Kin_Coupled.IsInitialized (METH) ¶ METHOD IsInitialized : BOOL InOut: Scope Name Type Return IsInitialized BOOL
Kin_Coupled.IsSingularity (METH) ¶ METHOD IsSingularity : BOOL InOut: Scope Name Type Return IsSingularity BOOL Inout Const a AXISPOS_REF
Kin_Coupled.JoinAxes (METH) ¶ METHOD JoinAxes : BOOL InOut: Scope Name Type Return JoinAxes BOOL Inout a AXISPOS_REF Inout Const a1 AXISPOS_REF a2 AXISPOS_REF
Kin_Coupled.JoinConfig (METH) ¶ METHOD JoinConfig : BOOL InOut: Scope Name Type Return JoinConfig BOOL Inout cd CONFIGDATA Inout Const cd1 CONFIGDATA cd2 CONFIGDATA
Kin_Coupled.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT
Kin_Coupled.SplitAxes (METH) ¶ METHOD SplitAxes : BOOL InOut: Scope Name Type Return SplitAxes BOOL Inout a1 AXISPOS_REF a2 AXISPOS_REF Inout Const a AXISPOS_REF
Kin_Coupled.SplitConfig (METH) ¶ METHOD SplitConfig : BOOL InOut: Scope Name Type Return SplitConfig BOOL Inout cd1 CONFIGDATA cd2 CONFIGDATA Inout Const cd CONFIGDATA
ISMKinematicsWithOrientationImage2.GetFlangeOrientationImageWithOri (METH) ¶ METHOD GetFlangeOrientationImageWithOri : SMC_Error See ISMKinematicsWithOrientationImage.GetFlangeOrientationImage . This method additionally receives the configuration and the reference position of all axes. InOut: Scope Name Type Comment Return GetFlangeOrientationImageWithOri SMC_Error Inout oriInfo OrientationSpace Information about the possible orientations of the flange coordinate system. Inout Const mR_Flange SMC_Matrix3 Programmed / desired orientation of the flange, expressed in the MCS. aRef AXISPOS_REF The reference position of all axes. cd CONFIGDATA Programmed / desired configuration.
Kin_Gantry3.CartesianToAxes_Offset (METH) ¶ METHOD CartesianToAxes_Offset : SM3_Error.SMC_ERROR InOut: Scope Name Type Return CartesianToAxes_Offset SM3_Error.SMC_ERROR Inout a AXISPOS_REF Inout Const v_MCS SM3M.SMC_VECTOR3D vOffset_TCP SM3M.SMC_VECTOR3D aRef AXISPOS_REF cd CONFIGDATA
Kin_Gantry3.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT