FUNCTION_BLOCK Kin_Coupled IMPLEMENTS ISMCoupledKinematics2,
ISMKinematicWithConfigurations3 , ISMKinematicWithInfo2, ISMKinematicAxisSettings, ISMKinematicWithInitialization
Transformation for combined kinematics, that consist of a first position kinematics with up to three degrees of freedom (itfPosKin) and a second tool kinematics (itfOriKin).
The axis coordinates are built of the axis coordinates of the position kinematics followed by the axis coordinates of the tool kinematics.
In order to change the configuration of the kinematics (if at least one of the involved kinematics implements ISMKinematicWithConfigurations), please use Kin_Coupled_Config.
|
a0 |
position of the 1st axis of the 1st kinematic |
|
an |
position of the last (nth) axis of the 1st kinematic |
|
an+1 |
position of the 1st axis of the 2nd kinematic |
|
an+m |
position of the last (mth) axis of the 2nd kinematic |
InOut:
|
Scope |
Name |
Type |
|
Input |
itfPosKin |
|
|
itfOriKin |
