Trj_Epsilons (ALIAS) ¶ TYPE Trj_Epsilons : SM3_TrajectoryGeneration.Dyn_Epsilons

Trj_FailureCause (ENUM) ¶ TYPE Trj_FailureCause : Possible failure-causes of the CP-Planner ( Trj_CP_Single ). A failure is a condition that prevents to use the maximum admissible jerk for the next planning cycle. Attributes: qualified_only InOut: Name Comment None No failure occurred TimeBudgetExceeded The time budget given to the scheduler has been exceeded. MaxIterExceeded The maximum number of iterations has been exceeded. LimitViolated A limit of an axis has been violated. Other Some other error has occurred. See the SMC_Error value.

Trj_CP_Sampler (FB) ¶ FUNCTION_BLOCK FINAL Trj_CP_Sampler Methods: CreateSamples Structure: CreateSamples (Method)

Trj_CP_Sampler.CreateSamples (METH) ¶ METHOD FINAL CreateSamples : SMC_ERROR InOut: Scope Name Type Inout sampleQueue Trj_PlanningSampleQueue trs Trj_State bFirstSample BOOL stats Trj_Statistics Inout Const result Trj_PlanningResult cfg Trj_PlanningConfig Input dMinTime LREAL nTrajectory TrajectoryId Return CreateSamples SMC_ERROR Output bTrajectoryDone BOOL dTSamplesProduced LREAL

Trj_CP_Stop.Compute (METH) ¶ METHOD FINAL Compute : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext iv Trj_Interval tiv Trj_TargetInterval jerkBounds Trj_JerkBounds timer SMRB.TimerHires result Trj_PlanningResult plTime PlannerTime Inout Const cfg Trj_PlanningConfig trsInit Trj_State Input dTau1_I LREAL Return Compute BOOL Output trjDur LREAL trjEnd LREAL

Trj_CP_Target (FB) ¶ FUNCTION_BLOCK FINAL Trj_CP_Target Methods: Compute Structure: Compute (Method)

Trj_CP_Stop (FB) ¶ FUNCTION_BLOCK FINAL Trj_CP_Stop Methods: Compute Structure: Compute (Method)

Basic types ¶ IDENT_IN_GROUP_REF_SM3 (Alias) MC_CIRC_PATHCHOICE (Enum) MC_COORD_REF (Struct) MC_EXECUTION_MODE (Enum) MC_SOURCE (Enum) MC_TRANSITION_MODE (Enum) SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS (Struct) SMC_AXIS_GROUP_CONTINUE_DATA (FunctionBlock) SMC_AXIS_GROUP_STATE (Enum) SMC_CIRC_MODE (Enum) SMC_COORD_SYSTEM (Alias) SMC_DYN_LIMITS (Alias) SMC_IDynamicCS (Interface) SMC_ORIENTATION_MODE (Enum) SMC_POS_REF (Union) SMC_PTP_MOVEMENT_TYPE (Enum) SMC_READ_TOOL_MODE (Enum)

IDENT_IN_GROUP_REF_SM3 (ALIAS) ¶ TYPE IDENT_IN_GROUP_REF_SM3 : UDINT 0-based identifier of the axes of an axis group

MC_CIRC_PATHCHOICE (ENUM) ¶ TYPE MC_CIRC_PATHCHOICE : Determines the direction of arc segments. See MC_MoveCircularAbsolute and MC_MoveCircularRelative . Attributes: qualified_only InOut: Name CLOCKWISE COUNTER_CLOCKWISE