FUNCTION_BLOCK Kin_CAxis_Config
This FB contains the data that defines the configuration of Kin_CAxis and Kin_CAxis_Tool.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
nPeriodC |
DINT |
Determines the period used for orientation axis C. If the range of C is greater than 360°, the period to choose can be set here. If the value is zero, then the period is determined automatically, based on the last position. A positive value i > 0 means the range [360°*(i-1)-180° .. 360°*i-180°[ is used. A negative value i < 0 means the range [360°*i-180° .. 360°*(i+1)-180°[ is used. Note if nPeriodC <> 0 and the chosen period is not feasible due to the axis limits, an error is created during transformation (CartesianToAxes). |
|
Output |
Config |
The configuration data |
