Kin_Gantry3.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)
Kin_Gantry3.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Comment Inout oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics
Kin_Gantry3.IsSingularity (METH) ¶ METHOD IsSingularity : BOOL InOut: Scope Name Type Return IsSingularity BOOL Inout Const a AXISPOS_REF
Kin_Gantry3.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT
Kin_Gantry3.ProjectPosition (METH) ¶ METHOD ProjectPosition InOut: Scope Name Type Inout vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D
Kin_HGantry2 (FB) ¶ FUNCTION_BLOCK Kin_HGantry2 IMPLEMENTS ISMPositionKinematics_Offset , ISMPositionKinematicsInternal, ISMKinematicWithInfo2 Transformation FB for a 2-axis H gantry. The kinematics configuration is similar to that described in Kin_Gantry2 . However, the drives are mounted stationary. They move the y-axis rail and slider by means of a drive belt on the perimeter of the frame. (see picture aside; belt in pink). Machine coordinate system (MCS) Origin Location of the TCP when the position values of both axes are 0. X The X axis is defined so that a positive velocity on the first axis (a0) together with a negative velocity of the same amount on the second axis (a1), leads to a movement purely along the X axis in positive direction. Y The Y axis is defined so that negative velocities of the same amount on both axes, lead to a movement purely along the Y axis in positive direction. The location of the tool coordinate system (TCS) relative to the MCS in zero position: Tool coordinate system (TCS) Origin Relative to MCS: dX = 0 dY = 0 dZ = 0 X Along the X-Axis of the MCS in positive direction Y Along the Y-Axis of the MCS in positive direction Z Along the Z-Axis of the MCS in positive direction The transformation is adequate for the following axes configurations (other configurations can be reached by interchanging A and B): The single axes values have the following interpretation: a0 position of the 1st axis of the machine (A) a1 position of the 2nd axis of the machine (B) Attributes: sm_kin_libdoc Properties: NumAxes Methods: AxesToCartesian AxesToOrientation CartesianToAxes CartesianToAxes_Offset GetAxisProperties GetKinematicsName GetOrientationImage IsSingularity ProjectPosition Structure: AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method)
Kin_HGantry2.AxesToCartesian (METH) ¶ METHOD AxesToCartesian : SMC_Error InOut: Scope Name Type Return AxesToCartesian SMC_Error Inout f SMC_Frame cd CONFIGDATA Inout Const a AXISPOS_REF
ISMOrientationKinematics (ITF) ¶ INTERFACE ISMOrientationKinematics EXTENDS MC_KIN_REF_SM3 Represents a kinematic transformation that can transform from position/orientation of the TCP to axis positions and vice versa. It can be combinded with ISMPositionKinematics . Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetPositionFromOrientation AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 Structure: GetPositionFromOrientation (Method)
ISMOrientationKinematics.GetPositionFromOrientation (METH) ¶ METHOD GetPositionFromOrientation : SMC_ERROR NO IMPLEMENTATION NECESSARY, IF THE TRANSFORMATION IMPLEMENTS ISMOrientationKinematics3 For a given orientation (mR) this method computes the vector from the origin of this trafo to the TCP Returns whether the computation was successful. InOut: Scope Name Type Comment Return GetPositionFromOrientation SMC_ERROR Input mR SMC_Matrix3 Matrix3 describing the orientation Inout v SMC_Vector3D Vector pointing from the origin of the trafo to the TCP.
ISMOrientationKinematics2 (ITF) ¶ INTERFACE ISMOrientationKinematics2 EXTENDS ISMOrientationKinematics Represents a kinematic transformation that can transform from position/orientation of the TCP to axis positions and vice versa. It can be combinded with ISMPositionKinematics . Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetPositionFromOrientation2 IsCompatibleWithPosKin AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetPositionFromOrientation , inherited from ISMOrientationKinematics Structure: GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method)