ISMKinematicWithConfigurations3 (ITF) ¶ INTERFACE ISMKinematicWithConfigurations3 EXTENDS ISMKinematicWithConfigurations2 Extension interface of ISMKinematicWithConfigurations2 Should be implemented for all kinematics that have rotary axes with a possible working area > 360°. Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: ActivateAutomaticRotaryPeriods AxesToCartesian , inherited from MC_KIN_REF_SM3 CPConnectible , inherited from ISMKinematicWithConfigurations2 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetConfigurationDataSize , inherited from ISMKinematicWithConfigurations GetDefaultConfigurationData , inherited from ISMKinematicWithConfigurations Structure: ActivateAutomaticRotaryPeriods (Method)
Initialise_OriImage_dof0 (FUN) ¶ FUNCTION Initialise_OriImage_dof0 : BOOL InOut: Scope Name Type Return Initialise_OriImage_dof0 BOOL Inout oriInfo OrientationSpace Inout Const mR SMC_Matrix3
Initialise_OriImage_dof1 (FUN) ¶ FUNCTION Initialise_OriImage_dof1 : BOOL InOut: Scope Name Type Return Initialise_OriImage_dof1 BOOL Inout oriInfo OrientationSpace Inout Const mR SMC_Matrix3 vU SMC_Vector3D vRot SMC_Vector3D
Initialise_OriImage_dof3 (FUN) ¶ FUNCTION Initialise_OriImage_dof3 : BOOL InOut: Scope Name Type Return Initialise_OriImage_dof3 BOOL Inout oriInfo OrientationSpace Inout Const mR SMC_Matrix3
OrientationSpace_Equals (FUN) ¶ FUNCTION OrientationSpace_Equals : BOOL InOut: Scope Name Type Inout Const oriA OrientationSpace oriB OrientationSpace Return OrientationSpace_Equals BOOL
ProjectRotation1dof (FUN) ¶ FUNCTION ProjectRotation1dof : SMC_Error Given an arbitrary orientation mR, and a desired axis vDesiredAxis, this function computes a matrix with R * (0,0,1) = vDesiredAxis that is closest to mR. May return an error only if mR is not a rotation matrix. InOut: Scope Name Type Comment Inout mProjected SMC_Matrix3 Rotation Matrix after Projection Inout Const mR SMC_Matrix3 Programmed orientation of the TCP vDesiredAxis SMC_VECTOR3D DesiredAxis Return ProjectRotation1dof SMC_Error Output c_deg LREAL
ISMKinematicAxisSettings (ITF) ¶ INTERFACE ISMKinematicAxisSettings EXTENDS __SYSTEM.IQueryInterface Additional interface for kinematics that need to know the axis settings such as the limits for the computation of the transformation. Methods: AxisSettings Structure: AxisSettings (Method)
ISMKinematicAxisSettings.AxisSettings (METH) ¶ METHOD AxisSettings : SMC_ERROR Configures the axis settings to be used, e.g. the axis limits. Only necessary for kinematics that need the axis limits for the computation of the kinematic transformation. Usually they are not needed. Returns SMC_NO_ERROR on success or an error code if the settings are invalid, for example if a joint has a limited range and the axis limits exceed that range. InOut: Scope Name Type Comment Return AxisSettings SMC_ERROR Inout Const as Axis_Settings The axis settings to apply. Input udiAxis UDINT Number of axis [0..NumAxes-1]
ISMKinematicWithConfigurations (ITF) ¶ INTERFACE ISMKinematicWithConfigurations EXTENDS MC_KIN_REF_SM3 Represents a kinematics that has different configurations. A configuration determines which solution is desired if the inverse kinematic transformation is ambiguous. For example, a scara robot has two different configurations “elbow left” and “elbow right”. Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetConfigurationDataSize GetDefaultConfigurationData AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 Structure: GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method)
GetKinematicsForAxis (FUN) ¶ FUNCTION GetKinematicsForAxis Returns the kinematic interface of an axis, given the main kinematics and the index of the axis inside the main kinematics. If idxInMain is >= kinMain.NumAxes, kinAxis = 0 and idx = 0. If kinMain is not a coupled kinematics, then kinAxis = kinMain and idx = idxInMain. For coupled kinematics, kinAxis is either the position or the orientation kinematics and idx is the respective index. InOut: Scope Name Type Input kinMain MC_KIN_REF_SM3 idxInMain UDINT Output kinAxis MC_KIN_REF_SM3 idx UDINT