File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 26.07.2024, 11:59:31 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Transformation.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Transformation.clean.json version version 2.0.0.0 ProjectInformation IsEndUserLibrary bool True OnlineHelp True Released True LastModificationDateTime date 26.07.2024, 11:59:28 LibraryCategories library-category-list Intern|SoftMotion Author string CODESYS Development GmbH Company CODESYS CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 DefaultNamespace TRAFO Description See: Description DocFormat reStructuredText DocLanguages en,de,zh-CHS,fr,ja LanguageModelAttribute qualified-access-only Placeholder SM3_Transformation Project SM3_Transformation Title SM3_Transformation Version version 4.17.0.0

Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. FloatingPointUtils ¶ Library Identification ¶ Placeholder: FloatingPointUtils Default Resolution: FloatingPointUtils, * (System) Namespace: FPU Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: FloatingPointUtils SM3_Error ¶ Library Identification ¶ Placeholder: SM3_Error Default Resolution: SM3_Error, * (CODESYS) Namespace: SM3_Error Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Error SM3_Math ¶ Library Identification ¶ Placeholder: SM3_Math Default Resolution: SM3_Math, * (CODESYS) Namespace: SM3M Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Math SM3_RBase ¶ Library Identification ¶ Placeholder: SM3_RBase Default Resolution: SM3_RBase, * (CODESYS) Namespace: SMRB Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_RBase SM3_Shared ¶ Library Identification ¶ Placeholder: SM3_Shared Default Resolution: SM3_Shared, * (CODESYS) Namespace: SM0 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SM3_Shared Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard SysMem23 ¶ Library Identification ¶ Placeholder: SysMem Default Resolution: SysMem23, * (System) Namespace: SysMem Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SysMem

Kin_Coupled_Config (FB) ¶ FUNCTION_BLOCK Kin_Coupled_Config This function block allows to create the kinematic configuration of a coupled kinematics from the configuration of the position kinematics and the orientation kinematics that the coupled kinematics is built from. See Kin_Coupled for details on coupled kinematics. InOut: Scope Name Type Comment Input ConfigPos ConfigData The configuration of the position kinematics ConfigTool ConfigData The configuration of the orientation kinematics kin ISMCoupledKinematics The coupled kinematics Output Config ConfigData The configuration data

Kin_Coupled_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_Coupled_ReadConfig This FB reads configuration data of a coupled kinematics (see Kin_Coupled ). It will output the configurations of the position and orientation kinematics, which in turn can be read by specific function blocks like for example Kin_Scara2_Z_ReadConfig or Kin_CAxis_ReadConfig . InOut: Scope Name Type Comment Input Config ConfigData The configuration data kin ISMCoupledKinematics The coupled kinematics Output ConfigPos ConfigData The configuration data of the position kinematics ConfigTool ConfigData The configuration data of the orientation kinematics

Kin_Coupled.ActivateAutomaticRotaryPeriods (METH) ¶ METHOD ActivateAutomaticRotaryPeriods InOut: Scope Name Type Inout cdDst CONFIGDATA Inout Const cdSrc CONFIGDATA

Kin_Coupled.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

ISMOrientationKinematics3.GetPositionFromOrientation3 (METH) ¶ METHOD GetPositionFromOrientation3 : SMC_ERROR For a given orientation (mR) and information about the orientations that are generated by the corresponding position kinematics (oriInfo), this method computes the vector from the origin of this trafo to the TCP Returns whether the computation was successful. InOut: Scope Name Type Comment Return GetPositionFromOrientation3 SMC_ERROR Inout Const mR SMC_Matrix3 Matrix3 describing the orientation in the MCS aRef AXISPOS_REF The reference position of all axes. See MC_KIN_REF_SM3.CartesianToAxes . cd CONFIGDATA The serialized configuration data. See MC_KIN_REF_SM3.CartesianToAxes . oriInfo OrientationSpace Information about the possible orientations in the MCS generated by the position kinematics Inout v SMC_Vector3D MCS vector pointing from the origin of the trafo to the TCP.

ISMOrientationKinematicsWithOriImage (ITF) ¶ INTERFACE ISMOrientationKinematicsWithOriImage This interface computes the actual flange orientation from the programmed / desired flange orientation of an orientation kinematics. For orientation kinematics with three degrees of freedom, there is no difference between programmed and actual flange orientation. This interface computes all the possible orientations that this orientation kinematics may generate, given the programmed orienation. It is required to support different tools (see SMC_GroupSetTool). Only when the actual flange orientation can be computed, the tool offset can be correctly compensated for. See ISMOrientationKinematicsWithOriImage2 for an extended interface which should be implemented instead. Methods: GetOrientationImage Structure: GetOrientationImage (Method)

ISMOrientationKinematicsWithOriImage.GetOrientationImage (METH) ¶ METHOD GetOrientationImage Returns the space of achievable orientations of the orientation kinematics, given the programmed orientation. InOut: Scope Name Type Comment Inout oriInfo OrientationSpace Information about the possible orientations generated by the orientation kinematics. csOriKin MCS_OR_FLANGE Whether the orientation info is defined in MCS or in the flange coordinate system of the position kinematics on which the orientation kinematics is mounted. For example, Kin_CAxis can provide the orientation in the flange coordinate system, while Kin_Wrist2 can provide the orientation in the MCS. bActive BOOL Whether the degrees of freedom of oriInfo are active (TRUE) or passive (FALSE). As an example, Kin_CAxis has one _active_ degree of freedom, as the rotation axis C can be used to rotate to any desired angle. In contrast, Kin_Wrist2 has one _passive_ degree of freedom. As the direction of the tool (z-axis) is given by the programmed orientation, the direction of the x- and y-axis are fixed but yet unknown (until the orientation of the base coordinate system has been computed). Inout Const mR_flange SMC_Matrix3 Programmed / desired orientation of the flange of the orientation kinematics, expressed in the MCS.

ISMOrientationKinematicsWithOriImage2 (ITF) ¶ INTERFACE ISMOrientationKinematicsWithOriImage2 This interface replaces ISMOrientationKinematicsWithOriImage . Methods: GetOrientationImageTotal GetOrientationImageWithOri Structure: GetOrientationImageTotal (Method) GetOrientationImageWithOri (Method)