Kin_5Axes (FB) ¶ FUNCTION_BLOCK Kin_5Axes EXTENDS Kin_Coupled Transformation FB for 5-axes-gantries. This is a possible way how a coupled kinematic can be realized based on existing kinematics. The 5-axes transformation enables the controlling of 3 linear axes (X, Y, Z) carrying a tool head, which consists of two axes carrying the tool. The tool head can be turned around the Z-axis and can be tilt according to the scheme aside. Machine coordinate system (MCS) Origin The location of the TCP when the first three axes are 0. X Corresponds directly to the direction of the first axis (a0), i.e. a positive velocity on the first axis leads to a movement in positive x direction in the MCS. Y Corresponds directly to the direction of the second axis (a1), i.e. a positive velocity on the second axis leads to a movement in positive y direction in the MCS. Z Corresponds directly to the position of the third axis (a2), i.e. a positive velocity on the third axis leads to a movement in positive z direction in the MCS. 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 = dToolLength 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 In zero position, the tool center point (TCP) is located on (0, 0, dToolLength), the tool extends in the direction of the Z axis. Moving the Inclination axis in positive direction moves the tool in the direction of the positive X axis (if dToolLength <> 0). The single axes values have the following interpretation: a0 position of the x axis of the machine (X) a1 position of the y axis of the machine (Y) a2 position of the z axis of the machine (Z) a3 angle [deg] of the yaw axis (azimuth) (A) a4 angle [deg] of the roll axis (inclination) (B) Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Inherited from Input itfPosKin ISMPositionKinematics Kin_Coupled itfOriKin ISMOrientationKinematics Kin_Coupled dToolLength LREAL Length of tool measured from the TCP to the point of intersection between the two axes (yaw/roll). Properties: NumAxes , inherited from Kin_Coupled Methods: GetKinematicsName Initialize ActivateAutomaticRotaryPeriods , inherited from Kin_Coupled AxesToCartesian , inherited from Kin_Coupled AxisSettings , inherited from Kin_Coupled CPConnectible , inherited from Kin_Coupled CartesianToAxes , inherited from Kin_Coupled GetAxisMapping , inherited from Kin_Coupled GetAxisMapping2 , inherited from Kin_Coupled GetAxisProperties , inherited from Kin_Coupled GetConfigurationDataSize , inherited from Kin_Coupled GetDefaultConfigurationData , inherited from Kin_Coupled GetFlangeOrientationImageTotal , inherited from Kin_Coupled GetFlangeOrientationImageWithOri , inherited from Kin_Coupled GetPeriods , inherited from Kin_Coupled GetPosAndToolKinematics , inherited from Kin_Coupled IsConfigSingular , inherited from Kin_Coupled IsInitialized , inherited from Kin_Coupled IsSingularity , inherited from Kin_Coupled JoinAxes , inherited from Kin_Coupled JoinConfig , inherited from Kin_Coupled SplitAxes , inherited from Kin_Coupled SplitConfig , inherited from Kin_Coupled Structure: GetKinematicsName (Method) Initialize (Method)
Kin_5Axes.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)
Kin_TGantry2.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Comment Inout oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics
Kin_TGantry2.IsSingularity (METH) ¶ METHOD IsSingularity : BOOL InOut: Scope Name Type Return IsSingularity BOOL Inout Const a AXISPOS_REF
Kin_TGantry2.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT
Kin_TGantry2.ProjectPosition (METH) ¶ METHOD ProjectPosition InOut: Scope Name Type Inout vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D
Kin_Bipod_Rotary (FB) ¶ FUNCTION_BLOCK Kin_Bipod_Rotary IMPLEMENTS ISMPositionKinematics_Offset , ISMPositionKinematicsInternal, ISMKinematicWithInfo2 Transformation FB for bipod kinematics. (see Kin_Tripod_Rotary ) Machine coordinate system (MCS) Origin Defined as the midpoint of the tool plate when both first arms (i.e. the ones directly connected to (a0) and (a1) respectively) are in horizontal position. X Points from the origin towards the second axis (a1). At 0° the arm connected to the first axis (a0) points in negative X direction, the one connected to the second axis (a1) in positive X direction. Y Points from the origin away from the construction. At 90° the arms directly connected to the first and second axis both point in positive Y direction. The location of the tool coordinate system (TCS) relative to the MCS in zero position: Tool coordinate system (TCS) 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 All axes are limited to the range [-90°, 90°] by the kinematics. The single axes values have the following interpretation: a0 position of the left axis (negative x value) of the machine a1 position of the 2nd axis (positive x value) of the machine Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Input dArmLength1 LREAL Length of Arm1 connected to the motor dArmLength2 LREAL Length of Arm2 [from arm1 to linked connection] dDistance LREAL horizontal distance of the two motors 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_Bipod_Rotary.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_Bipod_Rotary.AxesToOrientation (METH) ¶ METHOD AxesToOrientation : SMC_Error InOut: Scope Name Type Return AxesToOrientation SMC_Error Inout m SMC_Matrix3 Inout Const a AXISPOS_REF
Kin_Bipod_Rotary.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