Kin_Tool (FB)

FUNCTION_BLOCK Kin_Tool IMPLEMENTS ISMToolKinematics2,

ISMKinematicWithInfo2, ISMOrientationKinematicsWithOriImage

Transformation with a constant translation. The TCP will be shifted about a constant position vector (dToolX, dToolY, dToolZ). The orientation of this kinematics is not changed with respect to the base (position) kinematics. Note: The inputs ‘dToolX, dToolY and dToolZ’ are the offsets of the base coordinate system to the flange coordinate system. To configure arbitrary tools (with offset and rotation), see the function block SMC_GroupSetTool.

Attributes:
sm_kin_libdoc
InOut:

Scope

Name

Type

Comment

Input

dToolX

LREAL

Offset in X direction.

dToolY

LREAL

Offset in Y direction.

dToolZ

LREAL

Offset in Z direction.

Properties:

Methods:

Structure: