MC_ReadKinTransform (FB)¶

FUNCTION_BLOCK MC_ReadKinTransform

This function block reads the kinematic transformation that is active between the axis coordinate system (ACS) and the machine coordinate system (MCS).

InOut:

Scope	Name	Type	Comment
Inout	AxisGroup	AXIS_GROUP_REF_SM3	Reference to a group of axis
Input	Enable	BOOL	Gets the kinematic transformation reference of the axis group continuously while enabled
Output	Valid	BOOL	TRUE if valid outputs are available
	Busy	BOOL	The FB is not finished
	Error	BOOL	Signals that an error has occurred within the function block
	ErrorID	SMC_ERROR	Error identification
	KinTransform	TRAFO.MC_KIN_REF_SM3	The kinematic transformation