Kin_4AxesPalletizer.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT
Kin_Staubli_TS240 (FB) ¶ FUNCTION_BLOCK Kin_Staubli_TS240 EXTENDS Staubli_Base_Scara Transformation FB for Stäubli TS240. Other variants are available at the CODESYS Store. Machine coordinate system (MCS) Origin On axis 0, in Z-direction where axis 2 has its zero position. X Defined by the direction the first joint points to when the first rotary axis (a0) is at 0°. Y Defined by the direction the first joint points to when the first rotary axis (a0) is at 90°. Z Corresponds directly to the direction of the linear axis (a2). Positive direction is upwards. 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 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 around Z in degrees a2 position of the linear axis in direction of Z axis a3 position of the third rotary axis around Z in degrees Please link the following axes to the corresponding axes of the uniVAL fieldbus device: Attributes: sm_kin_libdoc InOut: Scope Name Type Inherited from Input itfPosKin ISMPositionKinematics Kin_Coupled itfOriKin ISMOrientationKinematics Kin_Coupled Properties: NumAxes , inherited from Kin_Coupled Methods: 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 GetKinematicsName , 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: Initialize (Method)
Kin_Staubli_TS240.Initialize (METH) ¶ METHOD Initialize : SMC_ERROR InOut: Scope Name Type Return Initialize SMC_ERROR
Kin_Staubli_TS260 (FB) ¶ FUNCTION_BLOCK Kin_Staubli_TS260 EXTENDS Staubli_Base_Scara Transformation FB for Stäubli TS260. Other variants are available at the CODESYS Store. Machine coordinate system (MCS) Origin On axis 0, in Z-direction where axis 2 has its zero position. X Defined by the direction the first joint points to when the first rotary axis (a0) is at 0°. Y Defined by the direction the first joint points to when the first rotary axis (a0) is at 90°. Z Corresponds directly to the direction of the linear axis (a2). Positive direction is upwards. 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 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 around Z in degrees a2 position of the linear axis in direction of Z axis a3 position of the third rotary axis around Z in degrees Please link the following axes to the corresponding axes of the uniVAL fieldbus device: Attributes: sm_kin_libdoc InOut: Scope Name Type Inherited from Input itfPosKin ISMPositionKinematics Kin_Coupled itfOriKin ISMOrientationKinematics Kin_Coupled Properties: NumAxes , inherited from Kin_Coupled Methods: 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 GetKinematicsName , 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: Initialize (Method)
Kin_Staubli_TS260.Initialize (METH) ¶ METHOD Initialize : SMC_ERROR InOut: Scope Name Type Return Initialize SMC_ERROR
Kin_Staubli_TS60_S1_D25_L200_floor_R1 (FB) ¶ FUNCTION_BLOCK Kin_Staubli_TS60_S1_D25_L200_floor_R1 EXTENDS Staubli_Base_Scara Transformation FB for Stäubli TS60-S1-D25-L200-floor-R1. Other variants are available at the CODESYS Store. Machine coordinate system (MCS) Origin On axis 0, in Z-direction where axis 2 has its zero position. X Defined by the direction the first joint points to when the first rotary axis (a0) is at 0°. Y Defined by the direction the first joint points to when the first rotary axis (a0) is at 90°. Z Corresponds directly to the direction of the linear axis (a2). Positive direction is upwards. 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 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 around Z in degrees a2 position of the linear axis in direction of Z axis a3 position of the third rotary axis around Z in degrees Please link the following axes to the corresponding axes of the uniVAL fieldbus device: Attributes: sm_kin_libdoc InOut: Scope Name Type Inherited from Input itfPosKin ISMPositionKinematics Kin_Coupled itfOriKin ISMOrientationKinematics Kin_Coupled Properties: NumAxes , inherited from Kin_Coupled Methods: 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 GetKinematicsName , 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: Initialize (Method)
Kin_Staubli_TS60_S1_D25_L200_floor_R1.Initialize (METH) ¶ METHOD Initialize : SMC_ERROR InOut: Scope Name Type Return Initialize SMC_ERROR
Kin_Staubli_TX60_S1_R4 (FB) ¶ FUNCTION_BLOCK Kin_Staubli_TX60_S1_R4 EXTENDS Staubli_Base_Anthropomorph6 Transformation FB for Stäubli TX60-S1-R4. Other variants are available at the CODESYS Store. Machine coordinate system (MCS) Origin The intersection of axis 0 and the bottom of the robot. X Points “forward” toward the TCP. 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) 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 Please link the following axes to the corresponding axes of the uniVAL fieldbus device: A1 position of the first rotary axis in degrees (a0) A2 position of the second rotary axis in degrees (a1) A3 position of the third rotary axis in degrees (a2) A4 position of the fourth rotary axis in degrees (a3) A5 position of the fifth rotary axis in degrees (a4) A6 position of the sixth rotary axis in degrees (a5) The axes are constrained as follows: Axis Configurable Default Min/Max a0 YES [-180°, 180°] Unlimited a1 YES [-180°, 180°] Unlimited a2 YES [-90°, 180°] Unlimited a3 YES [-180°, 180°] Unlimited a4 YES [-180°, 180°] [-180°, 180°] a5 YES [0°, 360°] Unlimited Configurable means that the limits can be customized by defining and activating software limits in the assigned axis. If the software limits are not activated, the kinematics uses default values. Note: Custom limits have to be in the range of Min/Max, otherwise an error is reported. Attributes: sm_kin_libdoc InOut: Scope Name Type Inherited from Input itfPosKin ISMPositionKinematics Kin_Coupled itfOriKin ISMOrientationKinematics Kin_Coupled Properties: NumAxes , inherited from Kin_Coupled Methods: fb_init 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: fb_init (Method)
Kin_Staubli_TX60_S1_R4.fb_init (METH) ¶ METHOD fb_init : BOOL InOut: Scope Name Type Comment Return FB_Init BOOL Input bInitRetains BOOL initializing of retain-variable bInCopyCode BOOL instance is copied to copy-code