IoDrvEL6631_0010_Diag.Index (PROP) ¶ PROPERTY Index : UDINT

IoDrvEL6631_0010_Diag.IsRootNode (PROP) ¶ PROPERTY IsRootNode : BOOL

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

Kin_Bipod_Rotary.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_Bipod_Rotary.CartesianToAxes_Offset (METH) ¶ METHOD CartesianToAxes_Offset : SMC_Error InOut: Scope Name Type Comment Return CartesianToAxes_Offset SMC_Error Inout a AXISPOS_REF Out: The position of all axes Inout Const v_MCS SMC_Vector3D In: The position of the offset TCP, relative to the machine coordinate system. (The TCP is offset by the additional input vOffset_TCP .) vOffset_TCP SMC_Vector3D In: The additional position offset between the TCP of the position kinematics and the offset TCP. This input is expressed in the TCP coordinate system of the position kinmatics. aRef AXISPOS_REF In: The reference position of all axes. The reference position is used to resolve ambiguities, for example due to singular positions, modulo axes, or rotary axes with a range > 360°. If the kinematics does not have ambiguities, or if the configuration data suffices to resolve any ambiguities, the reference position is not used. In case of an ambiguity, the transformation should resolve the ambiguity in such a way that the resulting axis positions are as close as possible to aRef. cd CONFIGDATA In: The serialized configuration data. If a kinematics has singularities, the configuration determines in which “mode” the resulting axis position is requested. For example scara kinematics have a singularity if the scara arms point into the same direction. This singularity divides the axis positions into two modes: one where the angle of the elbow joint is in the range ]0°..180°[, and one where it is in the range ]-180°..0°[. The configuration data, which in this case is a single boolean flag “xElbowRight”, is then used to select the desired mode.

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

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

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

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