ISMPositionKinematics_Offset2 (ITF) ¶ INTERFACE ISMPositionKinematics_Offset2 EXTENDS ISMPositionKinematics_Offset Extended position kinematics with offset. Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: AxesToConfiguration_Offset AxesToCartesian , inherited from MC_KIN_REF_SM3 AxesToOrientation , inherited from ISMPositionKinematics CartesianToAxes , inherited from MC_KIN_REF_SM3 CartesianToAxes_Offset , inherited from ISMPositionKinematics_Offset GetOrientationImage , inherited from ISMPositionKinematics2 Structure: AxesToConfiguration_Offset (Method)
ISMPositionKinematics_Offset2.AxesToConfiguration_Offset (METH) ¶ METHOD PUBLIC AxesToConfiguration_Offset Computes the configuration from the axis positions plus an offset vector. The offset vector is given relative to the orientation of the flange. The returned “offset configuration” is not necessarily the same as the configuration of the position kinematics. As an example, consider a scara2 robot and an offset vector that has a component in y-direction, which means an offset orthogonal to the second link. The second link together with the offset in y can be thought of as a modified scara robot, by replacing it with a direct link from the base of the second link to the flange: second link first link___-- x---------------------- ______/ \________ | x-----/ \______ | offset in y-direction modified \____| second link This modified scara robot will, in general, have different configurations. Note If vOffset_TCP is zero, this method returns the same configuration as MC_KIN_REF_SM3.AxesToCartesian . InOut: Scope Name Type Comment Inout cd CONFIGDATA Out: The serialized configuration data of the offset kinematics. This is not necesarily the same as the configuration of the original kinematics. Intended for use with ISMPositionKinematics_Offset.CartesianToAxes_Offset . Inout Const a AXISPOS_REF In: The position of all position axes vOffset_TCP SMC_Vector3D In: The additional position offset between the TCP of the position kinematics and the offset TCP. This input is expressed in the TCP coordinate system of the position kinmatics.
ISMToolKinematics (ITF) ¶ INTERFACE ISMToolKinematics EXTENDS ISMOrientationKinematics This interface is deprecated. Instead use the interface ISMOrientationKinematics directly. Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetPositionFromOrientation , inherited from ISMOrientationKinematics
ISMToolKinematics2 (ITF) ¶ INTERFACE ISMToolKinematics2 EXTENDS ISMOrientationKinematics2 , ISMToolKinematics This interface is deprecated. Instead use the interface ISMOrientationKinematics3 . Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetPositionFromOrientation , inherited from ISMOrientationKinematics GetPositionFromOrientation2 , inherited from ISMOrientationKinematics2 IsCompatibleWithPosKin , inherited from ISMOrientationKinematics2
Axis_Settings (STRUCT) ¶ TYPE Axis_Settings : STRUCT The setings for a kinematic axis. InOut: Name Type Comment limits AXISLIMITS The axis limits to apply. Note: if limits.xUnlimited is set, then limits.dLower and limits.dUpper are ignored.
Axis_Type (ENUM) ¶ TYPE Axis_Type : The possible types of a kinemtic axis. Attributes: qualified_only InOut: Name Comment Linear A linear axis. Rotary A rotary axis, programmed in angular degrees.
CONFIGDATA (STRUCT) ¶ TYPE CONFIGDATA : STRUCT Represents a serialized kinematics configuration. InOut: Name Type Comment abyData ARRAY [0..gciMaxConfigData] OF BYTE The byte stream representing the configuration.
Coupled_Kin_Axis_Map (STRUCT) ¶ TYPE Coupled_Kin_Axis_Map : STRUCT Structure to maintain a map of the axes of coupled kinematics InOut: Name Type Comment Axis_Type Coupled_Kin_Axis_Type Coupled kinematics axis type: position or orientation uAxisNo UDINT Axis Number in the position or orientation kinematics
Coupled_Kin_Axis_Type (ENUM) ¶ TYPE Coupled_Kin_Axis_Type : Types of coupled kinematic axis. Attributes: qualified_only InOut: Name Comment Position Position kinematics Tool Orientation kinematics
MCS_OR_FLANGE (ENUM) ¶ TYPE MCS_OR_FLANGE : coordinate system of the defined orientation image Attributes: qualified_only InOut: Name Initial Flange 0 MCS 1