Kin_Gantry3 (FB) ¶ FUNCTION_BLOCK Kin_Gantry3 IMPLEMENTS ISMPositionKinematics_Offset , ISMPositionKinematicsInternal, ISMKinematicWithInfo2 Transformation FB for a 3-axis gantry. In a gantry system, the machine coordinates correspond directly to the positions of the axes. Machine coordinate system (MCS) Origin The location of the TCP when the position values of all three axes are 0. X Corresponds directly to the direction of the first axis (a0), i.e. a positive velocity on the first axis leads to a movement in positive X direction in the MCS. Y Corresponds directly to the direction of the second axis (a1), i.e. a positive velocity on the second axis leads to a movement in positive Y direction in the MCS. Z Corresponds directly to the direction of the third axis (a2), i.e. a positive velocity on the third axis leads to a movement in positive Z direction in the MCS. The location of the tool coordinate system (TCS) relative to the MCS in zero position: Tool coordinate system (TCS) Origin Relative to MCS: dX = 0 dY = 0 dZ = 0 X Along the X-Axis of the MCS in positive direction Y Along the Y-Axis of the MCS in positive direction Z Along the Z-Axis of the MCS in positive direction One may think of x and y as the width and length of a box and take z as the height of the box. The interior of this box is referred to as the working envelope of the gantry robot. The single axes values have the following interpretation: a0 position of the x axis of the machine (X) a1 position of the y axis of the machine (Y) a2 position of the z axis of the machine (Z) Attributes: sm_kin_libdoc Properties: NumAxes Methods: AxesToCartesian AxesToOrientation CartesianToAxes CartesianToAxes_Offset GetAxisProperties GetKinematicsName GetOrientationImage IsSingularity ProjectPosition Structure: AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method)

Kin_Gantry3.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_Gantry3.AxesToOrientation (METH) ¶ METHOD AxesToOrientation : SMC_Error InOut: Scope Name Type Return AxesToOrientation SMC_Error Inout m SMC_Matrix3 Inout Const a AXISPOS_REF

Kin_Gantry3.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_Gantry3.CartesianToAxes_Offset (METH) ¶ METHOD CartesianToAxes_Offset : SM3_Error.SMC_ERROR InOut: Scope Name Type Return CartesianToAxes_Offset SM3_Error.SMC_ERROR Inout a AXISPOS_REF Inout Const v_MCS SM3M.SMC_VECTOR3D vOffset_TCP SM3M.SMC_VECTOR3D aRef AXISPOS_REF cd CONFIGDATA

Kin_Gantry3.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT

Kin_Gantry3.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)

Kin_Gantry3.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Comment Inout oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics

Kin_Gantry3.IsSingularity (METH) ¶ METHOD IsSingularity : BOOL InOut: Scope Name Type Return IsSingularity BOOL Inout Const a AXISPOS_REF

Kin_CAxis_Tool.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