Scara Systems ¶ 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)
5 Axes ¶ 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 Systems ¶ 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)
Functions ¶ AXISLIMITS_Intersection (Function) AXISPOS_REF_Eq (Function) Coupled_GetAxisMapping (Function) GetCombinedOrientationImage (Function) GetFlangeOriImg (Function) GetKinematicsForAxis (Function) GetPeriods (Function) Initialise_OriImage_dof0 (Function) Initialise_OriImage_dof1 (Function) Initialise_OriImage_dof3 (Function) OrientationSpace_Equals (Function) ProjectRotation1dof (Function)
「AXISLIMITS_Intersection」(FUN) ¶ FUNCTION AXISLIMITS_Intersection 入出力: スコープ 名前 タイプ 入出力 lDst AXISLIMITS 入出力 定数 lLhs AXISLIMITS lRhs AXISLIMITS
「AXISPOS_REF_Eq」(FUN) ¶ FUNCTION AXISPOS_REF_Eq : BOOL 入出力: スコープ 名前 タイプ 入出力 定数 aA AXISPOS_REF aB AXISPOS_REF エンター AXISPOS_REF_Eq BOOL
「Coupled_GetAxisMapping」(FUN) ¶ FUNCTION Coupled_GetAxisMapping : BOOL 結合 キネマティクスの場合、方向および位置キネマティクスの軸のマッピングを返します。kin が結合キネマティクスでない場合、FALSE が返され、マッピング情報は書き込まれません。 入出力: スコープ 名前 タイプ コメント 入力 kin MC_KIN_REF_SM3 入出力 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 エンター Coupled_GetAxisMapping BOOL
