SMC_TrafoF_Wrapper (FB)¶

FUNCTION_BLOCK SMC_TrafoF_Wrapper EXTENDS SMC_Trafo_WrapperBase

Wrapper function block for kinematic function blocks that implement the interface TRAFO.MC_KIN_REF_SM3.

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	Enable	BOOL		The transformation is computed if Enable is TRUE.	SMC_Trafo_WrapperBase
	Kin	TRAFO.MC_KIN_REF_SM3		The robotics kinematics	SMC_Trafo_WrapperBase
	KinOri	TRAFO.ISMOrientationKinematics		Optional: orientation kinematics that is combined with the kinematics kin. If kinOri is set, then kin must implement the interface TRAFO.ISMPositionKinematics.	SMC_Trafo_WrapperBase
	OriConv	SMC_ORI_CONVENTION		The orientation convention used for dA, dB, and dC of output pi.	SMC_Trafo_WrapperBase
	AxisSettings	ARRAY [0..(SMRB.MAX_KIN_AXES - 1)] OF TRAFO.Axis_Settings	[6(STRUCT(limits := STRUCT(xUnlimited := TRUE)))]	The axis settings (e.g. axis ranges). The settings can be queried from the axis using the function block SMC_AxisSettingsFromAxes.	SMC_Trafo_WrapperBase
Output	Error	BOOL		TRUE if the transformation failed	SMC_Trafo_WrapperBase
	ErrorID	SMC_ERROR		The error identifier	SMC_Trafo_WrapperBase
Input	Axes	TRAFO.AXISPOS_REF		The values of the axes corresponding to the value of pi, given the last axis position and the configuration.
Output	cd	TRAFO.ConfigData		The configuration of the robot
	pi	SMC_PosInfo		Cartesian position and orientation.

Methods:

Compute

Structure: