TYPE SMC_GEOINFO : STRUCT
This data type is designed to store a path object, i.e. a segment of the programmed path, for example a line, arc or spline segment. In addition to the geometry of these objects, further information can be stored as for example the velocity at the beginning/end of the path or as labels.
Note
As from V3.5 SP2 of the programming system, iSourceLine_No stores the line number of the CNC word and the sentence number is stored in diSentenceNo. In former versions, in particular CODESYS V2.3, the sentence number has been stored in iSourceLine_No.
The parameters dP1 -- dP18 are used for specific use cases.
Depending on iMoveType, these parameters contain different information:
LIN, LINPOS
Complete information stored in piStartPos and piDestPos
CLW, CCLW
The coordinates are stored in the coordinate system (vX, vY, vN).
dP1: X-coordinate of circle center
dP2: Y-coordinate of circle center
dP3: Circle radius
dP4: Z-coordinate of circle
SPLINE
dP1-dP8: Spline parameter
dP9-dP18: Additional spline parameter
ELLCLW, ELLCCLW
dP1: X-coordinate of circle center
dP2: Y-coordinate of circle center
dP3: X-component of the main axis unit vector
dP4: Y-component of the main axis unit vector
dP5: Length of the main axis
dP6: Length of the subaxis
dP7: Angle between main axis and X axis (in rad)
dP8: Ratio P6/P5
INITPOS
-- MCOMMAND: for M-commands (iMoveType = 120) the M-function number SMC_GetMParameters during Interpolation.
dT1 and dT2 are the start and end parameters for circle/spline.
LIN, LINPOS
Complete information stored in piStartPos and piDestPos
CLW, ELLCLW
dT1: Start angle in degree, oriented mathematically (0=east, 90=north, 180=west, 270=south)
dT2: Apex angle of circle in degree (e.g. 90=quarter of circle, 180 = semicircle)
CCLW, ELLCCLW
dT1: Start angle in degree oriented mathematically (0=east, 90=north, 180=west, 270=south)
dT2: Negative apex angle of circle in degree (e.g. -90=quarter of circle, -180 = semicircle)
SPLINE
Start and end value of parameter t, Spline, 0 and 1 by default.
INITPOS
--
InOut:
|
Name |
Type |
Initial |
Comment |
|
iObjNo |
DINT |
0 |
Arbitrary object number (irrelevant for current path description). It's a 1-based, consecutive ID. |
|
iSourceLine_No |
DINT |
0 |
Stores the 0-based line number inside the CNC source file |
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diSentenceNo |
DINT |
0 |
Stores the G-code sentence number (value of the N-word) |
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iMoveType |
Value defining the geometrical type of the object. SMC_MOVTYP (ENUM) |
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piStartPos |
Structure exactly describing the start position of the object. Will be ignored in case of iMoveType = INITPOS. |
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piDestPos |
Structure exactly describing end position of the object |
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dP1 |
LREAL |
0 |
|
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dP2 |
LREAL |
0 |
|
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dP3 |
LREAL |
0 |
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dP4 |
LREAL |
0 |
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dP5 |
LREAL |
0 |
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dP6 |
LREAL |
0 |
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dP7 |
LREAL |
0 |
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dP8 |
LREAL |
0 |
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dP9 |
LREAL |
0 |
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dP10 |
LREAL |
0 |
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dP11 |
LREAL |
0 |
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dP12 |
LREAL |
0 |
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dP13 |
LREAL |
0 |
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dP14 |
LREAL |
0 |
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dP15 |
LREAL |
0 |
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dP16 |
LREAL |
0 |
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dP17 |
LREAL |
0 |
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dP18 |
LREAL |
0 |
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vX |
SMC_Vector3D |
STRUCT(dX := 1, dY := 0, dZ := 0) |
X-axis of the local coordinate system, expressed in world coordinates. |
|
vY |
SMC_Vector3D |
STRUCT(dX := 0, dY := 1, dZ := 0) |
Y-axis of the local coordinate system, expressed in world coordinates. |
|
vN |
SMC_Vector3D |
STRUCT(dX := 0, dY := 0, dZ := 1) |
Z-axis of the local coordinate system, expressed in world coordinates. |
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dT1 |
LREAL |
0 |
Start parameter for circle/spline |
|
dT2 |
LREAL |
1 |
End parameter for circle/spline |
|
dToolRadius |
LREAL |
0 |
Information necessary for path processing with SMC_ToolCorr or SMC_RoundPath. Irrelevant else. |
|
dVel |
LREAL |
0 |
Target velocity to be reached (in path units/sec) |
|
dVelEnd |
LREAL |
0 |
Prescribed velocity at end of object (path units/sec) |
|
dVelEndStored |
LREAL |
Maximum speed at end of segment before call to SMC_CheckVelocities. |
|
|
dVelEndSafe |
LREAL |
0 |
Computed for the quadratic velocity profile: maximum <= dVelEnd that allows to reach dVelEndSafe of the next element. May be -1 if the next element has identical values for acceleration, deceleration, and velocity. |
|
dAccel |
LREAL |
100 |
Maximum allowable acceleration (in path units/sec²) |
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dDecel |
LREAL |
100 |
Maximum allowable deceleration (in path units/sec²) |
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dLength |
LREAL |
0 |
Length of object in path units |
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wInternMark2 |
WORD |
0 |
Intern marks for tool correction, rounding, etc. |
|
byInternMark |
BYTE |
0 |
Start and end of path preprocessing actions:
|
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dwFeatureFlags |
DWORD |
If TRUE, the object is a 3D-object |
|
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b3DMode |
BOOL |
FALSE |
Stores feature bits set by G38/G39 |
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dHelpPos |
ARRAY [0..MAX_IPOSWITCHES] OF LREAL |
Relative position of auxiliary switches (0: object start, 1: object end, similar to G-code: O) |
|
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iHelpID |
ARRAY [0..MAX_IPOSWITCHES] OF INT |
ID (G-code: H) of auxiliary switches. If the current object is of type MCOMMAND, iHelpID[0] will contain the number of the M-option. |
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adVelAddAx |
ARRAY [0..7] OF LREAL |
If value <> 0, then it specifies the velocity values for following use:
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adAccAddAx |
ARRAY [0..7] OF LREAL |
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adDecAddAx |
ARRAY [0..7] OF LREAL |
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aAdditionalParams |
ARRAY [0..(SMC_MAX_ADDITIONAL_PARAMS - 1)] OF LREAL |
Additional parameters set by G38 I/J/K |
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adToolLength |
ARRAY [0..2] OF LREAL |
Parameters for tool length compensation (set by G43 I/J/K) |
