Kin_Scara2_Z.AxesToConfiguration_Offset (METH) ¶ METHOD PUBLIC AxesToConfiguration_Offset InOut: Scope Name Type Inout cd CONFIGDATA Inout Const a AXISPOS_REF vOffset_TCP SMC_Vector3D
Kin_Scara2_Z_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_Scara2_Z_ReadConfig This FB reads configuration data of SM3_Trafo_Scara2_Z. InOut: Scope Name Type Comment Input Config ConfigData The configuration data Output xElbowRight BOOL TRUE: looking from joint 0 to joint 2, the elbow (joint 1) is on the right side. The angle of joint 1 is greater than 0° and lesser than 180°. FALSE: looking from joint 0 to joint 2, the elbow (joint 1) is on the left side. The angle of joint 1 is lesser than 0° and greater than -180°. xElbowSingularity BOOL TRUE: looking from joint 0 to joint 2, the elbow (joint 1) is straight (singularity). The angle of joint 1 is very close to either 0°, 180° or 360° nPeriodA1 DINT Determines the period used for orientation axis A1. If the range of A1 is greater than 360°, the period to choose can be set here. If the value is zero, then the period is determined automatically, based on the last position. A positive value i > 0 means the range [360°*(i-1)-180° .. 360°*i-180°[ is used. A negative value i < 0 means the range [360°*i-180° .. 360°*(i+1)-180°[ is used. Note if nPeriodA2 <> 0 and the chosen period is not feasible due to the axis limits, an error is created during transformation (CartesianToAxes). nPeriodA2 DINT See nPeriodA1 .
Kin_Polar (FB) ¶ FUNCTION_BLOCK Kin_Polar IMPLEMENTS ISMPositionKinematicsInternal, ISMKinematicWithInfo2 Transformation FB for polar kinematics. A Polar Systems consists of one distance and one direction axis. Machine coordinate system (MCS) Origin Location of the TCP when the position value of the linear axis (a1) is 0. X The X axis is defined so that a positive velocity of the linear axis (a1) while the rotary axis (a0) 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 (a1) while the rotary axis (a0) is at 90° leads to a movement purely along the Y 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 rotary axis around Z in degrees. referred to as ‘C’ in the section ‘mapping to axes’ . a1 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.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_Polar.AxesToOrientation (METH) ¶ METHOD AxesToOrientation : SMC_Error InOut: Scope Name Type Return AxesToOrientation SMC_Error Inout m SMC_Matrix3 Inout Const a AXISPOS_REF
Kin_Polar.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_Polar.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_Polar.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT
Kin_Polar.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)
Kin_Polar.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Comment Inout oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics