tx2_90xl_S2_R4 (FB)

FUNCTION_BLOCK tx2_90xl_S2_R4 EXTENDS Staubli_Base_Anthropomorph6

Transformation FB for Stäubli tx2_90xl_S2_R4.

../../_images/tx2_90xl-S2-R4.png

Machine coordinate system (MCS)

Origin

The intersection of axis 0 and axis 1.

X

Points “forward” toward the TCP.

Y

Defined by X and Z so that the MCS becomes right-handed.

Z

Points upward.

Please link the following axes to the corresponding axes of the uniVAL fieldbus device:

A1

position of the first rotary axis in degrees (a0)

A2

position of the second rotary axis in degrees (a1)

A3

position of the third rotary axis in degrees (a2)

A4

position of the fourth rotary axis in degrees (a3)

A5

position of the fifth rotary axis in degrees (a4)

A6

position of the sixth rotary axis in degrees (a5)
Attributes:
sm_kin_libdoc
InOut:

Scope

Name

Type

Inherited from

Input

itfPosKin

ISMPositionKinematics

Kin_Coupled

itfOriKin

ISMOrientationKinematics

Kin_Coupled

Methods:

Structure: