SM3_Robotics¶

• Basic types
  • IDENT_IN_GROUP_REF_SM3 (Alias)
  • MC_CIRC_PATHCHOICE (Enum)
  • MC_COORD_REF (Struct)
  • MC_EXECUTION_MODE (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_DYN_LIMITS (Alias)
  • SMC_IDynamicCS (Interface)
  • SMC_ORIENTATION_MODE (Enum)
  • SMC_POS_REF (Union)
  • SMC_PTP_MOVEMENT_TYPE (Enum)
  • SMC_READ_TOOL_MODE (Enum)
• POUs
  • Additional
    • SMC_AxisDistanceAxes (Enum)
    • SMC_AxisDistanceSubMode (Enum)
    • SMC_AxisDistanceTransition (FunctionBlock)
    • SMC_AxisDistanceTransitionParam (Function)
    • SMC_CornerDistance (FunctionBlock)
    • SMC_CornerDistanceTransitionParam (Function)
    • SMC_StartVelocity (FunctionBlock)
    • SMC_StartVelocityAxes (Enum)
    • SMC_StartVelocityTransitionParam (Function)
    • SMC_StartupAxisGroup (FunctionBlock)
  • Administrative/Configuration
    • AxisGroup
      • MC_AddAxisToGroup (FunctionBlock)
      • MC_GroupDisable (FunctionBlock)
      • MC_GroupEnable (FunctionBlock)
      • MC_GroupReset (FunctionBlock)
      • MC_GroupSetPosition (FunctionBlock)
      • MC_RemoveAxisFromGroup (FunctionBlock)
      • MC_UngroupAllAxes (FunctionBlock)
      • SMC_DynLoad (Struct)
      • SMC_GroupAcceptsMovements (Function)
      • SMC_GroupEventLogging (FunctionBlock)
      • SMC_GroupPower (FunctionBlock)
      • SMC_GroupReadTool (FunctionBlock)
      • SMC_GroupSaveContinueData (FunctionBlock)
      • SMC_GroupSetLoad (FunctionBlock)
      • SMC_GroupSetPathTolerance (FunctionBlock)
      • SMC_GroupSetTool (FunctionBlock)
      • SMC_GroupSetUnits (FunctionBlock)
      • SMC_GroupUnits (Struct)
    • Computation
      • SMC_GroupUpdate (FunctionBlock)
      • SMC_SetMovementQueueBuffer (FunctionBlock)
      • SMC_TuneCPKernel (FunctionBlock)
    • Coordinate systems
      • MC_SetCoordinateTransform (FunctionBlock)
      • MC_SetDynCoordTransform (FunctionBlock)
      • MC_TrackConveyorBelt (FunctionBlock)
      • MC_TrackRotaryTable (FunctionBlock)
      • SMC_SetDynCoordTransformEx (FunctionBlock)
    • Dynamics
      • MC_GroupSetOverride (FunctionBlock)
      • SMC_GroupReadAxisLimitFactors (FunctionBlock)
      • SMC_GroupSetAncillaryAxisLimits (FunctionBlock)
      • SMC_GroupSetAncillaryPathLimits (FunctionBlock)
      • SMC_GroupSetAxisLimitFactors (FunctionBlock)
      • SMC_GroupSetDynamics (FunctionBlock)
      • SMC_SetDynamicLimitFactors (FunctionBlock)
    • Kinematics
      • MC_SetKinTransform (FunctionBlock)
      • SMC_KinConfigActivateAutomaticPeriods (FunctionBlock)
      • SMC_SetKinConfiguration (FunctionBlock)
    • Trigger
      • SMC_GroupPrepareTrigger (FunctionBlock)
      • SMC_GroupReadTrigger (FunctionBlock)
      • SMC_TRIGGER_ID (Alias)
      • SMC_TRIGGER_INFO (Struct)
      • SMC_TRIGGER_STATUS (Enum)
      • SMC_TriggerPosition (Union)
      • SMC_TriggerPositionType (Enum)
      • SMC_TriggerPosition_Plane (Struct)
  • AxisGroup
    • AXIS_GROUP_REF_SM3 (FunctionBlock)
    • Helpers
      • SMC_POSDATA_AddDist (Function)
    • Movements
      • SMC_AddAxes_Modulo_ApplyPeriod (Function)
      • SMC_AddAxes_Modulo_ClosestDestPos (Function)
      • SMC_Movement_Id_Inc (Function)
      • SMC_Movement_Id_Max (Function)
  • Diagnostics
    • MC_GroupReadActualAcceleration (FunctionBlock)
    • MC_GroupReadActualPosition (FunctionBlock)
    • MC_GroupReadActualVelocity (FunctionBlock)
    • MC_GroupReadConfiguration (FunctionBlock)
    • MC_GroupReadError (FunctionBlock)
    • MC_GroupReadStatus (FunctionBlock)
    • MC_ReadCoordinateTransform (FunctionBlock)
    • MC_ReadKinTransform (FunctionBlock)
    • SMC_GroupAddOffset (FunctionBlock)
    • SMC_GroupAdditionalAxesTargetPositions (FunctionBlock)
    • SMC_GroupConvertPosition (FunctionBlock)
    • SMC_GroupGetContinuePosition (FunctionBlock)
    • SMC_GroupGetContinueToolOffset (FunctionBlock)
    • SMC_GroupReadPathAcceleration (FunctionBlock)
    • SMC_GroupReadPathDynamics (FunctionBlock)
    • SMC_GroupReadPathVelocity (FunctionBlock)
    • SMC_GroupReadPlanningStatistics (FunctionBlock)
    • SMC_GroupReadPositionInMovement (FunctionBlock)
    • SMC_GroupReadRemainingTrajectoryDuration (FunctionBlock)
    • SMC_GroupReadSetAcceleration (FunctionBlock)
    • SMC_GroupReadSetJerk (FunctionBlock)
    • SMC_GroupReadSetPosition (FunctionBlock)
    • SMC_GroupReadSetVelocity (FunctionBlock)
    • SMC_GroupTargetPosition (FunctionBlock)
    • SMC_ReadKinTransformForAxis (FunctionBlock)
  • Movement
    • AdditionalAxes
      • SMC_MoveAdditionalAxesAbsolute (FunctionBlock)
      • SMC_MoveAdditionalAxesRelative (FunctionBlock)
    • GroupInterrupt
      • SMC_GroupInterruptAt (FunctionBlock)
      • SMC_GroupInterruptPosition (Union)
      • SMC_GroupInterruptPositionMvtRel (Struct)
    • MC_GroupContinue (FunctionBlock)
    • MC_GroupHalt (FunctionBlock)
    • MC_GroupInterrupt (FunctionBlock)
    • MC_GroupStop (FunctionBlock)
    • MC_MoveCircularAbsolute (FunctionBlock)
    • MC_MoveCircularRelative (FunctionBlock)
    • MC_MoveDirectAbsolute (FunctionBlock)
    • MC_MoveDirectRelative (FunctionBlock)
    • MC_MoveLinearAbsolute (FunctionBlock)
    • MC_MoveLinearRelative (FunctionBlock)
    • SMC_GroupEnableResumeAfterError (FunctionBlock)
    • SMC_GroupJog (FunctionBlock)
    • SMC_GroupJog2 (FunctionBlock)
    • SMC_GroupUpdateContinueData (FunctionBlock)
    • SMC_GroupWait (FunctionBlock)
    • SMC_MoveAdditionalAxes (FunctionBlock)
  • internal
    • Divers
      • SMC_JointType_From_MotorType (Function)
    • Kernel_CP
      • Helpers
        • PlanningTimer (FunctionBlock)