Kin_HGantry2.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_HGantry2.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT
Kin_HGantry2.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)
Kin_HGantry2.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Comment Inout oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics
Kin_HGantry2.IsSingularity (METH) ¶ METHOD IsSingularity : BOOL InOut: Scope Name Type Return IsSingularity BOOL Inout Const a AXISPOS_REF
Kin_HGantry2.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT
Kin_HGantry2.ProjectPosition (METH) ¶ METHOD ProjectPosition InOut: Scope Name Type Inout vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D
Kin_Polar.ProjectPosition (METH) ¶ METHOD ProjectPosition InOut: Scope Name Type Inout vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D
Kin_Polar_Z (FB) ¶ FUNCTION_BLOCK Kin_Polar_Z IMPLEMENTS ISMPositionKinematicsInternal, ISMKinematicWithInfo2 Transformation FB for polar kinematics with an additional Z Axis. This Polar System consists of three axes for distance, direction and movement in z axis respectively. Machine coordinate system (MCS) Origin Location of the TCP when the position value of the linear axis (a2) and the position value of axis a0 is 0. X The X axis is defined so that a positive velocity of the linear axis (a2) while the rotary axis (a1) is at 0° leads to a movement purely along the X axis in positive direction. Y The Y axis is defined so that a positive velocity of the linear axis (a2) while the rotary axis (a1) is at 90° leads to a movement purely along the Y axis in positive direction. Z The Z axis is defined so that a positive velocity of the axis (a0) leads to a movement along the Z 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 single axes values have the following interpretation: a0 position of the linear axis in the direction of Z axis. referred to as ‘Z’ in the section ‘mapping to axes’. a1 position of the rotary axis around Z in degrees. referred to as ‘C’ in the section ‘mapping to axes’. a2 position of the linear axis in the direction of X axis (>= 0). referred to as ‘R’ in the section ‘mapping to axes’. Note This position kinematics does not support orientation mode “Axis” for CP movements. If this kinematics is used without an orientation-kinematics, then it is not compatible with tools (see SMC_GroupSetTool) that have a position offset in a direction other than the Z direction. 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_Polar_Z.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