Kin_Coupled (FB)ΒΆ
- FUNCTION_BLOCK Kin_Coupled IMPLEMENTS ISMCoupledKinematics3,
ISMCoupledKinematics4, ISMKinematicWithConfigurations4, ISMKinematicWithInfo2, ISMKinematicAxisSettings, ISMKinematicWithInitialization, ISMKinPeriodHandling, ISMKinematicsWithOrientationImage2
Transformation for combined kinematics, that consist of a position kinematics with up to three degrees of freedom (itfPosKin) and an orientation kinematics (itfOriKin).
Usually, the axis coordinates of the coupled kinematics consist of the axes of the position kinematics followed by the axes of the orientation kinematics. This order can be changed by overriding the method GetAxisMapping2.
In order to change the configuration of the kinematics (if at least one of the involved kinematics implements ISMKinematicWithConfigurations), please use Kin_Coupled_Config.
- InOut:
Scope
Name
Type
Input
itfPosKinitfOriKin
Properties:
Methods:
Structure:
- ActivateAutomaticRotaryPeriods (Method)
- AxesToCartesian (Method)
- AxisSettings (Method)
- CPConnectible (Method)
- CartesianToAxes (Method)
- GetAxisMapping (Method)
- GetAxisMapping2 (Method)
- GetAxisProperties (Method)
- GetConfigurationDataSize (Method)
- GetDefaultConfigurationData (Method)
- GetFlangeOrientationImageTotal (Method)
- GetFlangeOrientationImageWithOri (Method)
- GetKinematicsName (Method)
- GetPeriods (Method)
- GetPosAndToolKinematics (Method)
- Initialize (Method)
- IsConfigSingular (Method)
- IsInitialized (Method)
- IsSingularity (Method)
- JoinAxes (Method)
- JoinConfig (Method)
- NumAxes (Property)
- SplitAxes (Method)
- SplitConfig (Method)