ISMPositionKinematics_Offset.CartesianToAxes_Offset (METH)¶

METHOD CartesianToAxes_Offset : SMC_Error

Computes the axis positions from position of the flange plus an offset vector. The offset vector is given relative to the orientation of the flange.

Note

in general, the orientation of the flange is unknown when this method is called. This means that the method as it does not consider an additional offset.
If vOffset_TCP is zero, this method returns the same result as MC_KIN_REF_SM3.CartesianToAxes

Returns whether the computation was successful.

InOut:

Scope	Name	Type	Comment
Return	`CartesianToAxes_Offset`	`SMC_Error`
Inout	`a`	AXISPOS_REF	Out: The position of the position axes
Inout Const	`v_MCS`	`SMC_Vector3D`	In: The position of the offset TCP, relative to the machine coordinate system. (The TCP is offset by the additional input `vOffset_TCP`.)
	`vOffset_TCP`	`SMC_Vector3D`	In: The additional position offset between the TCP of the position kinematics and the offset TCP. This input is expressed in the flange coordinate system of the position kinmatics.
	`aRef`	AXISPOS_REF	In: The reference position of all position axes. The reference position is used to resolve ambiguities, for example due to singular positions, modulo axes, or rotary axes with a range > 360°. If the kinematics does not have ambiguities, or if the configuration data suffices to resolve any ambiguities, the reference position is not used. In case of an ambiguity, the transformation should resolve the ambiguity in such a way that the resulting axis positions are as close as possible to aRef.
	`cd`	CONFIGDATA	In: The serialized configuration data of the offset position kinematics. (As returned by ISMPositionKinematics_Offset2.AxesToConfiguration_Offset.)