Kin_Coupled.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_CAxis_Tool.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT
Kin_Tool.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_Tool.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_Tool.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT
Kin_Tool.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)
Kin_Tool.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Inout oriInfo OrientationSpace csOriKin MCS_OR_FLANGE bActive BOOL Inout Const mR_flange SMC_Matrix3
Kin_Tool.GetPositionFromOrientation (METH) ¶ METHOD GetPositionFromOrientation : SMC_ERROR InOut: Scope Name Type Return GetPositionFromOrientation SMC_ERROR Input mR SMC_Matrix3 Inout v SMC_Vector3D
Kin_Tool.GetPositionFromOrientation2 (METH) ¶ METHOD GetPositionFromOrientation2 : SMC_ERROR InOut: Scope Name Type Comment Return GetPositionFromOrientation2 SMC_ERROR Inout Const mR SMC_Matrix3 Matrix3 describing the orientation oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics Inout v SMC_Vector3D Vector pointing from the origin of the trafo to the TCP.
Kin_Tool.IsCompatibleWithPosKin (METH) ¶ METHOD IsCompatibleWithPosKin : BOOL InOut: Scope Name Type Comment Return IsCompatibleWithPosKin BOOL Inout Const oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics