Kin_Scara2_Z.GetConfigurationDataSize (METH) ¶ METHOD GetConfigurationDataSize : INT InOut: Scope Name Type Return GetConfigurationDataSize INT
Kin_Scara2_Z.GetDefaultConfigurationData (METH) ¶ METHOD GetDefaultConfigurationData : BOOL InOut: Scope Name Type Return GetDefaultConfigurationData BOOL Inout cd CONFIGDATA
Kin_Scara2_Z.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)
Configuration ¶ Kin_Scara3_Z_Config (FunctionBlock) Kin_Scara3_Z_ReadConfig (FunctionBlock)
Kin_Pos_RRR (FB) ¶ FUNCTION_BLOCK Kin_Pos_RRR IMPLEMENTS ISMPositionKinematicsInternal, ISMPositionKinematics_Offset2 , ISMKinematicWithConfigurations , ISMKinematicWithInfo2 Transformation FB for a 3 axis articulated robot consisting of three rotary joints. The first joint rotates around the z-axis, the second and third are parallel and rotate around the y-axis. This kinematics forms the first half of the 6-axis articulated robot. Machine coordinate system (MCS) Origin The intersection of axis 0 and the bottom of the robot. X Points “forward” toward the flange. Y Defined by X and Z so that the MCS becomes right-handed. Z Points upward. The machine coordinate system is shown at the bottom of axis 0. The sense of rotation is indicated by black arrows. The arrows point along the axis. The positive sense of rotation is given by the right-hand rule. For example, when axis 0 is turned in positive direction, the robot rotates counterclockwise when viewed from above. The location of the tool coordinate system (TCS) relative to the MCS in zero position: Tool coordinate system (TCS) Origin Relative to MCS: dX = a1 + d4 dY = -d3 dZ = d1 + a2 + a3 X Along the Z-Axis of the MCS in positive direction Y Along the Y-Axis of the MCS in negative direction Z Along the X-Axis of the MCS in positive direction The left figure shows the reference position of the kinematic, i.e. the position when all axes are in their zero-position. The names and signs of the parameters are due to the Denavit-Hartenberg convention. Robots with the following Denavit-Hartenberg configuration are supported (the values of d_i and a_i are supplied in the configuration): joint number joint offset link offset d_i link length a_i link twist 0 0° d1 a1 90° 1 90° 0 a2 0° 2 0° d3 a3 90° flange 0° d4 0 0° The single axes values have the following interpretation: a0 position of the first rotary axis in degrees a1 position of the second rotary axis in degrees a2 position of the third rotary axis in degrees The zero position of the kinematics can be adjusted by defining constant offsets for the axes. See inputs dOffsetA0 , dOffsetA1 and dOffsetA2 . Changing the offsets affects the location and orientation of the TCS. Note If this kinematics is used without an orientation-kinematics, then it is not compatible with tools (see SMC_GroupSetTool) that have a position offset. Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Input d1 LREAL Denavit-Hartenberg Parameter d1, >= 0 a1 LREAL Denavit-Hartenberg Parameter a1, >= 0 a2 LREAL Denavit-Hartenberg Parameter a2, > 0 d3 LREAL Denavit-Hartenberg Parameter d3 a3 LREAL Denavit-Hartenberg Parameter a3, >= 0 d4 LREAL Denavit-Hartenberg Parameter d4, >= 0 dOffsetA0 LREAL Additional offset of axis A0. This offset is subtracted before the forward transformation and added after the inverse transformation. dOffsetA1 LREAL Additional offset of axis A1. This offset is subtracted before the forward transformation and added after the inverse transformation. dOffsetA2 LREAL Additional offset of axis A2. This offset is subtracted before the forward transformation and added after the inverse transformation. Properties: NumAxes Methods: AxesToCartesian AxesToCartesian_Offset AxesToConfiguration_Offset AxesToOrientation CartesianToAxes CartesianToAxes_Offset GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetKinematicsName GetOrientationImage IsSingularity ProjectPosition Structure: AxesToCartesian (Method) AxesToCartesian_Offset (Method) AxesToConfiguration_Offset (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method)
Kin_Pos_RRR.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_Pos_RRR.AxesToCartesian_Offset (METH) ¶ METHOD AxesToCartesian_Offset : SMC_Error InOut: Scope Name Type Return AxesToCartesian_Offset SMC_Error Inout f SMC_Frame cd CONFIGDATA Inout Const a AXISPOS_REF vOffset_TCP SMC_Vector3D
Kin_Pos_RRR.AxesToConfiguration_Offset (METH) ¶ METHOD PUBLIC AxesToConfiguration_Offset InOut: Scope Name Type Inout cd CONFIGDATA Inout Const a AXISPOS_REF vOffset_TCP SMC_Vector3D
Kin_Pos_RRR.AxesToOrientation (METH) ¶ METHOD AxesToOrientation : SMC_Error InOut: Scope Name Type Return AxesToOrientation SMC_Error Inout m SMC_Matrix3 Inout Const a AXISPOS_REF
Kin_Pos_RRR.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