Function Blocks¶

• Coupled Kinematics
  • Configuration
    • Kin_Coupled_Config (FunctionBlock)
    • Kin_Coupled_ReadConfig (FunctionBlock)
  • Kin_Coupled (FunctionBlock)
    • 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)
• Orientation Kinematics
  • CAxis_From_Orientation (Function)
  • Configuration
    • Kin_CAxis_Config (FunctionBlock)
    • Kin_CAxis_ReadConfig (FunctionBlock)
    • Kin_Wrist2_B_State (Enum)
    • Kin_Wrist2_Config (FunctionBlock)
    • Kin_Wrist2_ReadConfig (FunctionBlock)
    • Kin_Wrist3_Config (FunctionBlock)
    • Kin_Wrist3_Hand_State (Enum)
    • Kin_Wrist3_ReadConfig (FunctionBlock)
  • Kin_CAxis (FunctionBlock)
    • ActivateAutomaticRotaryPeriods (Method)
    • AxesToCartesian (Method)
    • CPConnectible (Method)
    • CartesianToAxes (Method)
    • GetAxisProperties (Method)
    • GetConfigurationDataSize (Method)
    • GetDefaultConfigurationData (Method)
    • GetKinematicsName (Method)
    • GetOrientationImage (Method)
    • GetPeriods (Method)
    • GetPositionFromOrientation (Method)
    • GetPositionFromOrientation2 (Method)
    • Initialize (Method)
    • IsCompatibleWithPosKin (Method)
    • IsConfigSingular (Method)
    • IsInitialized (Method)
    • IsSingularity (Method)
    • NumAxes (Property)
  • Kin_CAxis_Tool (FunctionBlock)
    • ActivateAutomaticRotaryPeriods (Method)
    • AxesToCartesian (Method)
    • CPConnectible (Method)
    • CartesianToAxes (Method)
    • GetAxisProperties (Method)
    • GetConfigurationDataSize (Method)
    • GetDefaultConfigurationData (Method)
    • GetKinematicsName (Method)
    • GetOrientationImage (Method)
    • GetPeriods (Method)
    • GetPositionFromOrientation (Method)
    • GetPositionFromOrientation2 (Method)
    • IsCompatibleWithPosKin (Method)
    • IsConfigSingular (Method)
    • IsSingularity (Method)
    • NumAxes (Property)
  • Kin_Tool (FunctionBlock)
    • AxesToCartesian (Method)
    • CartesianToAxes (Method)
    • GetAxisProperties (Method)
    • GetKinematicsName (Method)
    • GetOrientationImage (Method)
    • GetPositionFromOrientation (Method)
    • GetPositionFromOrientation2 (Method)
    • IsCompatibleWithPosKin (Method)
    • IsSingularity (Method)
    • NumAxes (Property)
  • Kin_Wrist2 (FunctionBlock)
    • AxesToCartesian (Method)
    • CartesianToAxes (Method)
    • GetAxisProperties (Method)
    • GetConfigurationDataSize (Method)
    • GetDefaultConfigurationData (Method)
    • GetKinematicsName (Method)
    • GetOrientationImageTotal (Method)
    • GetOrientationImageWithOri (Method)
    • GetPositionFromOrientation (Method)
    • GetPositionFromOrientation2 (Method)
    • GetPositionFromOrientation3 (Method)
    • IsCompatibleWithPosKin (Method)
    • IsSingularity (Method)
    • NumAxes (Property)
  • Kin_Wrist3 (FunctionBlock)
    • AxesToCartesian (Method)
    • AxisSettings (Method)
    • CartesianToAxes (Method)
    • GetAxisProperties (Method)
    • GetConfigurationDataSize (Method)
    • GetDefaultConfigurationData (Method)
    • GetKinematicsName (Method)
    • GetOrientationImage (Method)
    • GetPositionFromOrientation (Method)
    • GetPositionFromOrientation2 (Method)
    • Initialize (Method)
    • IsCompatibleWithPosKin (Method)
    • IsInitialized (Method)
    • IsSingularity (Method)
    • NumAxes (Property)
• Positioning Kinematics
  • Gantry Systems
    • Kin_Gantry2 (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
    • Kin_Gantry3 (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
    • Kin_HGantry2 (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
    • Kin_HGantry3 (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
    • Kin_TGantry2 (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
  • Parallel Systems
    • Configuration
      • Kin_Bipod_Config (FunctionBlock)
      • Kin_Bipod_Elbow_State (Enum)
      • Kin_Bipod_ReadConfig (FunctionBlock)
    • Kin_Bipod_Rotary (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToConfiguration_Offset (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetConfigurationDataSize (Method)
      • GetDefaultConfigurationData (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • Initialize (Method)
      • IsInitialized (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
    • Kin_Tripod_Linear (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • Initialize (Method)
      • IsInitialized (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
    • Kin_Tripod_Rotary (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • Initialize (Method)
      • IsInitialized (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
  • Pos_RRR
    • Configuration
      • Kin_Pos_RRR_Arm_State (Enum)
      • Kin_Pos_RRR_Config (FunctionBlock)
      • Kin_Pos_RRR_Elbow_State (Enum)
      • Kin_Pos_RRR_ReadConfig (FunctionBlock)
    • Kin_Pos_RRR (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToCartesian_Offset (Method)
      • AxesToConfiguration_Offset (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetConfigurationDataSize (Method)
      • GetDefaultConfigurationData (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
  • Scara Systems
    • Configuration
      • Kin_Scara2_Z_Config (FunctionBlock)
      • Kin_Scara2_Z_ReadConfig (FunctionBlock)
    • Kin_Polar (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
    • Kin_Polar_Z (FunctionBlock)
      • AxesToCartesian (Method)
      • AxesToOrientation (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
    • Kin_Scara2_Z (FunctionBlock)
      • ActivateAutomaticRotaryPeriods (Method)
      • AxesToCartesian (Method)
      • AxesToConfiguration_Offset (Method)
      • AxesToOrientation (Method)
      • CPConnectible (Method)
      • CartesianToAxes (Method)
      • CartesianToAxes_Offset (Method)
      • GetAxisProperties (Method)
      • GetConfigurationDataSize (Method)
      • GetDefaultConfigurationData (Method)
      • GetKinematicsName (Method)
      • GetOrientationImage (Method)
      • GetPeriods (Method)
      • IsConfigSingular (Method)
      • IsSingularity (Method)
      • NumAxes (Property)
      • ProjectPosition (Method)
    • Kin_Scara_Elbow_State (Enum)
• Standalone Kinematics
  • 5 Axes
    • Kin_5Axes (FunctionBlock)
      • GetKinematicsName (Method)
      • Initialize (Method)
  • Articulated Robots
    • 4AxisPalletizer
      • Configuration
        • Kin_4AxisPalletizer_Config (FunctionBlock)
        • Kin_4AxisPalletizer_ReadConfig (FunctionBlock)
      • Kin_4AxesPalletizer (FunctionBlock)
        • AxesToCartesian (Method)
        • CartesianToAxes (Method)
        • GetAxisProperties (Method)
        • GetConfigurationDataSize (Method)
        • GetDefaultConfigurationData (Method)
        • GetFlangeOrientationImageTotal (Method)
        • GetFlangeOrientationImageWithOri (Method)
        • GetKinematicsName (Method)
        • IsSingularity (Method)
        • NumAxes (Property)
    • 6AxisArticulated
      • Configuration
        • Kin_ArticulatedRobot_6DOF_Config (FunctionBlock)
        • Kin_ArticulatedRobot_6DOF_ReadConfig (FunctionBlock)
      • Kin_6DOF_J0_State (Enum)
      • Kin_6DOF_J2_State (Enum)
      • Kin_6DOF_J4_State (Enum)
      • Kin_ArticulatedRobot_6DOF (FunctionBlock)
        • GetKinematicsName (Method)
        • Initialize (Method)
  • Scara Systems
    • Configuration
      • Kin_Scara3_Z_Config (FunctionBlock)
      • Kin_Scara3_Z_ReadConfig (FunctionBlock)
    • Kin_Scara3_Z (FunctionBlock)
      • GetAxisMapping2 (Method)
      • GetKinematicsName (Method)
      • Initialize (Method)
      • JoinAxes (Method)
      • SplitAxes (Method)
  • Staubli
    • Kin_Staubli_TS60_S1_D25_L200_floor_R1 (FunctionBlock)
      • Initialize (Method)
    • Kin_Staubli_TX60_S1_R4 (FunctionBlock)
      • fb_init (Method)