Kin_Scara3_Z (FB) ¶ FUNCTION_BLOCK Kin_Scara3_Z EXTENDS Kin_Coupled Transformation FB for Scara3 kinematics with an additional Z-axis. The Selective Compliance Assembly Robot Arm (SCARA) is a special type of industrial robot which resembles to an human arm. A Scara3 system exhibits three axes and three degrees of freedom. However, the motion is still 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 (a3) 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 + dArmLength3 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, a third rotary axis a2 that turns the following parts of the robot around the Z axis, the third joint with length dArmLength3 and a linear axis (a3) that is orientated in direction of Z. There are two configurations that can be switched with the input xElbowRight of Kin_Scara3_Z_Config. The single axes values have the following interpretation: a0 position of the first rotary axis around Z in degrees a1 position of the second rotary axis around Z in degrees a2 position of the third rotary axis around Z in degrees a3 position of the linear axis in direction of Z axis The zero position of the kinematics can be adjusted by defining constant offsets for the axes. See inputs dOffsetA1 , dOffsetA2 , dOffsetA3 and dOffsetZ . Changing the offsets affects the location and orientation of the TCS. Attributes: sm_kin_libdoc InOut: Scope Name Type Comment Inherited from Input itfPosKin ISMPositionKinematics Kin_Coupled itfOriKin ISMOrientationKinematics Kin_Coupled dArmLength1 LREAL Arm length of 1st joint dArmLength2 LREAL Arm length of 2nd joint dArmLength3 LREAL Arm length of 3rd 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. dOffsetA3 LREAL Additional offset of axis A3. 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 , inherited from Kin_Coupled Methods: GetAxisMapping2 GetKinematicsName Initialize JoinAxes SplitAxes ActivateAutomaticRotaryPeriods , inherited from Kin_Coupled AxesToCartesian , inherited from Kin_Coupled AxisSettings , inherited from Kin_Coupled CPConnectible , inherited from Kin_Coupled CartesianToAxes , inherited from Kin_Coupled GetAxisMapping , inherited from Kin_Coupled GetAxisProperties , inherited from Kin_Coupled GetConfigurationDataSize , inherited from Kin_Coupled GetDefaultConfigurationData , inherited from Kin_Coupled GetFlangeOrientationImageTotal , inherited from Kin_Coupled GetFlangeOrientationImageWithOri , inherited from Kin_Coupled GetPeriods , inherited from Kin_Coupled GetPosAndToolKinematics , inherited from Kin_Coupled IsConfigSingular , inherited from Kin_Coupled IsInitialized , inherited from Kin_Coupled IsSingularity , inherited from Kin_Coupled JoinConfig , inherited from Kin_Coupled SplitConfig , inherited from Kin_Coupled Structure: GetAxisMapping2 (Method) GetKinematicsName (Method) Initialize (Method) JoinAxes (Method) SplitAxes (Method)

Kin_Scara3_Z.GetAxisMapping2 (METH) ¶ METHOD GetAxisMapping2 For Scara3Z, the axes 0, 1 and 3 belong to position kinematics and axis 2 belongs to orientation kinematics InOut: Scope Name Type Inout aAxisMapping ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF Coupled_Kin_Axis_Map

Kin_Scara3_Z.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)

Kin_Scara3_Z.Initialize (METH) ¶ METHOD Initialize : SMC_ERROR InOut: Scope Name Type Return Initialize SMC_ERROR

Kin_Scara3_Z.JoinAxes (METH) ¶ METHOD JoinAxes : BOOL InOut: Scope Name Type Return JoinAxes BOOL Inout a AXISPOS_REF Inout Const a1 AXISPOS_REF a2 AXISPOS_REF

Kin_Scara3_Z.SplitAxes (METH) ¶ METHOD SplitAxes : BOOL InOut: Scope Name Type Return SplitAxes BOOL Inout a1 AXISPOS_REF a2 AXISPOS_REF Inout Const a AXISPOS_REF

Kin_Staubli_TS240 (FB) ¶ FUNCTION_BLOCK Kin_Staubli_TS240 EXTENDS Staubli_Base_Scara Transformation FB for Stäubli TS240. Other variants are available at the CODESYS Store. Machine coordinate system (MCS) Origin On axis 0, in Z-direction where axis 2 has its zero position. X Defined by the direction the first joint points to when the first rotary axis (a0) is at 0°. Y Defined by the direction the first joint points to when the first rotary axis (a0) is at 90°. Z Corresponds directly to the direction of the linear axis (a2). Positive direction is upwards. 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 The single axes values have the following interpretation: a0 position of the first rotary axis around Z in degrees a1 position of the second rotary axis around Z in degrees a2 position of the linear axis in direction of Z axis a3 position of the third rotary axis around Z in degrees Please link the following axes to the corresponding axes of the uniVAL fieldbus device: Attributes: sm_kin_libdoc InOut: Scope Name Type Inherited from Input itfPosKin ISMPositionKinematics Kin_Coupled itfOriKin ISMOrientationKinematics Kin_Coupled Properties: NumAxes , inherited from Kin_Coupled Methods: Initialize ActivateAutomaticRotaryPeriods , inherited from Kin_Coupled AxesToCartesian , inherited from Kin_Coupled AxisSettings , inherited from Kin_Coupled CPConnectible , inherited from Kin_Coupled CartesianToAxes , inherited from Kin_Coupled GetAxisMapping , inherited from Kin_Coupled GetAxisMapping2 , inherited from Kin_Coupled GetAxisProperties , inherited from Kin_Coupled GetConfigurationDataSize , inherited from Kin_Coupled GetDefaultConfigurationData , inherited from Kin_Coupled GetFlangeOrientationImageTotal , inherited from Kin_Coupled GetFlangeOrientationImageWithOri , inherited from Kin_Coupled GetKinematicsName , inherited from Kin_Coupled GetPeriods , inherited from Kin_Coupled GetPosAndToolKinematics , inherited from Kin_Coupled IsConfigSingular , inherited from Kin_Coupled IsInitialized , inherited from Kin_Coupled IsSingularity , inherited from Kin_Coupled JoinAxes , inherited from Kin_Coupled JoinConfig , inherited from Kin_Coupled SplitAxes , inherited from Kin_Coupled SplitConfig , inherited from Kin_Coupled Structure: Initialize (Method)

Kin_Staubli_TS240.Initialize (METH) ¶ METHOD Initialize : SMC_ERROR InOut: Scope Name Type Return Initialize SMC_ERROR

Kin_Staubli_TS260 (FB) ¶ FUNCTION_BLOCK Kin_Staubli_TS260 EXTENDS Staubli_Base_Scara Transformation FB for Stäubli TS260. Other variants are available at the CODESYS Store. Machine coordinate system (MCS) Origin On axis 0, in Z-direction where axis 2 has its zero position. X Defined by the direction the first joint points to when the first rotary axis (a0) is at 0°. Y Defined by the direction the first joint points to when the first rotary axis (a0) is at 90°. Z Corresponds directly to the direction of the linear axis (a2). Positive direction is upwards. 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 The single axes values have the following interpretation: a0 position of the first rotary axis around Z in degrees a1 position of the second rotary axis around Z in degrees a2 position of the linear axis in direction of Z axis a3 position of the third rotary axis around Z in degrees Please link the following axes to the corresponding axes of the uniVAL fieldbus device: Attributes: sm_kin_libdoc InOut: Scope Name Type Inherited from Input itfPosKin ISMPositionKinematics Kin_Coupled itfOriKin ISMOrientationKinematics Kin_Coupled Properties: NumAxes , inherited from Kin_Coupled Methods: Initialize ActivateAutomaticRotaryPeriods , inherited from Kin_Coupled AxesToCartesian , inherited from Kin_Coupled AxisSettings , inherited from Kin_Coupled CPConnectible , inherited from Kin_Coupled CartesianToAxes , inherited from Kin_Coupled GetAxisMapping , inherited from Kin_Coupled GetAxisMapping2 , inherited from Kin_Coupled GetAxisProperties , inherited from Kin_Coupled GetConfigurationDataSize , inherited from Kin_Coupled GetDefaultConfigurationData , inherited from Kin_Coupled GetFlangeOrientationImageTotal , inherited from Kin_Coupled GetFlangeOrientationImageWithOri , inherited from Kin_Coupled GetKinematicsName , inherited from Kin_Coupled GetPeriods , inherited from Kin_Coupled GetPosAndToolKinematics , inherited from Kin_Coupled IsConfigSingular , inherited from Kin_Coupled IsInitialized , inherited from Kin_Coupled IsSingularity , inherited from Kin_Coupled JoinAxes , inherited from Kin_Coupled JoinConfig , inherited from Kin_Coupled SplitAxes , inherited from Kin_Coupled SplitConfig , inherited from Kin_Coupled Structure: Initialize (Method)

Kin_Staubli_TS260.Initialize (METH) ¶ METHOD Initialize : SMC_ERROR InOut: Scope Name Type Return Initialize SMC_ERROR