OrientationDOF (ENUM) ¶ TYPE OrientationDOF : Attributes: qualified_only InOut: Name Comment zero the orienation is fixed one the possible orientations can be described as some base-orientation plus a rotation around a certain axis three none of the previous
OrientationSpace (STRUCT) ¶ TYPE OrientationSpace : STRUCT Describes the possible space of an orientation. This space can have zero, one or three dimensions. InOut: Name Type Initial Comment dof OrientationDOF Number of dimensions vRot SMC_Vector3d In case of dof = OrientationDOF.one, the orientation space contains all orientation matrices R with R * vU = vRot. vRot is defined with respect to the base coordinate system. mOriZero SMC_Matrix3 An orientation inside the orientation space. vU SMC_VECTOR3D STRUCT(dX := 0, dY := 0, dZ := 1) In case of dof = OrientationDOF.one, the unit vector corresponding to the axis of rotation. See derscription of vRot.
File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 26.07.2024, 11:59:31 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Transformation.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Transformation.clean.json version version 2.0.0.0 ProjectInformation IsEndUserLibrary bool True OnlineHelp True Released True LastModificationDateTime date 26.07.2024, 11:59:28 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 DefaultNamespace TRAFO Description See: Description DocFormat reStructuredText DocLanguages en,de,zh-CHS,fr,ja LanguageModelAttribute qualified-access-only Placeholder SM3_Transformation Project SM3_Transformation Title SM3_Transformation Version version 4.17.0.0
Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. FloatingPointUtils ¶ Library Identification ¶ Placeholder: FloatingPointUtils Default Resolution: FloatingPointUtils, * (System) Namespace: FPU Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: FloatingPointUtils SM3_Error ¶ Library Identification ¶ Placeholder: SM3_Error Default Resolution: SM3_Error, * (CODESYS) Namespace: SM3_Error Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Error SM3_Math ¶ Library Identification ¶ Placeholder: SM3_Math Default Resolution: SM3_Math, * (CODESYS) Namespace: SM3M Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Math SM3_RBase ¶ Library Identification ¶ Placeholder: SM3_RBase Default Resolution: SM3_RBase, * (CODESYS) Namespace: SMRB Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_RBase SM3_Shared ¶ Library Identification ¶ Placeholder: SM3_Shared Default Resolution: SM3_Shared, * (CODESYS) Namespace: SM0 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Shared Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard SysMem23 ¶ Library Identification ¶ Placeholder: SysMem Default Resolution: SysMem23, * (System) Namespace: SysMem Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SysMem
Kin_Coupled_Config (FB) ¶ FUNCTION_BLOCK Kin_Coupled_Config This function block allows to create the kinematic configuration of a coupled kinematics from the configuration of the position kinematics and the orientation kinematics that the coupled kinematics is built from. See Kin_Coupled for details on coupled kinematics. InOut: Scope Name Type Comment Input ConfigPos ConfigData The configuration of the position kinematics ConfigTool ConfigData The configuration of the orientation kinematics kin ISMCoupledKinematics The coupled kinematics Output Config ConfigData The configuration data
Kin_Coupled_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_Coupled_ReadConfig This FB reads configuration data of a coupled kinematics (see Kin_Coupled ). It will output the configurations of the position and orientation kinematics, which in turn can be read by specific function blocks like for example Kin_Scara2_Z_ReadConfig or Kin_CAxis_ReadConfig . InOut: Scope Name Type Comment Input Config ConfigData The configuration data kin ISMCoupledKinematics The coupled kinematics Output ConfigPos ConfigData The configuration data of the position kinematics ConfigTool ConfigData The configuration data of the orientation kinematics
Kin_Coupled.ActivateAutomaticRotaryPeriods (METH) ¶ METHOD ActivateAutomaticRotaryPeriods InOut: Scope Name Type Inout cdDst CONFIGDATA Inout Const cdSrc CONFIGDATA
Kin_Coupled.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_Coupled.AxisSettings (METH) ¶ METHOD AxisSettings : SMC_ERROR InOut: Scope Name Type Return AxisSettings SMC_ERROR Inout Const as Axis_Settings Input udiAxis UDINT
Kin_Coupled.CPConnectible (METH) ¶ METHOD CPConnectible : BOOL InOut: Scope Name Type Return CPConnectible BOOL Inout Const cd1 CONFIGDATA cd2 CONFIGDATA