SMC_ArticulatedRobot_6DOF_J1_State (ENUM) ¶ TYPE SMC_ArticulatedRobot_6DOF_J1_State : The possible configuration states of joint 1 of the 6DOF robot arm. InOut: Name Comment SMC_AR_ELBOWUP The “elbow” is pointing upwards SMC_AR_ELBOWDOWN The “elbow” is pointing downwards SMC_AR_ELBOWSTRAIGHT The arm is fully stretched (singular case)
AXIS_REF_CAN_SM3.Device (PROP) ¶ PROPERTY Device : CiA405.Device
AXIS_REF_CAN_SM3.Network (PROP) ¶ PROPERTY Network : USINT
SMC_ArticulatedRobot_6DOF_J4_State (ENUM) ¶ TYPE SMC_ArticulatedRobot_6DOF_J4_State : The possible configuration states of joint 4 of the 6DOF robot arm. InOut: Name Comment SMC_AR_HANDDOWN The hand is pointing “down”, i.e. q4 > 0 SMC_AR_HANDUP The hand is pointing “up”, i.e. q4 < 0 SMC_AR_HANDSTRAIGHT The hand is straight (q4 ~ 0), singular case
ParameterAccess ¶ GetMappedDriveParameter (Method)
AXIS_REF_CAN_SM3.GetMappedDriveParameter (METH) ¶ METHOD GetMappedDriveParameter : BOOL InOut: Scope Name Type Input bRead BOOL diParameterNumber DINT Return GetMappedDriveParameter BOOL Output diDriveParameterNumber DINT usiDataLength USINT
state machine ¶ CommunicationStateMachine (Method)
SMC_TrafoConfig_4AxisPalletizer (STRUCT) ¶ TYPE SMC_TrafoConfig_4AxisPalletizer : STRUCT These parameters describe a 4-axis palletizer robot as used by the transformations SMC_Trafo_4AxisPalletizer and SMC_TrafoF_4AxisPalletizer. InOut: Name Type Comment d1 LREAL Denavit-Hartenberg Parameter d1 [u] a1 LREAL Denavit-Hartenberg Parameter a1 [u] a2 LREAL Denavit-Hartenberg Parameter a2 [u] a3 LREAL Denavit-Hartenberg Parameter a3 [u] a4 LREAL Denavit-Hartenberg Parameter a4 [u[ d5 LREAL Denavit-Hartenberg Parameter d5 [u]
AXIS_REF_CAN_SM3.CommunicationStateMachine (METH) ¶ METHOD CommunicationStateMachine : BOOL InOut: Scope Name Type Return CommunicationStateMachine BOOL
ENCODER_REF_CAN_SM3.DoAcyclicCommunication (METH) ¶ METHOD DoAcyclicCommunication : BOOL InOut: Scope Name Type Input xAfterApplication BOOL Return DoAcyclicCommunication BOOL