Kin_Pos_RRR.CartesianToAxes_Offset (METH) ¶ METHOD CartesianToAxes_Offset : SM3_Error.SMC_ERROR InOut: Scope Name Type Return CartesianToAxes_Offset SM3_Error.SMC_ERROR Inout a AXISPOS_REF Inout Const v_MCS SMC_VECTOR3D vOffset_TCP SMC_VECTOR3D aRef AXISPOS_REF cd CONFIGDATA
Kin_Pos_RRR.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT
Kin_5Axes.Initialize (METH) ¶ METHOD Initialize : SMC_ERROR InOut: Scope Name Type Return Initialize SMC_ERROR
4AxisPalletizer ¶ Configuration Kin_4AxisPalletizer_Config (FunctionBlock) Kin_4AxisPalletizer_ReadConfig (FunctionBlock) Kin_4AxesPalletizer (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) IsSingularity (Method) NumAxes (Property)
Configuration ¶ Kin_4AxisPalletizer_Config (FunctionBlock) Kin_4AxisPalletizer_ReadConfig (FunctionBlock)
Kin_4AxisPalletizer_Config (FB) ¶ FUNCTION_BLOCK Kin_4AxisPalletizer_Config This FB contains the data that defines the configuration of SMC_Kin_4AxisPalletizer. InOut: Scope Name Type Comment Input xElbowLow BOOL Whether the angle of axis 2 plus 90° (modulo 360°) is in the range ]180°, 360°[ (TRUE) OR [0°,180°] (FALSE). xBackwards BOOL Whether axis 0 is set so that the palletizer faces the target (FALSE) or that it faces the opposite direction (TRUE). Output Config ConfigData The configuration data
Kin_4AxisPalletizer_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_4AxisPalletizer_ReadConfig This FB contains the data that defines the configuration of SMC_Kin_4AxisPalletizer. InOut: Scope Name Type Comment Input Config ConfigData The configuration data Output xElbowLow BOOL Whether the angle of axis 2 plus 90° (modulo 360°) is in the range ]180°, 360°[ (TRUE) OR [0°,180°] (FALSE). xBackwards BOOL Whether axis 0 is set so that the palletizer faces the target (FALSE) or that it faces the opposite direction (TRUE).
Kin_4AxesPalletizer (FB) ¶ FUNCTION_BLOCK Kin_4AxesPalletizer IMPLEMENTS ISMKinematicWithConfigurations , ISMKinematicWithInfo2 , ISMKinematicsWithOrientationImage2 Transformation FB for a 4 axes palletizer. The 4-axis palletizer is a robot type that is often used for palletizing tasks. It has 4 rotary axes (drawn in red in the figure on the right) and a fifth passive rotary axis (drawn in grey). The fifth axis mechanically keeps the gripper horizontally aligned. The coordinate system at the bottom of the robot is the machine coordinate system (MCS). Machine coordinate system (MCS) Origin The intersection of the joint axis 1 and the bottom side of the robot. X Points “forward”, i.e. in the direction the robot arm points to if it is in zero position. Y Defined by X and Z so that the MCS becomes right-handed. Z Points upward. 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 + a3 + a4 dY = 0 dZ = d1 + a2 + d5 X Along the X-Axis of the MCS in positive direction Y Along the Y-Axis of the MCS in negative direction Z Along the Z-Axis of the MCS in negative direction The picture on the right shows the rotation direction of the 4 axes. The black arrows run along the joint axis. The direction of rotation is defined according to the “right-hand rule”: If the thumb of the right hand is along with the arrow, then the positive direction of rotation is along with the slightly curved fingers of the hand. For example, seen from the top, the positive direction of rotation of axis 0 is counterclockwise, axis 1 and axis 2 tilt forward. The picture on the right shows the kinematics in zero position of all axes: The names of the parameters are according 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 90° 0 a3 0° 3 0° 0 a4 90° 4 0° d5 0 180° The single axes values have the following interpretation: a0 position of the first rotary axis around Z in degrees a1 position of the second rotary axis in degrees a2 position of the third rotary axis in degrees a3 position of the fourth rotary axis in negative direction of Z axis in degrees The palletizer supports all orientations, except for those where the Z-axis of the tool coordinate system (TCS) points in the same direction as the Z-axis of the machine coordinate system (MCS). For example, the orientation (A=0°, B=0°, C=0°) (expressed in the MCS) is outside of the working space. Due to mechanical constraints, the palletizer robot can only realize orientations with the Z-axis pointing downwards (in opposite direction of the Z-axis of the MCS). Commanded orientations with a tilted z-axis are projected to the closest attainable orientation. Note This position kinematics does not support orientation mode “Axis” for CP movements. 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 a3 LREAL Denavit-Hartenberg Parameter a3, > 0 a4 LREAL Denavit-Hartenberg Parameter a4, >= 0 d5 LREAL Denavit-Hartenberg Parameter d5, < 0 Properties: NumAxes Methods: AxesToCartesian CartesianToAxes GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetFlangeOrientationImageTotal GetFlangeOrientationImageWithOri GetKinematicsName IsSingularity Structure: AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) IsSingularity (Method) NumAxes (Property)
Kin_4AxesPalletizer.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_4AxesPalletizer.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