SMC_Trafo_Wrapper (FB)¶

FUNCTION_BLOCK SMC_Trafo_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
Output	`ErrorID`	`SMC_ERROR`		The error identifier	SMC_Trafo_WrapperBase
Input	`config`	`TRAFO.ConfigData`		The configuration of the robot
	`axesPrev`	`TRAFO.AXISPOS_REF`		The previous values of the axes.
	`pi`	SMC_PosInfo		Cartesian position and orientation. Output of SMC_Interpolator.
Output	`Axes`	`TRAFO.AXISPOS_REF`		The values of the axes corresponding to the value of `pi`, given the last axis position and the configuration.

Methods:

Compute

Init

Structure: