tx2_90l_S2_R4 (FB)¶
FUNCTION_BLOCK tx2_90l_S2_R4 EXTENDS Staubli_Base_Anthropomorph6
Transformation FB for Stäubli tx2_90l_S2_R4.

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: