Kin_Wrist3_Hand_State (ENUM) ¶ TYPE Kin_Wrist3_Hand_State : The possible configuration states of the second joint of Kin_Wrist3 . Attributes: qualified_only InOut: Name Comment HANDDOWN The hand is pointing “down”, i.e. q1 > 0 HANDUP The hand is pointing “up”, i.e. q1 < 0 HANDSTRAIGHT The hand is straight (q1 ~ 0), singular case

Kin_Wrist3_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_Wrist3_ReadConfig This FB contains the data that defines the configuration of Kin_Wrist3 . InOut: Scope Name Type Comment Input Config ConfigData The configuration data Output HandState Kin_Wrist3_Hand_State

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

Kin_CAxis.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

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

Kin_CAxis.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_CAxis.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT

Kin_CAxis.GetConfigurationDataSize (METH) ¶ METHOD GetConfigurationDataSize : INT InOut: Scope Name Type Return GetConfigurationDataSize INT

Kin_CAxis.GetDefaultConfigurationData (METH) ¶ METHOD GetDefaultConfigurationData : BOOL InOut: Scope Name Type Return GetDefaultConfigurationData BOOL Inout cd CONFIGDATA

Kin_CAxis.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)