SMC_SetKinConfiguration (FB)¶

FUNCTION_BLOCK SMC_SetKinConfiguration

This function block sets the configuration used in the inverse kinematic transformation. This affects only upcoming movements that are not programmed in ACS-coordinates.

InOut:

Scope	Name	Type	Comment
Inout	AxisGroup	AXIS_GROUP_REF_SM3	Reference to a group of axis
Input	Execute	BOOL	Sets the kinematic configuration on rising edge
	ConfigData	TRAFO.CONFIGDATA	The kinematic configuration
Output	Done	BOOL	The transformation has been set successfully
	Busy	BOOL	The FB is not finished
	Error	BOOL	Signals that an error has occurred within the function block
	ErrorID	SMC_ERROR	Error identification