Kin_CAxis.GetPositionFromOrientation2 (METH) ¶ METHOD GetPositionFromOrientation2 : SMC_ERROR InOut: Scope Name Type Comment Return GetPositionFromOrientation2 SMC_ERROR Inout Const mR SMC_Matrix3 Matrix3 describing the orientation oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics Inout v SMC_Vector3D Vector pointing from the origin of the trafo to the TCP.
Kin_CAxis.Initialize (METH) ¶ METHOD Initialize : SM3_Error.SMC_ERROR InOut: Scope Name Type Return Initialize SM3_Error.SMC_ERROR
Kin_CAxis.IsCompatibleWithPosKin (METH) ¶ METHOD IsCompatibleWithPosKin : BOOL InOut: Scope Name Type Comment Return IsCompatibleWithPosKin BOOL Inout Const oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics
Kin_CAxis.IsConfigSingular (METH) ¶ METHOD IsConfigSingular : BOOL InOut: Scope Name Type Return IsConfigSingular BOOL Inout Const cd CONFIGDATA
Kin_CAxis.IsInitialized (METH) ¶ METHOD IsInitialized : BOOL InOut: Scope Name Type Return IsInitialized BOOL
Kin_CAxis.IsSingularity (METH) ¶ METHOD IsSingularity : BOOL InOut: Scope Name Type Return IsSingularity BOOL Inout Const a AXISPOS_REF
Kin_CAxis_Config (FB) ¶ FUNCTION_BLOCK Kin_CAxis_Config This FB contains the data that defines the configuration of Kin_CAxis and Kin_CAxis_Tool . InOut: Scope Name Type Comment Input nPeriodC DINT Determines the period used for orientation axis C. If the range of C is greater than 360°, the period to choose can be set here. If the value is zero, then the period is determined automatically, based on the last position. A positive value i > 0 means the range [360°*(i-1)-180° .. 360°*i-180°[ is used. A negative value i < 0 means the range [360°*i-180° .. 360°*(i+1)-180°[ is used. Note if nPeriodC <> 0 and the chosen period is not feasible due to the axis limits, an error is created during transformation (CartesianToAxes). Output Config ConfigData The configuration data
Kin_CAxis_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_CAxis_ReadConfig This FB reads configuration data of Kin_CAxis and Kin_CAxis_Tool . InOut: Scope Name Type Comment Input Config ConfigData The configuration data Output nPeriodC DINT Determines the period used for orientation axis C. If the range of C is greater than 360°, the period to choose can be set here. If the value is zero, then the period is determined automatically, based on the last position. A positive value i > 0 means the range [360°*(i-1)-180° .. 360°*i-180°[ is used. A negative value i < 0 means the range [360°*i-180° .. 360°*(i+1)-180°[ is used. Note if nPeriodC <> 0 and the chosen period is not feasible due to the axis limits, an error is created during transformation (CartesianToAxes).
Kin_Wrist2_B_State (ENUM) ¶ TYPE Kin_Wrist2_B_State : The possible configuration states of the second joint a1 of Kin_Wrist2 . Attributes: qualified_only InOut: Name Comment POSITIVE The angle of joint a1 is positive NEGATIVE The angle of joint a1 is negative ZERO The angle of joint a1 is zero, singular configuration
Kin_Wrist2_Config (FB) ¶ FUNCTION_BLOCK Kin_Wrist2_Config This FB contains the data that defines the configuration of Kin_Wrist2 . InOut: Scope Name Type Comment Input A1State Kin_Wrist2_B_State The state of the second joing a1 Output Config ConfigData The configuration data