Kin_CAxis (FB)¶
- FUNCTION_BLOCK Kin_CAxis IMPLEMENTS ISMToolKinematics2,
ISMKinematicWithInfo2, ISMKinematicWithConfigurations4, ISMKinPeriodHandling, ISMKinematicWithInitialization, ISMOrientationKinematicsWithOriImage
Transformation FB for a C-axis. The TCP will only be turned around the Z axis. It will not be shifted as in Kin_CAxis_Tool.
The single axes values have the following interpretation:
a0 |
angle [deg] of the yaw/C axis |
The zero position of the kinematics can be adjusted by defining a
constant offset for the axis. See input dOffsetC.
The working space for this transformation are all orientations except for those that are rotated around the X or Y axis by 180°. These are exactly the orientations where to z-axis of the tool points in the opposite direction of the z-axis of the base coordinate system.
- Attributes:
sm_kin_libdoc- InOut:
Scope
Name
Type
Comment
Input
dOffsetCLREALAdditional offset of axis C. This offset is subtracted before the forward transformation and added after the inverse transformation.
Properties:
Methods:
Structure:
- 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)