_EndOfSegment : POINTER TO PathElem InOut: Scope Name Type Inout Const path PathQueue Input segment SegmentId Return Path_EndOfSegment POINTER TO PathElem Output k UDINT dS1 LREAL

Path_EvalCache_ClearBefore (FUN) ¶ FUNCTION Path_EvalCache_ClearBefore : SMC_ERROR Removes all elements before the k-th from both path and cache. Fails if the path does not contain at least MAX(0, k-1) elements. InOut: Scope Name Type Inout path PathQueue cache Trj_EvalCache Input k UDINT Return Path_EvalCache_ClearBefore SMC_ERROR