SMC_RecomputeABCSlopes (FB)¶

FUNCTION_BLOCK SMC_RecomputeABCSlopes

Recomputes the slopes of the additional axes A,B,C so that a smooth movement results. The slope at the end of elemnt i is set as (AddAxisValue(i+1) - AddAxisValue(i-1)) / (ElementLength(i) + ElementLength(i+1)). At a stop, the slope is either set to zero, or set so that the interpolation of the additional axis is linear, depending on the input modeAtStop.

InOut:

Scope	Name	Type	Initial	Comment
Input	`bExecute`	`BOOL`		Starts on the rising edge
	`poqDataIn`	POINTER TO SMC_OUTQUEUE		Input path queue
	`nSizeOutQueue`	`UDINT`		The size of `pbyBufferOutQueue` in bytes
	`pbyBufferOutQueue`	POINTER TO ARRAY [0..0] OF SMC_GEOINFO		The buffer for the output queue
	`dAngleTol`	`LREAL`	0.001	The angle tolerence (in angular degrees) to detect stops between elements
	`modeNoStop`	SMC_ABC_SLOPES_NO_STOP		Determines how the slope is set at element transitions without a stop. The default is SET_SMOOTH_CARDINAL.
	`modeAtStop`	SMC_ABC_SLOPES_AT_STOP		Determines how the slope is set at element transitions with a stop. The default, due to compatibility with older versions, is SET_ZERO.
Output	`bDone`	`BOOL`		Indicates the entire input path has been processed
	`bBusy`	`BOOL`		Indicates the function block is still busy processing
	`bError`	`BOOL`		An error has occurred
	`wErrorID`	`SMC_ERROR`		Error-ID
	`poqDataOut`	POINTER TO SMC_OUTQUEUE		The queue for the output path

Structure:

DoBeforeLeave (Action)