Kin_Coupled.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT
Kin_Coupled.GetConfigurationDataSize (METH) ¶ METHOD GetConfigurationDataSize : INT InOut: Scope Name Type Return GetConfigurationDataSize INT
Kin_Coupled.GetDefaultConfigurationData (METH) ¶ METHOD GetDefaultConfigurationData : BOOL InOut: Scope Name Type Return GetDefaultConfigurationData BOOL Inout cd CONFIGDATA
Kin_Coupled.GetFlangeOrientationImageTotal (METH) ¶ METHOD GetFlangeOrientationImageTotal : SM3_Error.SMC_ERROR InOut: Scope Name Type Return GetFlangeOrientationImageTotal SM3_Error.SMC_ERROR Inout oriInfo OrientationSpace
Kin_Coupled.GetFlangeOrientationImageWithOri (METH) ¶ METHOD GetFlangeOrientationImageWithOri : SMC_Error InOut: Scope Name Type Return GetFlangeOrientationImageWithOri SMC_Error Inout oriInfo OrientationSpace Inout Const mR_Flange SMC_Matrix3 aRef AXISPOS_REF cd CONFIGDATA
Kin_Coupled.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)
Kin_Coupled.GetPeriods (METH) ¶ METHOD GetPeriods Returns an array containing the periods of all axes InOut: Scope Name Type Inout Const cd CONFIGDATA Inout aPeriods ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF DINT
Kin_Coupled.GetPosAndToolKinematics (METH) ¶ METHOD GetPosAndToolKinematics InOut: Scope Name Type Comment Output kinPos ISMPositionKinematics Position Kinematics kinTool ISMOrientationKinematics Orientation Kinematics
Kin_Wrist2_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_Wrist2_ReadConfig This FB contains the data that defines the configuration of Kin_Wrist2 . InOut: Scope Name Type Comment Input Config ConfigData The configuration data Output a1State Kin_Wrist2_B_State
Kin_Wrist3_Config (FB) ¶ FUNCTION_BLOCK Kin_Wrist3_Config This FB contains the data that defines the configuration of Kin_Wrist3 . InOut: Scope Name Type Comment Input HandState Kin_Wrist3_Hand_State Determines whether the second joint angle is positive (hand down) or negative (hand up). Output Config ConfigData The configuration data
