SM3_Transformation¶

• 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
      • Kin_Bipod_Rotary (FunctionBlock)
        • AxesToCartesian (Method)
        • AxesToOrientation (Method)
        • CartesianToAxes (Method)
        • CartesianToAxes_Offset (Method)
        • GetAxisProperties (Method)
        • GetKinematicsName (Method)
        • GetOrientationImage (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_TS240 (FunctionBlock)
        • Initialize (Method)
      • Kin_Staubli_TS260 (FunctionBlock)
        • Initialize (Method)
      • Kin_Staubli_TS60_S1_D25_L200_floor_R1 (FunctionBlock)
        • Initialize (Method)
      • Kin_Staubli_TX60_S1_R4 (FunctionBlock)
        • fb_init (Method)
• Functions
  • AXISLIMITS_Intersection (Function)
  • AXISPOS_REF_Eq (Function)
  • Coupled_GetAxisMapping (Function)
  • GetCombinedOrientationImage (Function)
  • GetFlangeOriImg (Function)
  • GetKinematicsForAxis (Function)
  • GetPeriods (Function)
  • Initialise_OriImage_dof0 (Function)
  • Initialise_OriImage_dof1 (Function)
  • Initialise_OriImage_dof3 (Function)
  • OrientationSpace_Equals (Function)
  • ProjectRotation1dof (Function)
• GlobalConstants
  • Constants (GVL)
• Interfaces
  • ISMCoupledKinematics (Interface)
    • GetPosAndToolKinematics (Method)
  • ISMCoupledKinematics2 (Interface)
    • JoinAxes (Method)
    • JoinConfig (Method)
    • SplitAxes (Method)
    • SplitConfig (Method)
  • ISMCoupledKinematics3 (Interface)
    • GetAxisMapping (Method)
  • ISMCoupledKinematics4 (Interface)
    • GetAxisMapping2 (Method)
  • ISMKinPeriodHandling (Interface)
    • GetPeriods (Method)
  • ISMKinematicAxisSettings (Interface)
    • AxisSettings (Method)
  • ISMKinematicWithConfigurations (Interface)
    • GetConfigurationDataSize (Method)
    • GetDefaultConfigurationData (Method)
  • ISMKinematicWithConfigurations2 (Interface)
    • CPConnectible (Method)
  • ISMKinematicWithConfigurations3 (Interface)
    • ActivateAutomaticRotaryPeriods (Method)
  • ISMKinematicWithConfigurations4 (Interface)
    • IsConfigSingular (Method)
  • ISMKinematicWithInfo (Interface)
    • GetAxisProperties (Method)
    • IsSingularity (Method)
  • ISMKinematicWithInfo2 (Interface)
    • GetKinematicsName (Method)
  • ISMKinematicWithInitialization (Interface)
    • Initialize (Method)
    • IsInitialized (Method)
  • ISMKinematicsWithOrientationImage (Interface)
    • GetFlangeOrientationImage (Method)
  • ISMKinematicsWithOrientationImage2 (Interface)
    • GetFlangeOrientationImageTotal (Method)
    • GetFlangeOrientationImageWithOri (Method)
  • ISMOrientationKinematics (Interface)
    • GetPositionFromOrientation (Method)
  • ISMOrientationKinematics2 (Interface)
    • GetPositionFromOrientation2 (Method)
    • IsCompatibleWithPosKin (Method)
  • ISMOrientationKinematics3 (Interface)
    • GetPositionFromOrientation3 (Method)
  • ISMOrientationKinematicsWithOriImage (Interface)
    • GetOrientationImage (Method)
  • ISMOrientationKinematicsWithOriImage2 (Interface)
    • GetOrientationImageTotal (Method)
    • GetOrientationImageWithOri (Method)
  • ISMPositionKinematics (Interface)
    • AxesToOrientation (Method)
  • ISMPositionKinematics2 (Interface)
    • GetOrientationImage (Method)
  • ISMPositionKinematics_Offset (Interface)
    • CartesianToAxes_Offset (Method)
  • ISMPositionKinematics_Offset2 (Interface)
    • AxesToConfiguration_Offset (Method)
  • ISMToolKinematics (Interface)
  • ISMToolKinematics2 (Interface)
  • MC_KIN_REF_SM3 (Interface)
    • AxesToCartesian (Method)
    • CartesianToAxes (Method)
    • NumAxes (Property)
• Structs
  • AXISLIMITS (Alias)
  • AXISPOS_REF (Struct)
  • Axis_Properties (Struct)
  • Axis_Settings (Struct)
  • Axis_Type (Enum)
  • CONFIGDATA (Struct)
  • Coupled_Kin_Axis_Map (Struct)
  • Coupled_Kin_Axis_Type (Enum)
  • MCS_OR_FLANGE (Enum)
  • OrientationDOF (Enum)
  • OrientationSpace (Struct)