ISMCoupledKinematics4.GetAxisMapping2 (METH)¶

METHOD GetAxisMapping2

This method can be implemented for all coupled kinematics whose axes are irregularly arranged. For example consider a coupled kinematics with 6 axes(a0-a5). The axes a0, a1 and a3 belong to position kinematics and axes a2, a4 and a5 belong to orientation kinematics and hence the axes are irregularly arranged. The system requires information about which axis belongs to which kinematics. This method will provide information to the system about the kinematics type (position/orientation) and the axis number of each axis in the form an array .

For the example considered above, the implementation would be as follows:

aAxisMapping[0].Axis_Type := Coupled_Kin_Axis_Type.Position; aAxisMapping[0].uAxisNo := 0;

aAxisMapping[1].Axis_Type := Coupled_Kin_Axis_Type.Position; aAxisMapping[1].uAxisNo := 1;

aAxisMapping[2].Axis_Type := Coupled_Kin_Axis_Type.Tool; aAxisMapping[2].uAxisNo := 0;

aAxisMapping[3].Axis_Type := Coupled_Kin_Axis_Type.Position; aAxisMapping[3].uAxisNo := 2;

aAxisMapping[4].Axis_Type := Coupled_Kin_Axis_Type.Tool; aAxisMapping[4].uAxisNo := 1;

aAxisMapping[5].Axis_Type := Coupled_Kin_Axis_Type.Tool; aAxisMapping[5].uAxisNo := 2;

When this method is not implemented, then the default method of the coupled kinematics will be called and the axes will be considered in the following order: Position kinematics followed by orientation kinematics

The implementation of this method must match with the implementation of Join/Split Axis of the interface ISMCoupledKinematics2.

InOut:

Scope	Name	Type	Comment
Inout	aAxisMapping	ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF Coupled_Kin_Axis_Map	Out: Array containing the type of coupled kinematics of each axis (position/orientation)