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

Kin_Polar.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_Polar.CartesianToAxes_Offset (METH) ¶ METHOD CartesianToAxes_Offset : SMC_Error InOut: Scope Name Type Return CartesianToAxes_Offset SMC_Error Inout a AXISPOS_REF Inout Const v_MCS SMC_Vector3D vOffset_TCP SMC_Vector3D aRef AXISPOS_REF cd CONFIGDATA

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

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

Kin_Tripod_Rotary (FB) ¶ FUNCTION_BLOCK Kin_Tripod_Rotary IMPLEMENTS ISMPositionKinematics_Offset , ISMPositionKinematicsInternal, ISMKinematicWithInfo2 , ISMKinematicWithInitialization Transformation FB for Tripod kinematics with rotary axes In the kinematic design for a tripod with rotary drives, three rotary drives are connected to the tool plate by arms and connecting rods. Machine coordinate system (MCS) Origin Defined as the midpoint of the tool plate when all three upper arms (i.e. the ones directly connected to A0, A1, and A2 respectively) are in horizontal position. X Points from the origin and away from the point P of the first axis (A0). Y Defined by X and Z so that the MCS becomes right-handed. Z Orthogonal to the tool plate. Points from the tool plate towards the motors. 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 image shows the zero position of all axes (the three upper arms are horizontal). The MCS is displayed in the tool plate. Additionally, the arrows at the axes A0, A1, and A2 show the direction of rotation according to the right-hand-rule. Mechanical requirements: The lengths of all three arms 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 members of AXISPOS_REF have the following interpretation: a0 position of the 1st axis of the machine (A0) a1 position of the 2nd axis of the machine (A1) a2 position of the 3rd axis of the machine (A2) Attributes: sm_kin_libdoc InOut: Scope Name Type Initial Comment Input dArmLength1 LREAL Length of the upper arm connected to the motor. dArmLength2 LREAL Length of the lower arm (from the upper arm to the tool plate). dArm1Radius LREAL The radius of the circle that is established by the three points P of the drives. dStewartRadius LREAL 0 The radius of the circle that is established by the six points where the connecting rods connect to the tool plate. dDistance LREAL Distance between the two connecting rods in one pair. dMaxAngleBallJoint LREAL 45 Maximum angle in +/- for the ball joints. 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.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_Tripod_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_Tripod_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