Library Information ¶ GetLibVersion (Function) GetLibVersionNumber (Function) GetVersion (Function) IsLibReleased (Function)
GetLibVersion (FUN) ¶ FUNCTION GetLibVersion : VERSION This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersion VERSION
GetLibVersionNumber (FUN) ¶ FUNCTION GetLibVersionNumber : DWORD This function has been automatically generated from the project information. InOut: Scope Name Type Return GetLibVersionNumber DWORD
GetVersion (FUN) ¶ FUNCTION GetVersion : VERSION InOut: Scope Name Type Return GetVersion VERSION
IsLibReleased (FUN) ¶ FUNCTION IsLibReleased : BOOL This function has been automatically generated from the project information. InOut: Scope Name Type Return IsLibReleased BOOL
SM3_Transformation ¶ Function Blocks Coupled Kinematics Configuration Kin_Coupled_Config (FunctionBlock) Kin_Coupled_ReadConfig (FunctionBlock) Kin_Coupled (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxisSettings (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisMapping (Method) GetAxisMapping2 (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) GetPeriods (Method) GetPosAndToolKinematics (Method) Initialize (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) JoinAxes (Method) JoinConfig (Method) NumAxes (Property) SplitAxes (Method) SplitConfig (Method) Orientation Kinematics CAxis_From_Orientation (Function) Configuration Kin_CAxis_Config (FunctionBlock) Kin_CAxis_ReadConfig (FunctionBlock) Kin_Wrist2_B_State (Enum) Kin_Wrist2_Config (FunctionBlock) Kin_Wrist2_ReadConfig (FunctionBlock) Kin_Wrist3_Config (FunctionBlock) Kin_Wrist3_Hand_State (Enum) Kin_Wrist3_ReadConfig (FunctionBlock) Kin_CAxis (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) Initialize (Method) IsCompatibleWithPosKin (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property) Kin_CAxis_Tool (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsConfigSingular (Method) IsSingularity (Method) NumAxes (Property) Kin_Tool (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property) Kin_Wrist2 (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImageTotal (Method) GetOrientationImageWithOri (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) GetPositionFromOrientation3 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property) Kin_Wrist3 (FunctionBlock) AxesToCartesian (Method) AxisSettings (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) Initialize (Method) IsCompatibleWithPosKin (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property) Positioning Kinematics Gantry Systems Kin_Gantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Gantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_TGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Parallel Systems Kin_Bipod_Rotary (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Tripod_Linear (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) Initialize (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Tripod_Rotary (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) Initialize (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Pos_RRR Configuration Kin_Pos_RRR_Arm_State (Enum) Kin_Pos_RRR_Config (FunctionBlock) Kin_Pos_RRR_Elbow_State (Enum) Kin_Pos_RRR_ReadConfig (FunctionBlock) Kin_Pos_RRR (FunctionBlock) 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) Scara Systems Configuration Kin_Scara2_Z_Config (FunctionBlock) Kin_Scara2_Z_ReadConfig (FunctionBlock) Kin_Polar (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Polar_Z (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Scara2_Z (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxesToConfiguration_Offset (Method) AxesToOrientation (Method) CPConnectible (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) IsConfigSingular (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Scara_Elbow_State (Enum) Standalone Kinematics 5 Axes Kin_5Axes (FunctionBlock) GetKinematicsName (Method) Initialize (Method) Articulated Robots 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) 6AxisArticulated Configuration Kin_ArticulatedRobot_6DOF_Config (FunctionBlock) Kin_ArticulatedRobot_6DOF_ReadConfig (FunctionBlock) Kin_6DOF_J0_State (Enum) Kin_6DOF_J2_State (Enum) Kin_6DOF_J4_State (Enum) Kin_ArticulatedRobot_6DOF (FunctionBlock) GetKinematicsName (Method) Initialize (Method) Scara Systems Configuration Kin_Scara3_Z_Config (FunctionBlock) Kin_Scara3_Z_ReadConfig (FunctionBlock) Kin_Scara3_Z (FunctionBlock) GetAxisMapping2 (Method) GetKinematicsName (Method) Initialize (Method) JoinAxes (Method) SplitAxes (Method) Staubli Kin_Staubli_TS240 (FunctionBlock) Initialize (Method) Kin_Staubli_TS260 (FunctionBlock) Initialize (Method) Kin_Staubli_TS60_S1_D25_L200_floor_R1 (FunctionBlock) Initialize (Method) Kin_Staubli_TX60_S1_R4 (FunctionBlock) fb_init (Method) Functions AXISLIMITS_Intersection (Function) AXISPOS_REF_Eq (Function) Coupled_GetAxisMapping (Function) GetCombinedOrientationImage (Function) GetFlangeOriImg (Function) GetKinematicsForAxis (Function) GetPeriods (Function) Initialise_OriImage_dof0 (Function) Initialise_OriImage_dof1 (Function) Initialise_OriImage_dof3 (Function) OrientationSpace_Equals (Function) ProjectRotation1dof (Function) GlobalConstants Constants (GVL) Interfaces ISMCoupledKinematics (Interface) GetPosAndToolKinematics (Method) ISMCoupledKinematics2 (Interface) JoinAxes (Method) JoinConfig (Method) SplitAxes (Method) SplitConfig (Method) ISMCoupledKinematics3 (Interface) GetAxisMapping (Method) ISMCoupledKinematics4 (Interface) GetAxisMapping2 (Method) ISMKinPeriodHandling (Interface) GetPeriods (Method) ISMKinematicAxisSettings (Interface) AxisSettings (Method) ISMKinematicWithConfigurations (Interface) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) ISMKinematicWithConfigurations2 (Interface) CPConnectible (Method) ISMKinematicWithConfigurations3 (Interface) ActivateAutomaticRotaryPeriods (Method) ISMKinematicWithConfigurations4 (Interface) IsConfigSingular (Method) ISMKinematicWithInfo (Interface) GetAxisProperties (Method) IsSingularity (Method) ISMKinematicWithInfo2 (Interface) GetKinematicsName (Method) ISMKinematicWithInitialization (Interface) Initialize (Method) IsInitialized (Method) ISMKinematicsWithOrientationImage (Interface) GetFlangeOrientationImage (Method) ISMKinematicsWithOrientationImage2 (Interface) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) ISMOrientationKinematics (Interface) GetPositionFromOrientation (Method) ISMOrientationKinematics2 (Interface) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) ISMOrientationKinematics3 (Interface) GetPositionFromOrientation3 (Method) ISMOrientationKinematicsWithOriImage (Interface) GetOrientationImage (Method) ISMOrientationKinematicsWithOriImage2 (Interface) GetOrientationImageTotal (Method) GetOrientationImageWithOri (Method) ISMPositionKinematics (Interface) AxesToOrientation (Method) ISMPositionKinematics2 (Interface) GetOrientationImage (Method) ISMPositionKinematics_Offset (Interface) CartesianToAxes_Offset (Method) ISMPositionKinematics_Offset2 (Interface) AxesToConfiguration_Offset (Method) ISMToolKinematics (Interface) ISMToolKinematics2 (Interface) MC_KIN_REF_SM3 (Interface) AxesToCartesian (Method) CartesianToAxes (Method) NumAxes (Property) Structs AXISLIMITS (Alias) AXISPOS_REF (Struct) Axis_Properties (Struct) Axis_Settings (Struct) Axis_Type (Enum) CONFIGDATA (Struct) Coupled_Kin_Axis_Map (Struct) Coupled_Kin_Axis_Type (Enum) MCS_OR_FLANGE (Enum) OrientationDOF (Enum) OrientationSpace (Struct)
ISMCoupledKinematics2.SplitConfig (METH) ¶ METHOD SplitConfig : BOOL Splits the configurations of the position and orientation kinematics. InOut: Scope Name Type Comment Return SplitConfig BOOL Inout cd1 CONFIGDATA The configuration of the position kinematics cd2 CONFIGDATA The configuration of the orientation kinematics Inout Const cd CONFIGDATA The combined configuration
ISMCoupledKinematics3 (ITF) ¶ INTERFACE ISMCoupledKinematics3 EXTENDS ISMCoupledKinematics2 Extension interface of ISMCoupledKinematics2 Has been replaced by ISMCoupledKinematics4 . Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetAxisMapping AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetPosAndToolKinematics , inherited from ISMCoupledKinematics JoinAxes , inherited from ISMCoupledKinematics2 JoinConfig , inherited from ISMCoupledKinematics2 SplitAxes , inherited from ISMCoupledKinematics2 SplitConfig , inherited from ISMCoupledKinematics2 Structure: GetAxisMapping (Method)
ISMCoupledKinematics3.GetAxisMapping (METH) ¶ METHOD GetAxisMapping This method should be implemented based on |ISMCoupledKineamtics4.GetAxisMapping2| . The latter method avoids copying the whole mapping. InOut: Scope Name Type Comment Output aAxisMapping ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF Coupled_Kin_Axis_Map Out: Array containing the type of coupled kinematics of each axis (position/orientation)
ISMCoupledKinematics4 (ITF) ¶ INTERFACE ISMCoupledKinematics4 EXTENDS ISMCoupledKinematics2 Extension interface of ISMCoupledKinematics2 Should be implemented for all coupled kinematics, replaces ISMCoupledKinematics3 . Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetAxisMapping2 AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetPosAndToolKinematics , inherited from ISMCoupledKinematics JoinAxes , inherited from ISMCoupledKinematics2 JoinConfig , inherited from ISMCoupledKinematics2 SplitAxes , inherited from ISMCoupledKinematics2 SplitConfig , inherited from ISMCoupledKinematics2 Structure: GetAxisMapping2 (Method)
