Kin_Bipod_Rotary.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT

Kin_Bipod_Rotary.ProjectPosition (METH) ¶ METHOD ProjectPosition InOut: Scope Name Type Inout vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D

Kin_Tripod_Linear (FB) ¶ FUNCTION_BLOCK Kin_Tripod_Linear IMPLEMENTS ISMPositionKinematics_Offset , ISMPositionKinematicsInternal, ISMKinematicWithInfo2 , ISMKinematicWithInitialization Transformation FB for Tripod kinematics with linear axes This system consists of three linear drives on rails with traversing sliders. The guide rails are fixed parallel to the vertical axis. The tool plate is connected to all three traversing sliders with three pairs of connecting rods of equal length. The paired design of connecting rods holds the tool plate in the same orientation parallel to the XY plane. This kinematic design allows the tool plate to move within three dimensions. Machine coordinate system (MCS) Origin Defined as the center point of a circle in the X-Y-plane that connects the three points (A) where the axes intersect the X-Y-plane. X Points from the origin towards the intersection point of the first axis (a0) with the X-Y-plane. Y Defined by X and Z so that the MCS becomes right-handed. Z Extends away from the construction. Positive velocities of the three axes lead to a movement component along the Z axis in negative direction. The location of the tool coordinate system (TCS) relative to the MCS in zero position: Tool coordinate system (TCS) 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 The point that moves between the connecting rod joints on a slider geometrically defines the axis. The 0 position of the axis is at point (A), which is the point where the axis intersects the x-y- plane. Mechanical requirements: The lengths of the three rails must be equal. The lengths of all connecting rods must be equal. The distance between the two connecting rods in each pair must be equal. The axis angle between the drive rail and the vertical axis must be equal for all three drives. The angle allowance is between 0° and 90°. The single axes values have the following interpretation: a0 position of the 1st axis of the machine (A1) a1 position of the 2nd axis of the machine (A2) a2 position of the 3rd axis of the machine (A3) Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Input dOuterRadius LREAL Radius of outer ring. Point A is the intersection of the axis with the XY plane. dInnerRadius LREAL Distance from the center of the tool plate to the gripping points of the connecting rods. dLength LREAL Length of the connecting rods dDistance LREAL Distance between the two connecting rods forming one pair dAxisAngle LREAL Absolute angle between rails and Z axis Properties: NumAxes Methods: AxesToCartesian AxesToOrientation CartesianToAxes CartesianToAxes_Offset GetAxisProperties GetKinematicsName GetOrientationImage Initialize IsInitialized IsSingularity ProjectPosition Structure: AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) Initialize (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method)

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

Kin_Tripod_Rotary.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT

Kin_Tripod_Rotary.ProjectPosition (METH) ¶ METHOD ProjectPosition InOut: Scope Name Type Inout vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D

Configuration ¶ Kin_Pos_RRR_Arm_State (Enum) Kin_Pos_RRR_Config (FunctionBlock) Kin_Pos_RRR_Elbow_State (Enum) Kin_Pos_RRR_ReadConfig (FunctionBlock)

Kin_Pos_RRR_Arm_State (ENUM) ¶ TYPE Kin_Pos_RRR_Arm_State : The possible configuration states of joint 0 of Kin_Pos_RRR. Attributes: qualified_only InOut: Name Comment ARMFORWARD The arm is pointing towards the flange position ARMBACKWARDS The arm is pointing opposite to the flange position ARMSTRAIGHT The flange position is directly above joint 0 (singular case)

Kin_Pos_RRR_Config (FB) ¶ FUNCTION_BLOCK Kin_Pos_RRR_Config This FB reads configuration data for SMC_Kin_ArticulatedRobot_6DOF. InOut: Scope Name Type Comment Input ArmState Kin_Pos_RRR_Arm_State ElbowState Kin_Pos_RRR_Elbow_State Output Config ConfigData The configuration data

Kin_Pos_RRR_Elbow_State (ENUM) ¶ TYPE Kin_Pos_RRR_Elbow_State : The possible configuration states of joint 1 of Kin_Pos_RRR. Attributes: qualified_only InOut: Name Comment ELBOWUP The “elbow” is pointing upwards ELBOWDOWN The “elbow” is pointing downwards ELBOWSTRAIGHT The arm is fully stretched (singular case)