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