AXIS_REF_SERVO.DriverName (PROP) ¶ PROPERTY DriverName : STRING(16)
Kin_CAxis (FB) ¶ FUNCTION_BLOCK Kin_CAxis IMPLEMENTS ISMToolKinematics2 , ISMKinematicWithInfo2 , ISMKinematicWithConfigurations4 , ISMKinPeriodHandling , ISMKinematicWithInitialization , ISMOrientationKinematicsWithOriImage Transformation FB for a C-axis. The TCP will only be turned around the Z axis. It will not be shifted as in Kin_CAxis_Tool . The single axes values have the following interpretation: a0 angle [deg] of the yaw/C axis The zero position of the kinematics can be adjusted by defining a constant offset for the axis. See input dOffsetC . The working space for this transformation are all orientations except for those that are rotated around the X or Y axis by 180°. These are exactly the orientations where to z-axis of the tool points in the opposite direction of the z-axis of the base coordinate system. Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Input dOffsetC LREAL Additional offset of axis C. This offset is subtracted before the forward transformation and added after the inverse transformation. Properties: NumAxes Methods: ActivateAutomaticRotaryPeriods AxesToCartesian CPConnectible CartesianToAxes GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetKinematicsName GetOrientationImage GetPeriods GetPositionFromOrientation GetPositionFromOrientation2 Initialize IsCompatibleWithPosKin IsConfigSingular IsInitialized IsSingularity Structure: ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) Initialize (Method) IsCompatibleWithPosKin (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property)
Kin_CAxis_Tool (FB) ¶ FUNCTION_BLOCK Kin_CAxis_Tool IMPLEMENTS ISMToolKinematics2 , ISMKinematicWithInfo2 , ISMKinematicWithConfigurations4 , ISMKinPeriodHandling , ISMOrientationKinematicsWithOriImage Transformation for a C-axis tool with a fixed offset. The origin of the TCP coordinate system is shifted by the given offset from the origin of the flange coordinate system. For a0 = 0°, the orientation of the TCP coordinate system equals the orientation of the flange coordinate system. The single axes values have the following interpretation: a0 angle [deg] of the yaw/C axis The zero position of the kinematics can be adjusted by defining a constant offset for the axis. See input dOffsetC . The working space for this transformation are all orientations except for those that are rotated around the X or Y axis by 180°. These are exactly the orientations where to z-axis of the tool points in the opposite direction of the z-axis of the base coordinate system. Note: The inputs ‘dToolX, dToolY and dToolZ’ are the offsets of the base coordinate system to the flange coordinate system. To configure arbitrary tools (with offset and rotation), see the function block SMC_GroupSetTool. Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Input dToolX LREAL offset in X direction. dToolY LREAL offset in Y direction. dToolZ LREAL offset in Z direction. dOffsetC LREAL Additional offset of axis C. This offset is subtracted before the forward transformation and added after the inverse transformation. Properties: NumAxes Methods: ActivateAutomaticRotaryPeriods AxesToCartesian CPConnectible CartesianToAxes GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetKinematicsName GetOrientationImage GetPeriods GetPositionFromOrientation GetPositionFromOrientation2 IsCompatibleWithPosKin IsConfigSingular IsSingularity Structure: ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsConfigSingular (Method) IsSingularity (Method) NumAxes (Property)
Kin_Tool (FB) ¶ FUNCTION_BLOCK Kin_Tool IMPLEMENTS ISMToolKinematics2 , ISMKinematicWithInfo2 , ISMOrientationKinematicsWithOriImage Transformation with a constant translation. The TCP will be shifted about a constant position vector (dToolX, dToolY, dToolZ). The orientation of this kinematics is not changed with respect to the base (position) kinematics. Note: The inputs ‘dToolX, dToolY and dToolZ’ are the offsets of the base coordinate system to the flange coordinate system. To configure arbitrary tools (with offset and rotation), see the function block SMC_GroupSetTool. Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Input dToolX LREAL Offset in X direction. dToolY LREAL Offset in Y direction. dToolZ LREAL Offset in Z direction. Properties: NumAxes Methods: AxesToCartesian CartesianToAxes GetAxisProperties GetKinematicsName GetOrientationImage GetPositionFromOrientation GetPositionFromOrientation2 IsCompatibleWithPosKin IsSingularity Structure: AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property)
Kin_Wrist2 (FB) ¶ FUNCTION_BLOCK Kin_Wrist2 IMPLEMENTS ISMToolKinematics2 , ISMOrientationKinematics3 , ISMKinematicWithInfo2 , ISMKinematicWithConfigurations , ISMOrientationKinematicsWithOriImage2 Transformation FB for a 2-axis inline wrist, where a0 rotates around the Z axis and a1 around the new Y axis. The single axes values have the following interpretation: a0 angle [deg] of the yaw axis (azimuth, A) a1 angle [deg] of the roll axis (inclination, B) If the kinematics is attached to a flange with constant orientation, the roll axis a1 can have an offset relative to the base coordinate system rotated by a0. Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Input dToolLength LREAL Offset from center of rotation of the roll axis a1 in radial direction to the flange of the kinematics. Measured along the Z-axis of the flange coordinate system. dRollAxisOffsetX LREAL Offset of the roll axis a1 in X direction from the origin of the base coordinate system rotated by a0. dRollAxisOffsetY LREAL Offset of the roll axis a1 in Y direction from the origin of the base coordinate system rotated by a0. dRollAxisOffsetZ LREAL Offset of the roll axis a1 in Z direction from the origin of the base coordinate system rotated by a0. Properties: NumAxes Methods: AxesToCartesian CartesianToAxes GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetKinematicsName GetOrientationImageTotal GetOrientationImageWithOri GetPositionFromOrientation GetPositionFromOrientation2 GetPositionFromOrientation3 IsCompatibleWithPosKin IsSingularity Structure: AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImageTotal (Method) GetOrientationImageWithOri (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) GetPositionFromOrientation3 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property)
Kin_Wrist3 (FB) ¶ FUNCTION_BLOCK Kin_Wrist3 IMPLEMENTS ISMToolKinematics2 , ISMKinematicWithInfo2 , ISMKinematicAxisSettings , ISMKinematicWithConfigurations , ISMOrientationKinematicsWithOriImage , ISMKinematicWithInitialization Transformation FB for a 3-axis inline wrist, where a0 rotates around the Z axis, a1 around the new Y axis, and a2 around the new Z-axis. The tool points in direction of the negative Z-axis of the TCP coordinate system. All three axes of rotation intersect in one point, called the wrist center. (This kinematics is also called spherical wrist, or euler wrist.) joint number joint offset link offset d_i link length a_i link twist 0 0° 0 0 90° 1 0° 0 0 -90° 2 0° dToolOffsetZ 0 0° The axis values have the following interpretation: a0 angle [deg] of rotation around the z-axis of the flange coordinate system (A) a1 angle [deg] of rotation around the modified negative y-axis (B) a2 angle [deg] of rotation around the modified z-axis (C) The zero position of the kinematics can be adjusted by defining constant offsets for the axes. See inputs dOffsetA , dOffsetB and dOffsetC . The axes are constrained as follows: Axis Constraints a0 Unlimited a1 [-180°, 180°] a2 Unlimited Note: Custom limits for axis a1 have to be in the range otherwise an error is reported. Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Input dToolOffsetX LREAL Offset from the wrist center to the flange of the kinematics. Measured along the X-axis of the flange coordinate system. dToolOffsetY LREAL Offset from the wrist center to the flange of the kinematics. Measured along the Y-axis of the flange coordinate system. dToolOffsetZ LREAL Offset from the wrist center to the flange of the kinematics. Measured along the Z-axis of the flange coordinate system. dOffsetA LREAL Additional offset of axis A. This offset is subtracted before the forward transformation and added after the inverse transformation. dOffsetB LREAL Additional offset of axis B. This offset is subtracted before the forward transformation and added after the inverse transformation. dOffsetC LREAL Additional offset of axis C. This offset is subtracted before the forward transformation and added after the inverse transformation. Properties: NumAxes Methods: AxesToCartesian AxisSettings CartesianToAxes GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetKinematicsName GetOrientationImage GetPositionFromOrientation GetPositionFromOrientation2 Initialize IsCompatibleWithPosKin IsInitialized IsSingularity Structure: AxesToCartesian (Method) AxisSettings (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) Initialize (Method) IsCompatibleWithPosKin (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property)
Positioning Kinematics ¶ Gantry Systems Kin_Gantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Gantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_TGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Parallel Systems Kin_Bipod_Rotary (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Tripod_Linear (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) Initialize (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Tripod_Rotary (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) Initialize (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Pos_RRR Configuration Kin_Pos_RRR_Arm_State (Enum) Kin_Pos_RRR_Config (FunctionBlock) Kin_Pos_RRR_Elbow_State (Enum) Kin_Pos_RRR_ReadConfig (FunctionBlock) Kin_Pos_RRR (FunctionBlock) AxesToCartesian (Method) AxesToCartesian_Offset (Method) AxesToConfiguration_Offset (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Scara Systems Configuration Kin_Scara2_Z_Config (FunctionBlock) Kin_Scara2_Z_ReadConfig (FunctionBlock) Kin_Polar (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Polar_Z (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Scara2_Z (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxesToConfiguration_Offset (Method) AxesToOrientation (Method) CPConnectible (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) IsConfigSingular (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Scara_Elbow_State (Enum)
Gantry Systems ¶ Kin_Gantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Gantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_TGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method)
GetLibVersionNumber (FUN) ¶ FUNCTION GetLibVersionNumber : DWORD This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersionNumber DWORD
GetVersion (FUN) ¶ FUNCTION GetVersion : VERSION InOut: Scope Name Type Return GetVersion VERSION