SMC_TrafoF_Wrapper (FB)ΒΆ

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:

Structure: