Kin_CAxis.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Inout oriInfo OrientationSpace csOriKin MCS_OR_FLANGE bActive BOOL Inout Const mR_flange SMC_Matrix3

Kin_CAxis.GetPeriods (METH) ¶ METHOD GetPeriods InOut: Scope Name Type Inout Const cd CONFIGDATA Inout aPeriods ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF DINT

Kin_CAxis.GetPositionFromOrientation (METH) ¶ METHOD GetPositionFromOrientation : SMC_ERROR InOut: Scope Name Type Return GetPositionFromOrientation SMC_ERROR Input mR SMC_Matrix3 Inout v SMC_Vector3D

Kin_CAxis.GetPositionFromOrientation2 (METH) ¶ METHOD GetPositionFromOrientation2 : SMC_ERROR InOut: Scope Name Type Comment Return GetPositionFromOrientation2 SMC_ERROR Inout Const mR SMC_Matrix3 Matrix3 describing the orientation oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics Inout v SMC_Vector3D Vector pointing from the origin of the trafo to the TCP.

Kin_CAxis.Initialize (METH) ¶ METHOD Initialize : SM3_Error.SMC_ERROR InOut: Scope Name Type Return Initialize SM3_Error.SMC_ERROR

Kin_CAxis.IsCompatibleWithPosKin (METH) ¶ METHOD IsCompatibleWithPosKin : BOOL InOut: Scope Name Type Comment Return IsCompatibleWithPosKin BOOL Inout Const oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics

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

Kin_CAxis.IsInitialized (METH) ¶ METHOD IsInitialized : BOOL InOut: Scope Name Type Return IsInitialized BOOL

Kin_CAxis.IsSingularity (METH) ¶ METHOD IsSingularity : BOOL InOut: Scope Name Type Return IsSingularity BOOL Inout Const a AXISPOS_REF

Kin_CAxis.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT