「ISMCoupledKinematics3」(ITF) ¶ INTERFACE ISMCoupledKinematics3 EXTENDS ISMCoupledKinematics2 ISMCoupledKinematics2 の拡張インターフェイス。 ISMCoupledKinematics4 に置き換えられています。 Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetAxisMapping AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetPosAndToolKinematics , inherited from ISMCoupledKinematics JoinAxes , inherited from ISMCoupledKinematics2 JoinConfig , inherited from ISMCoupledKinematics2 SplitAxes , inherited from ISMCoupledKinematics2 SplitConfig , inherited from ISMCoupledKinematics2 Structure: GetAxisMapping (Method)
「ISMCoupledKinematics3.GetAxisMapping`」(METH) ¶ METHOD GetAxisMapping このメソッドは |ISMCoupledKineamtics4.GetAxisMapping2| に基づいて実装する必要があります。 後者のメソッドはマッピング全体のコピーを避けることができます。 入出力: スコープ 名前 タイプ コメント 出力 aAxisMapping ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF Coupled_Kin_Axis_Map 出力: 各軸の結合キネマティクスのタイプ (位置/方向) を持つ配列
「ISMCoupledKinematics4」(ITF) ¶ INTERFACE ISMCoupledKinematics4 EXTENDS ISMCoupledKinematics2 ISMCoupledKinematics2 の拡張インターフェイス。結合キネマティクスすべてに実装し、 ISMCoupledKinematics3 の置き換えが必要。 Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetAxisMapping2 AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetPosAndToolKinematics , inherited from ISMCoupledKinematics JoinAxes , inherited from ISMCoupledKinematics2 JoinConfig , inherited from ISMCoupledKinematics2 SplitAxes , inherited from ISMCoupledKinematics2 SplitConfig , inherited from ISMCoupledKinematics2 Structure: GetAxisMapping2 (Method)
「ISMKinematicWithInfo2.GetKinematicsName」(METH) ¶ METHOD GetKinematicsName : STRING(255) キネマティクスを表す名前を戻します。 入出力: スコープ 名前 タイプ エンター GetKinematicsName STRING(255)
「ISMKinematicWithInitialization」(ITF) ¶ INTERFACE ISMKinematicWithInitialization EXTENDS MC_KIN_REF_SM3 初期化を必要とするキネマティクスはこのインターフェイスを実装しておくべきです。 キネマティクスが軸グループ用に設定される場合、メソッド ISMKinematicWithInitialization.Initialize が呼び出されます (メソッド ISMKinematicWithInitialization.IsInitialized がFALSE を戻すことを提供)。 Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: Initialize IsInitialized AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 Structure: Initialize (Method) IsInitialized (Method)
「ISMKinematicWithInitialization.Initialize」(METH) ¶ METHOD Initialize : SMC_Error 必要な初期化を実行し、成功か失敗を示すエラーコードを戻します。 注釈 キネマティクス FB のその他のメソッドやプロパティは、このメソッドの呼び出しに成功するまで呼び出してはなりません。唯一の例外は、メソッド ISMKinematicWithInitialization.IsInitialized で、これは事前に呼び出しても安全です。 入出力: スコープ 名前 タイプ エンター Initialize SMC_Error
Kin_ArticulatedRobot_6DOF_Config (FB) ¶ FUNCTION_BLOCK Kin_ArticulatedRobot_6DOF_Config This FB reads configuration data for SMC_Kin_ArticulatedRobot_6DOF. InOut: Scope Name Type Comment Input ArmState Kin_6DOF_J0_State ElbowState Kin_6DOF_J2_State HandState Kin_6DOF_J4_State Output Config ConfigData The configuration data
Kin_ArticulatedRobot_6DOF_ReadConfig (FB) ¶ FUNCTION_BLOCK Kin_ArticulatedRobot_6DOF_ReadConfig This FB contains the data that defines the configuration of SMC_Kin_ArticulatedRobot_6DOF. InOut: Scope Name Type Comment Input Config ConfigData The configuration data Output ArmState Kin_6DOF_J0_State ElbowState Kin_6DOF_J2_State HandState Kin_6DOF_J4_State
Kin_6DOF_J0_State (ENUM) ¶ TYPE Kin_6DOF_J0_State : The possible configuration states of joint 0 of the 6DOF robot arm. Attributes: qualified_only InOut: Name Comment ARMFORWARD The arm is pointing towards the wrist center ARMBACKWARDS The arm is pointing opposite to the wrist center ARMSTRAIGHT The wrist center is directly above joint 0 (singular case)
Kin_6DOF_J2_State (ENUM) ¶ TYPE Kin_6DOF_J2_State : The possible configuration states of joint 1 of the 6DOF robot arm. 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)
