StaubliArticulatedRobot_6DOF_Config (FB)¶

FUNCTION_BLOCK StaubliArticulatedRobot_6DOF_Config

InOut:

Scope	Name	Type	Comment
Input	`ArmState`	`TRAFO.Kin_Pos_RRR_Arm_State`
	`ElbowState`	`TRAFO.Kin_Pos_RRR_Elbow_State`
	`HandState`	`TRAFO.Kin_Wrist3_Hand_State`	Determines whether the second joint angle is positive (hand down) or negative (hand up).
	`kinTransform`	`TRAFO.MC_KIN_REF_SM3`	The kinematic transformation of the Stäubli Scara robot
Output	`Config`	`TRAFO.ConfigData`	The configuration data
Output	`Error`	`BOOL`	Returns TRUE if `kinTransform` is invalid