Constants (GVL)ΒΆ

InOut:

Scope

Name

Type

Initial

Comment

Constant

gc_Vector3D_Zero

SMC_Vector3D

STRUCT(dX := 0, dY := 0, dZ := 0)

The zero vector.

gc_Matrix3_Identity

SMC_Matrix3

STRUCT(aElems := [1, 0, 0, 0, 1, 0, 0, 0, 1])

The 3x3 identity matrix.

gc_Frame_Identity

SMC_Frame

STRUCT(mR := gc_Matrix3_Identity, vT := gc_Vector3D_Zero)

The identity frame, that is a frame that corresponds to zero translation and zero rotation.

gciMaxConfigData

INT

15

The maximum length (number of bytes) of serialized kinematic configurations minus 1.

gc_EPS_SCARA_Singularity

LREAL

0.0625

If a SCARA axis is closer to a singular configuration than this value, the transformation is assumed singular. This value is chosen so that the inverse transformation of the scara is numerically well behaved in non-singular settings.

gc_AxisPos_Zero

AXISPOS_REF

STRUCT(a0 := 0, a1 := 0, a2 := 0, a3 := 0, a4 := 0, a5 := 0)