Kin_HGantry3.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
Kin_HGantry3.AxesToOrientation (METH) ¶ METHOD AxesToOrientation : SMC_Error InOut: Scope Name Type Return AxesToOrientation SMC_Error Inout m SMC_Matrix3 Inout Const a AXISPOS_REF
Kin_HGantry3.CartesianToAxes (METH) ¶ METHOD CartesianToAxes : SMC_Error InOut: Scope Name Type Return CartesianToAxes SMC_Error Inout a AXISPOS_REF Inout Const f SMC_Frame aRef AXISPOS_REF cd CONFIGDATA
Kin_HGantry3.CartesianToAxes_Offset (METH) ¶ METHOD CartesianToAxes_Offset : SMC_Error InOut: Scope Name Type Return CartesianToAxes_Offset SMC_Error Inout a AXISPOS_REF Inout Const v_MCS SMC_Vector3D vOffset_TCP SMC_Vector3D aRef AXISPOS_REF cd CONFIGDATA
Kin_HGantry3.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT
ISMPositionKinematics2 (ITF) ¶ INTERFACE ISMPositionKinematics2 EXTENDS ISMPositionKinematics Extended interface for position kinematics. Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetOrientationImage AxesToCartesian , inherited from MC_KIN_REF_SM3 AxesToOrientation , inherited from ISMPositionKinematics CartesianToAxes , inherited from MC_KIN_REF_SM3 Structure: GetOrientationImage (Method)
ISMPositionKinematics2.GetOrientationImage (METH) ¶ METHOD GetOrientationImage This method provides information about the orientations of the flange coordinate system that this kinematic transformation may generate (in machine coordinates). InOut: Scope Name Type Comment Inout oriInfo OrientationSpace Information about the possible orientations of the flange coordinate system generated by the position kinematics
ISMPositionKinematics_Offset (ITF) ¶ INTERFACE ISMPositionKinematics_Offset EXTENDS ISMPositionKinematics2 Extended position kinematics. If a position kinematics implements this interface, it can be used for axis orientation interpolation of CP movements. Note Position kinematics with configurations should implement the extended interface ISMPositionKinematics_Offset2 . Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: CartesianToAxes_Offset AxesToCartesian , inherited from MC_KIN_REF_SM3 AxesToOrientation , inherited from ISMPositionKinematics CartesianToAxes , inherited from MC_KIN_REF_SM3 GetOrientationImage , inherited from ISMPositionKinematics2 Structure: CartesianToAxes_Offset (Method)
Kin_TGantry2.CartesianToAxes_Offset (METH) ¶ METHOD CartesianToAxes_Offset : SMC_Error InOut: Scope Name Type Return CartesianToAxes_Offset SMC_Error Inout a AXISPOS_REF Inout Const v_MCS SMC_Vector3D vOffset_TCP SMC_Vector3D aRef AXISPOS_REF cd CONFIGDATA
Kin_TGantry2.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT