IsLibReleased (FUN) ¶ FUNCTION IsLibReleased : BOOL This function has been automatically generated from the project information. InOut: Scope Name Type Return IsLibReleased BOOL
SM3_Transformation ¶ Function Blocks Coupled Kinematics Configuration Kin_Coupled_Config (FunctionBlock) Kin_Coupled_ReadConfig (FunctionBlock) Kin_Coupled (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxisSettings (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisMapping (Method) GetAxisMapping2 (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) GetPeriods (Method) GetPosAndToolKinematics (Method) Initialize (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) JoinAxes (Method) JoinConfig (Method) NumAxes (Property) SplitAxes (Method) SplitConfig (Method) Orientation Kinematics CAxis_From_Orientation (Function) Configuration Kin_CAxis_Config (FunctionBlock) Kin_CAxis_ReadConfig (FunctionBlock) Kin_Wrist2_B_State (Enum) Kin_Wrist2_Config (FunctionBlock) Kin_Wrist2_ReadConfig (FunctionBlock) Kin_Wrist3_Config (FunctionBlock) Kin_Wrist3_Hand_State (Enum) Kin_Wrist3_ReadConfig (FunctionBlock) Kin_CAxis (FunctionBlock) 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 (FunctionBlock) 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 (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property) Kin_Wrist2 (FunctionBlock) 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 (FunctionBlock) 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) Standalone Kinematics 5 Axes Kin_5Axes (FunctionBlock) GetKinematicsName (Method) Initialize (Method) Articulated Robots 4AxisPalletizer Configuration Kin_4AxisPalletizer_Config (FunctionBlock) Kin_4AxisPalletizer_ReadConfig (FunctionBlock) Kin_4AxesPalletizer (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) IsSingularity (Method) NumAxes (Property) 6AxisArticulated Configuration Kin_ArticulatedRobot_6DOF_Config (FunctionBlock) Kin_ArticulatedRobot_6DOF_ReadConfig (FunctionBlock) Kin_6DOF_J0_State (Enum) Kin_6DOF_J2_State (Enum) Kin_6DOF_J4_State (Enum) Kin_ArticulatedRobot_6DOF (FunctionBlock) GetKinematicsName (Method) Initialize (Method) Scara Systems Configuration Kin_Scara3_Z_Config (FunctionBlock) Kin_Scara3_Z_ReadConfig (FunctionBlock) Kin_Scara3_Z (FunctionBlock) GetAxisMapping2 (Method) GetKinematicsName (Method) Initialize (Method) JoinAxes (Method) SplitAxes (Method) Staubli Kin_Staubli_TS240 (FunctionBlock) Initialize (Method) Kin_Staubli_TS260 (FunctionBlock) Initialize (Method) Kin_Staubli_TS60_S1_D25_L200_floor_R1 (FunctionBlock) Initialize (Method) Kin_Staubli_TX60_S1_R4 (FunctionBlock) fb_init (Method) Functions AXISLIMITS_Intersection (Function) AXISPOS_REF_Eq (Function) Coupled_GetAxisMapping (Function) GetCombinedOrientationImage (Function) GetFlangeOriImg (Function) GetKinematicsForAxis (Function) GetPeriods (Function) Initialise_OriImage_dof0 (Function) Initialise_OriImage_dof1 (Function) Initialise_OriImage_dof3 (Function) OrientationSpace_Equals (Function) ProjectRotation1dof (Function) GlobalConstants Constants (GVL) Interfaces ISMCoupledKinematics (Interface) GetPosAndToolKinematics (Method) ISMCoupledKinematics2 (Interface) JoinAxes (Method) JoinConfig (Method) SplitAxes (Method) SplitConfig (Method) ISMCoupledKinematics3 (Interface) GetAxisMapping (Method) ISMCoupledKinematics4 (Interface) GetAxisMapping2 (Method) ISMKinPeriodHandling (Interface) GetPeriods (Method) ISMKinematicAxisSettings (Interface) AxisSettings (Method) ISMKinematicWithConfigurations (Interface) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) ISMKinematicWithConfigurations2 (Interface) CPConnectible (Method) ISMKinematicWithConfigurations3 (Interface) ActivateAutomaticRotaryPeriods (Method) ISMKinematicWithConfigurations4 (Interface) IsConfigSingular (Method) ISMKinematicWithInfo (Interface) GetAxisProperties (Method) IsSingularity (Method) ISMKinematicWithInfo2 (Interface) GetKinematicsName (Method) ISMKinematicWithInitialization (Interface) Initialize (Method) IsInitialized (Method) ISMKinematicsWithOrientationImage (Interface) GetFlangeOrientationImage (Method) ISMKinematicsWithOrientationImage2 (Interface) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) ISMOrientationKinematics (Interface) GetPositionFromOrientation (Method) ISMOrientationKinematics2 (Interface) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) ISMOrientationKinematics3 (Interface) GetPositionFromOrientation3 (Method) ISMOrientationKinematicsWithOriImage (Interface) GetOrientationImage (Method) ISMOrientationKinematicsWithOriImage2 (Interface) GetOrientationImageTotal (Method) GetOrientationImageWithOri (Method) ISMPositionKinematics (Interface) AxesToOrientation (Method) ISMPositionKinematics2 (Interface) GetOrientationImage (Method) ISMPositionKinematics_Offset (Interface) CartesianToAxes_Offset (Method) ISMPositionKinematics_Offset2 (Interface) AxesToConfiguration_Offset (Method) ISMToolKinematics (Interface) ISMToolKinematics2 (Interface) MC_KIN_REF_SM3 (Interface) AxesToCartesian (Method) CartesianToAxes (Method) NumAxes (Property) Structs AXISLIMITS (Alias) AXISPOS_REF (Struct) Axis_Properties (Struct) Axis_Settings (Struct) Axis_Type (Enum) CONFIGDATA (Struct) Coupled_Kin_Axis_Map (Struct) Coupled_Kin_Axis_Type (Enum) MCS_OR_FLANGE (Enum) OrientationDOF (Enum) OrientationSpace (Struct)
Function Blocks ¶ Coupled Kinematics Configuration Kin_Coupled_Config (FunctionBlock) Kin_Coupled_ReadConfig (FunctionBlock) Kin_Coupled (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxisSettings (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisMapping (Method) GetAxisMapping2 (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) GetPeriods (Method) GetPosAndToolKinematics (Method) Initialize (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) JoinAxes (Method) JoinConfig (Method) NumAxes (Property) SplitAxes (Method) SplitConfig (Method) Orientation Kinematics CAxis_From_Orientation (Function) Configuration Kin_CAxis_Config (FunctionBlock) Kin_CAxis_ReadConfig (FunctionBlock) Kin_Wrist2_B_State (Enum) Kin_Wrist2_Config (FunctionBlock) Kin_Wrist2_ReadConfig (FunctionBlock) Kin_Wrist3_Config (FunctionBlock) Kin_Wrist3_Hand_State (Enum) Kin_Wrist3_ReadConfig (FunctionBlock) Kin_CAxis (FunctionBlock) 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 (FunctionBlock) 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 (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property) Kin_Wrist2 (FunctionBlock) 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 (FunctionBlock) 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) Standalone Kinematics 5 Axes Kin_5Axes (FunctionBlock) GetKinematicsName (Method) Initialize (Method) Articulated Robots 4AxisPalletizer Configuration Kin_4AxisPalletizer_Config (FunctionBlock) Kin_4AxisPalletizer_ReadConfig (FunctionBlock) Kin_4AxesPalletizer (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) IsSingularity (Method) NumAxes (Property) 6AxisArticulated Configuration Kin_ArticulatedRobot_6DOF_Config (FunctionBlock) Kin_ArticulatedRobot_6DOF_ReadConfig (FunctionBlock) Kin_6DOF_J0_State (Enum) Kin_6DOF_J2_State (Enum) Kin_6DOF_J4_State (Enum) Kin_ArticulatedRobot_6DOF (FunctionBlock) GetKinematicsName (Method) Initialize (Method) Scara Systems Configuration Kin_Scara3_Z_Config (FunctionBlock) Kin_Scara3_Z_ReadConfig (FunctionBlock) Kin_Scara3_Z (FunctionBlock) GetAxisMapping2 (Method) GetKinematicsName (Method) Initialize (Method) JoinAxes (Method) SplitAxes (Method) Staubli Kin_Staubli_TS240 (FunctionBlock) Initialize (Method) Kin_Staubli_TS260 (FunctionBlock) Initialize (Method) Kin_Staubli_TS60_S1_D25_L200_floor_R1 (FunctionBlock) Initialize (Method) Kin_Staubli_TX60_S1_R4 (FunctionBlock) fb_init (Method)
Coupled Kinematics ¶ Configuration Kin_Coupled_Config (FunctionBlock) Kin_Coupled_ReadConfig (FunctionBlock) Kin_Coupled (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxisSettings (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisMapping (Method) GetAxisMapping2 (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) GetPeriods (Method) GetPosAndToolKinematics (Method) Initialize (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) JoinAxes (Method) JoinConfig (Method) NumAxes (Property) SplitAxes (Method) SplitConfig (Method)
Configuration ¶ Kin_Coupled_Config (FunctionBlock) Kin_Coupled_ReadConfig (FunctionBlock)
Kin_Coupled (FB) ¶ FUNCTION_BLOCK Kin_Coupled IMPLEMENTS ISMCoupledKinematics3 , ISMCoupledKinematics4 , ISMKinematicWithConfigurations4 , ISMKinematicWithInfo2 , ISMKinematicAxisSettings , ISMKinematicWithInitialization , ISMKinPeriodHandling , ISMKinematicsWithOrientationImage2 Transformation for combined kinematics, that consist of a position kinematics with up to three degrees of freedom (itfPosKin) and an orientation kinematics (itfOriKin). Usually, the axis coordinates of the coupled kinematics consist of the axes of the position kinematics followed by the axes of the orientation kinematics. This order can be changed by overriding the method GetAxisMapping2. In order to change the configuration of the kinematics (if at least one of the involved kinematics implements ISMKinematicWithConfigurations ), please use Kin_Coupled_Config . InOut: Scope Name Type Input itfPosKin ISMPositionKinematics itfOriKin ISMOrientationKinematics Properties: NumAxes Methods: ActivateAutomaticRotaryPeriods AxesToCartesian AxisSettings CPConnectible CartesianToAxes GetAxisMapping GetAxisMapping2 GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetFlangeOrientationImageTotal GetFlangeOrientationImageWithOri GetKinematicsName GetPeriods GetPosAndToolKinematics Initialize IsConfigSingular IsInitialized IsSingularity JoinAxes JoinConfig SplitAxes SplitConfig Structure: ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxisSettings (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisMapping (Method) GetAxisMapping2 (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) GetPeriods (Method) GetPosAndToolKinematics (Method) Initialize (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) JoinAxes (Method) JoinConfig (Method) NumAxes (Property) SplitAxes (Method) SplitConfig (Method)
Orientation Kinematics ¶ CAxis_From_Orientation (Function) Configuration Kin_CAxis_Config (FunctionBlock) Kin_CAxis_ReadConfig (FunctionBlock) Kin_Wrist2_B_State (Enum) Kin_Wrist2_Config (FunctionBlock) Kin_Wrist2_ReadConfig (FunctionBlock) Kin_Wrist3_Config (FunctionBlock) Kin_Wrist3_Hand_State (Enum) Kin_Wrist3_ReadConfig (FunctionBlock) Kin_CAxis (FunctionBlock) 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 (FunctionBlock) 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 (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property) Kin_Wrist2 (FunctionBlock) 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 (FunctionBlock) 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)
CAxis_From_Orientation (FUN) ¶ FUNCTION CAxis_From_Orientation : SMC_Error InOut: Scope Name Type Inout Const mR SMC_Matrix3 Return CAxis_From_Orientation SMC_Error Output c_deg LREAL
Configuration ¶ Kin_CAxis_Config (FunctionBlock) Kin_CAxis_ReadConfig (FunctionBlock) Kin_Wrist2_B_State (Enum) Kin_Wrist2_Config (FunctionBlock) Kin_Wrist2_ReadConfig (FunctionBlock) Kin_Wrist3_Config (FunctionBlock) Kin_Wrist3_Hand_State (Enum) Kin_Wrist3_ReadConfig (FunctionBlock)
GetLibVersion (FUN) ¶ FUNCTION GetLibVersion : VERSION This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersion VERSION