「Kin_Wrist2」(FB) ¶ FUNCTION_BLOCK Kin_Wrist2 IMPLEMENTS ISMToolKinematics2 , ISMOrientationKinematics3 、 ISMKinematicWithInfo2 、 ISMKinematicWithConfigurations 、 ISMOrientationKinematicsWithOriImage2 a0 が Z 軸の周りを回転し、a1 が新しい Y 軸の周りを回転する 2 軸インライン手首の変換 FB です。 単一の軸の値には以下の解釈があります。 a0 ヨー軸の角度 (度) (方位角、A) a1 回転軸の角度 (度) (傾斜角、B) キネマティクスが一定の向きでフランジに取り付けられている場合、回転軸 a1 は a0 で回転したベース座標系を基準にしたオフセットを持つことができます。 属性: sm_kin_libdoc 入出力: スコープ 名前 タイプ コメント 入力 dToolLength LREAL 回転軸 a1 の放射方向への回転の中心からキネマティクスのフランジへのオフセット。フランジ座標系の Z 軸に沿って測定。 dRollAxisOffsetX LREAL a0 で回転したベース座標系の原点から X 方向への回転軸 a1 のオフセット。 dRollAxisOffsetY LREAL a0 で回転したベース座標系の原点から Y 方向への回転軸 a1 のオフセット。 dRollAxisOffsetZ LREAL a0 で回転したベース座標系の原点から Z 方向への回転軸 a1 のオフセット。 Properties: NumAxes Methods: AxesToCartesian CartesianToAxes GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetKinematicsName GetOrientationImageTotal GetOrientationImageWithOri GetPositionFromOrientation GetPositionFromOrientation2 GetPositionFromOrientation3 IsCompatibleWithPosKin IsSingularity Structure: AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImageTotal (Method) GetOrientationImageWithOri (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) GetPositionFromOrientation3 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property)

「Kin_Wrist3」(FB) ¶ FUNCTION_BLOCK Kin_Wrist3 IMPLEMENTS ISMToolKinematics2 , ISMKinematicWithInfo2 、 ISMKinematicAxisSettings 、 ISMKinematicWithConfigurations 、 ISMOrientationKinematicsWithOriImage 、 ISMKinematicWithInitialization a0 がZ 軸の周りを回転し、a1 が新しい Y 軸の周りを回転し、a2 新しい Z 軸の周りを回転する 3 軸インライン手首の変換 FB です。ツールは TCP 座標系の負の Z 軸方向を向いています。 3 の全回転軸が 1 で交わり、これを手首中央と呼びます。(このキネマティクスは球状の手首またはオイラー手首とも呼ばれます。) 関節番号 関節オフセット リンク オフセット (d_i) リンクの長さ (a_i) リンクのねじれ 0 0° 0 0 90° 1 0° 0 0 -90° 2 0° dToolOffsetZ 0 0° 軸の値には以下の解釈があります。 a0 フランジ座標系 (A) の Z 軸の周りの回転角度 (度) a1 変更した負の Y 軸 (B) の周りの回転角度 (度) a2 変更した Z 軸 (C) の周りの回転角度 (度) The zero position of the kinematics can be adjusted by defining constant offsets for the axes. See inputs dOffsetA , dOffsetB and dOffsetC . 軸には以下の制約があります。 軸 制約 a0 無制限 a1 [-180°, 180°] a2 無制限 注: 軸 a1 のカスタム制限は範囲内にしてください。そうでない場合エラーが報告されます。 属性: sm_kin_libdoc 入出力: スコープ 名前 タイプ コメント 入力 dToolOffsetX LREAL 手首の中心 からキネマティクスのフランジへのオフセット。フランジ座標系の X 軸に沿って測定。 dToolOffsetY LREAL 手首の中心 からキネマティクスのフランジへのオフセット。フランジ座標系の Y 軸に沿って測定。 dToolOffsetZ LREAL 手首の中心 からキネマティクスのフランジへのオフセット。フランジ座標系の Z 軸に沿って測定。 dOffsetA LREAL 軸 A の追加オフセットです。このオフセットは順変換前に差し引かれ、逆変換の後に加算されます。 dOffsetB LREAL 軸 B の追加オフセットです。このオフセットは順変換前に差し引かれ、逆変換の後に加算されます。 dOffsetC LREAL 軸 C の追加オフセットです。このオフセットは、順変換前に差し引かれ、逆変換の後に加算されます。 Properties: NumAxes Methods: AxesToCartesian AxisSettings CartesianToAxes GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetKinematicsName GetOrientationImage GetPositionFromOrientation GetPositionFromOrientation2 Initialize IsCompatibleWithPosKin IsInitialized IsSingularity Structure: AxesToCartesian (Method) AxisSettings (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) Initialize (Method) IsCompatibleWithPosKin (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property)

Positioning Kinematics ¶ ガントリー システム Kin_Gantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Gantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_TGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) 並列システム Kin_Bipod_Rotary (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Tripod_Linear (FunctionBlock) 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 (FunctionBlock) 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) Pos_RRR コンフィグレーション 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 (FunctionBlock) AxesToCartesian (Method) AxesToCartesian_Offset (Method) AxesToConfiguration_Offset (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) SCARA システム コンフィグレーション Kin_Scara2_Z_Config (FunctionBlock) Kin_Scara2_Z_ReadConfig (FunctionBlock) Kin_Polar (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Polar_Z (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Scara2_Z (FunctionBlock) 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) Kin_Scara_Elbow_State (Enum)

Gantry Systems ¶ Kin_Gantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Gantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_TGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method)

Parallel Systems ¶ Kin_Bipod_Rotary (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Tripod_Linear (FunctionBlock) 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 (FunctionBlock) 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)

Function Blocks ¶ 結合キネマティクス コンフィグレーション Kin_Coupled_Config (FunctionBlock) Kin_Coupled_ReadConfig (FunctionBlock) Kin_Coupled (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxisSettings (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisMapping (Method) GetAxisMapping2 (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) GetPeriods (Method) GetPosAndToolKinematics (Method) Initialize (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) JoinAxes (Method) JoinConfig (Method) NumAxes (Property) SplitAxes (Method) SplitConfig (Method) 方向キネマティクス CAxis_From_Orientation (Function) コンフィグレーション Kin_CAxis_Config (FunctionBlock) Kin_CAxis_ReadConfig (FunctionBlock) Kin_Wrist2_B_State (Enum) Kin_Wrist2_Config (FunctionBlock) Kin_Wrist2_ReadConfig (FunctionBlock) Kin_Wrist3_Config (FunctionBlock) Kin_Wrist3_Hand_State (Enum) Kin_Wrist3_ReadConfig (FunctionBlock) Kin_CAxis (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) Initialize (Method) IsCompatibleWithPosKin (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property) Kin_CAxis_Tool (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsConfigSingular (Method) IsSingularity (Method) NumAxes (Property) Kin_Tool (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property) Kin_Wrist2 (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImageTotal (Method) GetOrientationImageWithOri (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) GetPositionFromOrientation3 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property) Kin_Wrist3 (FunctionBlock) AxesToCartesian (Method) AxisSettings (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) Initialize (Method) IsCompatibleWithPosKin (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property) Positioning Kinematics ガントリー システム Kin_Gantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Gantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_HGantry3 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_TGantry2 (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) 並列システム Kin_Bipod_Rotary (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Tripod_Linear (FunctionBlock) 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 (FunctionBlock) 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) Pos_RRR コンフィグレーション 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 (FunctionBlock) AxesToCartesian (Method) AxesToCartesian_Offset (Method) AxesToConfiguration_Offset (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) SCARA システム コンフィグレーション Kin_Scara2_Z_Config (FunctionBlock) Kin_Scara2_Z_ReadConfig (FunctionBlock) Kin_Polar (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Polar_Z (FunctionBlock) AxesToCartesian (Method) AxesToOrientation (Method) CartesianToAxes (Method) CartesianToAxes_Offset (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) IsSingularity (Method) NumAxes (Property) ProjectPosition (Method) Kin_Scara2_Z (FunctionBlock) 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) Kin_Scara_Elbow_State (Enum) Standalone Kinematics 5 軸 Kin_5Axes (FunctionBlock) GetKinematicsName (Method) Initialize (Method) Articulated Robots 4AxisPalletizer コンフィグレーション Kin_4AxisPalletizer_Config (FunctionBlock) Kin_4AxisPalletizer_ReadConfig (FunctionBlock) Kin_4AxesPalletizer (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) IsSingularity (Method) NumAxes (Property) 6AxisArticulated コンフィグレーション Kin_ArticulatedRobot_6DOF_Config (FunctionBlock) Kin_ArticulatedRobot_6DOF_ReadConfig (FunctionBlock) Kin_6DOF_J0_State (Enum) Kin_6DOF_J2_State (Enum) Kin_6DOF_J4_State (Enum) Kin_ArticulatedRobot_6DOF (FunctionBlock) GetKinematicsName (Method) Initialize (Method) SCARA システム コンフィグレーション Kin_Scara3_Z_Config (FunctionBlock) Kin_Scara3_Z_ReadConfig (FunctionBlock) Kin_Scara3_Z (FunctionBlock) GetAxisMapping2 (Method) GetKinematicsName (Method) Initialize (Method) JoinAxes (Method) SplitAxes (Method) Staubli Kin_Staubli_TS240 (FunctionBlock) Initialize (Method) Kin_Staubli_TS260 (FunctionBlock) Initialize (Method) Kin_Staubli_TS60_S1_D25_L200_floor_R1 (FunctionBlock) Initialize (Method) Kin_Staubli_TX60_S1_R4 (FunctionBlock) fb_init (Method)

Coupled Kinematics ¶ コンフィグレーション Kin_Coupled_Config (FunctionBlock) Kin_Coupled_ReadConfig (FunctionBlock) Kin_Coupled (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxisSettings (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisMapping (Method) GetAxisMapping2 (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) GetPeriods (Method) GetPosAndToolKinematics (Method) Initialize (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) JoinAxes (Method) JoinConfig (Method) NumAxes (Property) SplitAxes (Method) SplitConfig (Method)

Configuration ¶ Kin_Coupled_Config (FunctionBlock) Kin_Coupled_ReadConfig (FunctionBlock)

「Kin_Coupled」(FB) ¶ FUNCTION_BLOCK Kin_Coupled IMPLEMENTS ISMCoupledKinematics3 , ISMCoupledKinematics4 、 ISMKinematicWithConfigurations4 、 ISMKinematicWithInfo2 、 ISMKinematicAxisSettings 、 ISMKinematicWithInitialization 、 ISMKinPeriodHandling 、 ISMKinematicsWithOrientationImage2 最大 3 つの自由度を持つ位置キネマティクス (itfPosKin) と方向キネマティクス (itfOriKin) で構成されている、組み合わせられたキネマティクスの変換。 通常、結合キネマティクスの軸座標は位置キネマティクスの軸で構成され、その後に方向キネマティクスの軸が続きます。 この順序はメソッド GetAxisMapping2 をオーバーライドすることで変更できます。 キネマティクスの構成を変更するには (関係しているキネマティクスの少なくとも 1 つが ISMKinematicWithConfigurations を実装する場合)、 Kin_Coupled_Config を使用してください。 入出力: スコープ 名前 タイプ 入力 itfPosKin ISMPositionKinematics itfOriKin ISMOrientationKinematics Properties: NumAxes Methods: ActivateAutomaticRotaryPeriods AxesToCartesian AxisSettings CPConnectible CartesianToAxes GetAxisMapping GetAxisMapping2 GetAxisProperties GetConfigurationDataSize GetDefaultConfigurationData GetFlangeOrientationImageTotal GetFlangeOrientationImageWithOri GetKinematicsName GetPeriods GetPosAndToolKinematics Initialize IsConfigSingular IsInitialized IsSingularity JoinAxes JoinConfig SplitAxes SplitConfig Structure: ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) AxisSettings (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisMapping (Method) GetAxisMapping2 (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) GetKinematicsName (Method) GetPeriods (Method) GetPosAndToolKinematics (Method) Initialize (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) JoinAxes (Method) JoinConfig (Method) NumAxes (Property) SplitAxes (Method) SplitConfig (Method)

Orientation Kinematics ¶ CAxis_From_Orientation (Function) コンフィグレーション Kin_CAxis_Config (FunctionBlock) Kin_CAxis_ReadConfig (FunctionBlock) Kin_Wrist2_B_State (Enum) Kin_Wrist2_Config (FunctionBlock) Kin_Wrist2_ReadConfig (FunctionBlock) Kin_Wrist3_Config (FunctionBlock) Kin_Wrist3_Hand_State (Enum) Kin_Wrist3_ReadConfig (FunctionBlock) Kin_CAxis (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) Initialize (Method) IsCompatibleWithPosKin (Method) IsConfigSingular (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property) Kin_CAxis_Tool (FunctionBlock) ActivateAutomaticRotaryPeriods (Method) AxesToCartesian (Method) CPConnectible (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPeriods (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsConfigSingular (Method) IsSingularity (Method) NumAxes (Property) Kin_Tool (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property) Kin_Wrist2 (FunctionBlock) AxesToCartesian (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImageTotal (Method) GetOrientationImageWithOri (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) GetPositionFromOrientation3 (Method) IsCompatibleWithPosKin (Method) IsSingularity (Method) NumAxes (Property) Kin_Wrist3 (FunctionBlock) AxesToCartesian (Method) AxisSettings (Method) CartesianToAxes (Method) GetAxisProperties (Method) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) GetKinematicsName (Method) GetOrientationImage (Method) GetPositionFromOrientation (Method) GetPositionFromOrientation2 (Method) Initialize (Method) IsCompatibleWithPosKin (Method) IsInitialized (Method) IsSingularity (Method) NumAxes (Property)