SMC_ReadKinTransformForAxis (FB)¶

FUNCTION_BLOCK SMC_ReadKinTransformForAxis

This function block returns the kinematic transformation for a given axis.

If a coupled kinematics is used for the axis group, each axis either belongs to the position kinematics, the orientation kinematics, or to no transformation (additional axis).

If no coupled kinematics is used, then each axis that is part of the kinematics (i.e. that is not an additional axis) belongs the the main kinematics.

For example, to test whether a given axis with index i is an orientation or position axis, call the FB with IdentInGroup = i and then test the returned KinTransform:

itfOri : TRAFO.ISMOrientationKinematics;
itfPos : TRAFO.ISMPositionKinematics;
isOriAxis := __QUERYINTERFACE(KinTransform, itfOri);
isPosAxis := __QUERYINTERFACE(KinTransform, itfPos);

InOut:

Scope	Name	Type	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3	Reference to a group of axis
Input	`Enable`	`BOOL`	Gets the kinematic transformation information of the axis continuously while enabled
Input	`IdentInGroup`	IDENT_IN_GROUP_REF_SM3	The index of the axis inside the axis group
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 for the axis
	`identInKinematics`	`UDINT`	The index of the axis inside KinTransform