Kin_Wrist3 (FB)

FUNCTION_BLOCK Kin_Wrist3 IMPLEMENTS ISMToolKinematics2,

ISMKinematicWithInfo2, ISMKinematicAxisSettings, ISMKinematicWithConfigurations, ISMOrientationKinematicsWithOriImage, ISMKinematicWithInitialization

Transformation FB for a 3-axis inline wrist, where a0 rotates around the Z axis, a1 around the new Y axis, and a2 around the new Z-axis. The tool points in direction of the negative Z-axis of the TCP coordinate system.

All three axes of rotation intersect in one point, called the wrist center. (This kinematics is also called spherical wrist, or euler wrist.)

joint number

joint offset

link offset d_i

link length a_i

link twist

0

0°

0

0

90°

1

0°

0

0

-90°

2

0°

dToolOffsetZ

0

0°

The axis values have the following interpretation:

a0

angle [deg] of rotation around the z-axis of the flange coordinate system (A)

a1

angle [deg] of rotation around the modified negative y-axis (B)

a2

angle [deg] of rotation around the modified z-axis (C)

The axes are constrained as follows:

Axis

Constraints

a0

Unlimited

a1

[-180°, 180°]

a2

Unlimited

Note: Custom limits for axis a1 have to be in the range otherwise an error is reported.

Attributes:
sm_kin_libdoc
InOut:

Scope

Name

Type

Comment

Input

dToolOffsetX

LREAL

Offset from the wrist center to the flange of the kinematics. Measured along the X-axis of the flange coordinate system.

dToolOffsetY

LREAL

Offset from the wrist center to the flange of the kinematics. Measured along the Y-axis of the flange coordinate system.

dToolOffsetZ

LREAL

Offset from the wrist center to the flange of the kinematics. Measured along the Z-axis of the flange coordinate system.

dOffsetA

LREAL

Additional offset of axis A. This offset is subtracted before the forward transformation and added after the inverse transformation.

dOffsetB

LREAL

Additional offset of axis B. This offset is subtracted before the forward transformation and added after the inverse transformation.

dOffsetC

LREAL

Additional offset of axis C. This offset is subtracted before the forward transformation and added after the inverse transformation.

Properties:

Methods:

Structure: