Kin_CAxis_Tool (FB)¶
- FUNCTION_BLOCK Kin_CAxis_Tool IMPLEMENTS ISMToolKinematics2,
ISMKinematicWithInfo2, ISMKinematicWithConfigurations4, ISMKinPeriodHandling, ISMOrientationKinematicsWithOriImage
Transformation for a C-axis tool with a fixed offset. The origin of the TCP coordinate system is shifted by the given offset from the origin of the flange coordinate system. For a0 = 0°, the orientation of the TCP coordinate system equals the orientation of the flange coordinate system.
The single axes values have the following interpretation:
a0 |
angle [deg] of the yaw/C axis |
The zero position of the kinematics can be adjusted by defining a
constant offset for the axis. See input dOffsetC.
The working space for this transformation are all orientations except for those that are rotated around the X or Y axis by 180°. These are exactly the orientations where to z-axis of the tool points in the opposite direction of the z-axis of the base coordinate system. Note: The inputs ‘dToolX, dToolY and dToolZ’ are the offsets of the base coordinate system to the flange coordinate system. To configure arbitrary tools (with offset and rotation), see the function block SMC_GroupSetTool.
- Attributes:
sm_kin_libdoc- InOut:
Scope
Name
Type
Comment
Input
dToolXLREALoffset in X direction.
dToolYLREALoffset in Y direction.
dToolZLREALoffset in Z direction.
dOffsetCLREALAdditional offset of axis C. This offset is subtracted before the forward transformation and added after the inverse transformation.
Properties:
Methods:
Structure:
- ActivateAutomaticRotaryPeriods (Method)
- AxesToCartesian (Method)
- CPConnectible (Method)
- CartesianToAxes (Method)
- GetAxisProperties (Method)
- GetConfigurationDataSize (Method)
- GetDefaultConfigurationData (Method)
- GetKinematicsName (Method)
- GetOrientationImage (Method)
- GetPeriods (Method)
- GetPositionFromOrientation (Method)
- GetPositionFromOrientation2 (Method)
- IsCompatibleWithPosKin (Method)
- IsConfigSingular (Method)
- IsSingularity (Method)
- NumAxes (Property)