ISMOrientationKinematicsWithOriImage2.GetOrientationImageTotal (METH) ¶ METHOD GetOrientationImageTotal : SMC_ERROR Returns the space of achievable orientations of the orientation kinematics. In contrast to GetOrientationImageWithOri , this method returns the orientation image without knowledge of a specific programmed orientation. Thus, it is neccessarily less specific. For example, for Kin_Wrist2, this method will return dof=3, while GetOrientationImageWithOri returns dof=1. InOut: Scope Name Type Comment Return GetOrientationImageTotal SMC_ERROR Inout oriInfo OrientationSpace Information about the possible orientations generated by the orientation kinematics. Always relative to the base coordinate system of the kinematics. Inout Const oriInfoBase OrientationSpace The orientation image of the base coordinate system of the orientation kinematics. (If used for coupled kinematics, this is the orientation image that is returned by the position kinematics.)

ISMOrientationKinematicsWithOriImage2.GetOrientationImageWithOri (METH) ¶ METHOD GetOrientationImageWithOri : SMC_ERROR Returns the space of achievable orientations of the orientation kinematics, given the programmed orientation. It supersedes ISMOrientationKinematicsWithOriImage.GetOrientationImage and receives the orientation image of the position kinematics as an additional input. InOut: Scope Name Type Comment Return GetOrientationImageWithOri SMC_ERROR 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. aRef AXISPOS_REF The reference position of all axes. cd CONFIGDATA Programmed / desired configuration. oriInfoBase OrientationSpace The orientation image of the base coordinate system of the orientation kinematics. (If used for coupled kinematics, this is the orientation image that is returned by the position kinematics.)

ISMPositionKinematics (ITF) ¶ INTERFACE ISMPositionKinematics EXTENDS MC_KIN_REF_SM3 Represents a kinematic transformation that can be combined with an orientation kinematics ( ISMOrientationKinematics ). The last coordinate system of a position kinematics is called the flange coordinate system. It is at this location where a tool or another orientation kinematics can be attached. Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: AxesToOrientation AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 Structure: AxesToOrientation (Method)

ISMPositionKinematics.AxesToOrientation (METH) ¶ METHOD AxesToOrientation : SMC_ERROR Computes the orientation of the flange coordinate system from axis positions. Returns whether the computation was successful. InOut: Scope Name Type Comment Return AxesToOrientation SMC_ERROR Inout m SMC_Matrix3 Out: The orientation of the flange coordinate system Inout Const a AXISPOS_REF In: The position of all position axes

ISMPositionKinematics2 (ITF) ¶ INTERFACE ISMPositionKinematics2 EXTENDS ISMPositionKinematics Extended interface for position kinematics. Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetOrientationImage AxesToCartesian , inherited from MC_KIN_REF_SM3 AxesToOrientation , inherited from ISMPositionKinematics CartesianToAxes , inherited from MC_KIN_REF_SM3 Structure: GetOrientationImage (Method)

Kin_Coupled.AxisSettings (METH) ¶ METHOD AxisSettings : SMC_ERROR InOut: Scope Name Type Return AxisSettings SMC_ERROR Inout Const as Axis_Settings Input udiAxis UDINT

Kin_Coupled.CPConnectible (METH) ¶ METHOD CPConnectible : BOOL InOut: Scope Name Type Return CPConnectible BOOL Inout Const cd1 CONFIGDATA cd2 CONFIGDATA

Kin_Coupled.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

Kin_Coupled.GetAxisMapping (METH) ¶ METHOD GetAxisMapping InOut: Scope Name Type Output aAxisMapping ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF Coupled_Kin_Axis_Map

Kin_Coupled.GetAxisMapping2 (METH) ¶ METHOD GetAxisMapping2 This default implementation of ISMCoupledKinematics3.GetAxisMapping returns an array that contains the axis mapping of the position kinematics followed by the axis mapping of the orientation kinematics. InOut: Scope Name Type Inout aAxisMapping ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF Coupled_Kin_Axis_Map