StaubliScara_ReadConfig (FB)¶

FUNCTION_BLOCK StaubliScara_ReadConfig

InOut:

Scope	Name	Type	Comment
Input	`Config`	`TRAFO.CONFIGDATA`	The configuration data
Input	`kinTransform`	`TRAFO.MC_KIN_REF_SM3`	The kinematic transformation of the Stäubli Scara robot
Output	`elbowRight`	`BOOL`	TRUE: looking from joint 0 to joint 2, the elbow (joint 1) is on the right side. The angle of joint 1 is greater than 0° and lesser than 180°. FALSE: looking from joint 0 to joint 2, the elbow (joint 1) is on the left side. The angle of joint 1 is lesser than 0° and greater than -180°.
	`elbowSingularity`	`BOOL`	TRUE: looking from joint 0 to joint 2, the elbow (joint 1) is straight (singularity). The angle of joint 1 is very close to either 0°, 180° or 360°
	`Error`	`BOOL`	Returns TRUE if `kinTransform` is invalid.