Kin_Wrist2_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_Wrist2_ReadConfig This FB contains the data that defines the configuration of Kin_Wrist2 . InOut: Scope Name Type Comment Input Config ConfigData The configuration data Output a1State Kin_Wrist2_B_State
Kin_Wrist3_Config (FB) ¶ FUNCTION_BLOCK Kin_Wrist3_Config This FB contains the data that defines the configuration of Kin_Wrist3 . InOut: Scope Name Type Comment Input HandState Kin_Wrist3_Hand_State Determines whether the second joint angle is positive (hand down) or negative (hand up). Output Config ConfigData The configuration data
Kin_Wrist3_Hand_State (ENUM) ¶ TYPE Kin_Wrist3_Hand_State : The possible configuration states of the second joint of Kin_Wrist3 . Attributes: qualified_only InOut: Name Comment HANDDOWN The hand is pointing “down”, i.e. q1 > 0 HANDUP The hand is pointing “up”, i.e. q1 < 0 HANDSTRAIGHT The hand is straight (q1 ~ 0), singular case
Kin_Wrist3_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_Wrist3_ReadConfig This FB contains the data that defines the configuration of Kin_Wrist3 . InOut: Scope Name Type Comment Input Config ConfigData The configuration data Output HandState Kin_Wrist3_Hand_State
Kin_CAxis_Tool.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)
Kin_CAxis_Tool.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Inout oriInfo OrientationSpace csOriKin MCS_OR_FLANGE bActive BOOL Inout Const mR_flange SMC_Matrix3
Kin_CAxis_Tool.GetPeriods (METH) ¶ METHOD GetPeriods InOut: Scope Name Type Inout Const cd CONFIGDATA Inout aPeriods ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF DINT
Kin_CAxis_Tool.GetPositionFromOrientation (METH) ¶ METHOD GetPositionFromOrientation : SMC_ERROR InOut: Scope Name Type Return GetPositionFromOrientation SMC_ERROR Input mR SMC_Matrix3 Inout v SMC_Vector3D
Kin_CAxis_Tool.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_Tool.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