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

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

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

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

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

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

Kin_Polar_Z.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT

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

Kin_Scara2_Z (FB) ¶ FUNCTION_BLOCK Kin_Scara2_Z IMPLEMENTS ISMPositionKinematicsInternal, ISMPositionKinematics_Offset2 , ISMKinematicWithConfigurations4 , ISMKinPeriodHandling , ISMKinematicWithInfo2 Transformation FB for Scara2 kinematics with an additional axis. The Selective Compliance Assembly Robot Arm (SCARA) is a special type of industrial robot which resembles a human arm. A Scara2 system exhibits two axes and two degrees of freedom. The motion is limited to the X-Y-plane. Machine coordinate system (MCS) Origin The intersection of axis 0 and the X-Y-plane. X Defined by the direction the first arm points to when the first rotary axis (a0) is at 0°. Y The Y axis results automatically from the definitions of the X and Z axis by rotating the X axis by +90° around the Z axis. ( Z ) This FB features an additional linear axis (a2) perpendicular to the X-Y-plane. The Z axis corresponds directly to the positive direction of this additional axis. The location of the tool coordinate system (TCS) relative to the MCS in zero position: Tool coordinate system (TCS) Origin Relative to MCS: dX = dArmLength1 + dArmLength2 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 The system consists of a rotary axis a0 that turns the robot around the Z axis, the first joint with length dArmLength1, a second rotary axis a1 that turns the following parts of the robot around the Z axis, the second joint with length dArmLength2 and a linear axis (a2) that is orientated in direction of Z. There are two configurations that can be switched with the input xElbowRight of Kin_Scara2_Z_Config. The single axes values have the following interpretation: a0 position of the first rotary axis around Z in degrees (A1) a1 position of the second rotary axis around Z in degrees (A2) a2 position of the linear axis in direction of Z axis (Z) The zero position of the kinematics can be adjusted by defining constant offsets for the axes. See inputs dOffsetA1 , dOffsetA2 and dOffsetZ . Changing the offsets affects the location and orientation of the TCS. Note If this kinematics is used without an orientation-kinematics, then it is not compatible with tools (see SMC_GroupSetTool) that have a position offset in a direction other than the Z direction. Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Input dArmLength1 LREAL Arm length of 1st joint dArmLength2 LREAL Arm length of 2nd joint dOffsetA1 LREAL Additional offset of axis A1. This offset is subtracted before the forward transformation and added after the inverse transformation. dOffsetA2 LREAL Additional offset of axis A2. This offset is subtracted before the forward transformation and added after the inverse transformation. dOffsetZ LREAL Additional offset of axis Z. This offset is subtracted before the forward transformation and added after the inverse transformation. Properties: NumAxes Methods: ActivateAutomaticRotaryPeriods AxesToCartesian AxesToConfiguration_Offset AxesToOrientation CPConnectible CartesianToAxes CartesianToAxes_Offset GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetKinematicsName GetOrientationImage GetPeriods IsConfigSingular IsSingularity ProjectPosition Structure: ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxesToConfiguration_Offset (Method) AxesToOrientation (Method) CPConnectible (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) IsConfigSingular (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method)