GetKinematicsForAxis (FUN)¶

FUNCTION GetKinematicsForAxis

Returns the kinematic interface of an axis, given the main kinematics and the index of the axis inside the main kinematics.

If idxInMain is >= kinMain.NumAxes, kinAxis = 0 and idx = 0.

If kinMain is not a coupled kinematics, then kinAxis = kinMain and idx = idxInMain.

For coupled kinematics, kinAxis is either the position or the orientation kinematics and idx is the respective index.

InOut:

Scope	Name	Type
Input	kinMain	MC_KIN_REF_SM3
	idxInMain	UDINT
Output	kinAxis	MC_KIN_REF_SM3
	idx	UDINT