GetKinematicsForAxis (FUN)

FUNCTION GetKinematicsForAxis

Returns the kinematic interface of an axis, given the main kinematics and the index of the axis inside the main kinematics.

If idxInMain is >= kinMain.NumAxes, kinAxis = 0 and idx = 0.

If kinMain is not a coupled kinematics, then kinAxis = kinMain and idx = idxInMain.

For coupled kinematics, kinAxis is either the position or the orientation kinematics and idx is the respective index.

InOut:

Scope

Name

Type

Input

kinMain

MC_KIN_REF_SM3

idxInMain

UDINT

Output

kinAxis

MC_KIN_REF_SM3

idx

UDINT