FUNCTION_BLOCK Kin_Tool IMPLEMENTS ISMToolKinematics2,
Transformation FB for a constant translation. The TCP will be shifted about a constant position vector (dToolx, dToolY, dToolZ). The orientation of the tool is not be changed with respect to the base (position) kinematics.
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
dToolX |
LREAL |
Offset in X direction caused by the tool. |
|
dToolY |
LREAL |
Offset in Y direction caused by the tool. |
|
|
dToolZ |
LREAL |
Offset in Z direction caused by the tool. |
