GetKinematicsForAxis (FUN)ΒΆ
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
idxInMain
UDINT
Output
kinAxis
idx
UDINT