Kin_TGantry2.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_TGantry2.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_TGantry2.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT

Kin_TGantry2.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)

Kin_TGantry2.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Comment Inout oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics

Kin_TGantry2.IsSingularity (METH) ¶ METHOD IsSingularity : BOOL InOut: Scope Name Type Return IsSingularity BOOL Inout Const a AXISPOS_REF

Kin_TGantry2.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT

Kin_TGantry2.ProjectPosition (METH) ¶ METHOD ProjectPosition InOut: Scope Name Type Inout vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D

Kin_Bipod_Rotary (FB) ¶ FUNCTION_BLOCK Kin_Bipod_Rotary IMPLEMENTS ISMPositionKinematics_Offset , ISMPositionKinematicsInternal, ISMKinematicWithInfo2 Transformation FB for bipod kinematics. (see Kin_Tripod_Rotary ) Machine coordinate system (MCS) Origin Defined as the midpoint of the tool plate when both first arms (i.e. the ones directly connected to (a0) and (a1) respectively) are in horizontal position. X Points from the origin towards the second axis (a1). At 0° the arm connected to the first axis (a0) points in negative X direction, the one connected to the second axis (a1) in positive X direction. Y Points from the origin away from the construction. At 90° the arms directly connected to the first and second axis both point in positive Y 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 All axes are limited to the range [-90°, 90°] by the kinematics. The single axes values have the following interpretation: a0 position of the left axis (negative x value) of the machine a1 position of the 2nd axis (positive x value) of the machine Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Input dArmLength1 LREAL Length of Arm1 connected to the motor dArmLength2 LREAL Length of Arm2 [from arm1 to linked connection] dDistance LREAL horizontal distance of the two motors 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_Tripod_Linear.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