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
. IfkinOri
is set, thenkin
must implement the interfaceTRAFO.ISMPositionKinematics
.SMC_Trafo_WrapperBase
OriConv
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 failedSMC_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
Cartesian position and orientation.
Methods:
Structure: