SM3_Robotics Library Documentation¶
- Company:
CODESYS
- Title:
SM3_Robotics
- Version:
4.18.0.0
- Categories:
Intern|SoftMotion
- Namespace:
SM3_Robotics
- Author:
CODESYS Development GmbH
- Placeholder:
SM3_Robotics
Description [1]¶
CODESYS SoftMotion functionality for robotics.
Supported compiler defines:
- SM3_PLCOPEN_PART4_LOG_GROUP_STATES
Log every change of the group state
- SM3_CPTR_COMPUTE_PATH_DYN
Compute the path derivatives in the CPTR kernel.
- SoftMotionPerformance
Measure the time consumed by implicit calls.
- SM3_CHECK_JERK_LIMITS
If set, the axis group also checks fSetJerk for limit violations. (Used for regression tests.)
- SM3_PLAN_IN_BUSTASK
If set, planning is executed in the bustask, with simplified heuristics for the maximum planning time (only for virtual applications on a Soft PLC).