Kin_Scara2_Z_Config (FB) ¶ FUNCTION_BLOCK Kin_Scara2_Z_Config This FB contains the data that defines the configuration of SM3_Trafo_Scara2_Z. InOut: Scope Name Type Comment Input xElbowRight BOOL TRUE: The angle of the second joint is greater than 0° and lesser than 180° FALSE: The angle of the second joint is lesser than 0° and greater than -180° nPeriodA1 DINT Determines the period used for 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 nPeriodA1 <> 0 and the chosen period is not feasible due to the axis limits, an error is created during transformation (CartesianToAxes). nPeriodA2 DINT See nPeriodA1 . Output Config ConfigData The configuration data
Kin_Pos_RRR_Elbow_State (ENUM) ¶ TYPE Kin_Pos_RRR_Elbow_State : The possible configuration states of joint 1 of Kin_Pos_RRR. Attributes: qualified_only InOut: Name Comment ELBOWUP The “elbow” is pointing upwards ELBOWDOWN The “elbow” is pointing downwards ELBOWSTRAIGHT The arm is fully stretched (singular case)
Kin_Pos_RRR_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_Pos_RRR_ReadConfig Allows to write the configuration of Kin_Pos_RRR. InOut: Scope Name Type Comment Input Config ConfigData The configuration data Output ArmState Kin_Pos_RRR_Arm_State ElbowState Kin_Pos_RRR_Elbow_State
Kin_Scara2_Z.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Inout oriInfo OrientationSpace
Kin_Scara2_Z.GetPeriods (METH) ¶ METHOD GetPeriods InOut: Scope Name Type Inout Const cd CONFIGDATA Inout aPeriods ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF DINT
Kin_Scara2_Z.IsConfigSingular (METH) ¶ METHOD IsConfigSingular : BOOL InOut: Scope Name Type Return IsConfigSingular BOOL Inout Const cd CONFIGDATA
Kin_Scara2_Z.IsSingularity (METH) ¶ METHOD IsSingularity : BOOL InOut: Scope Name Type Return IsSingularity BOOL Inout Const a AXISPOS_REF
Kin_Scara2_Z.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT
Kin_Scara2_Z.ProjectPosition (METH) ¶ METHOD ProjectPosition InOut: Scope Name Type Inout vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D
Kin_Scara_Elbow_State (ENUM) ¶ TYPE Kin_Scara_Elbow_State : The Possible states of the second joint (elbow) a1 of Kin_Scara2_Z and Kin_Scara3_Z Attributes: qualified_only InOut: Name Comment Elbow_left The angle of the second joint is less than 0° and greater than -180° Elbow_Right The angle of the second joint is greater than 0° and less than 180° Elbow_Straight The angle of the second joint is very close to 0°, 180° or 360° (singularity)