FUNCTION_BLOCK Kin_Wrist2 IMPLEMENTS ISMToolKinematics2,
Transformation FB for a 2-axis inline wrist, where a0 rotates around the Z axis and a1 around the new Y axis.
The single axes values have the following interpretation:
|
a0 |
angle [deg] of the yaw axis (azimuth, A) |
|
a1 |
angle [deg] of the roll axis (inclination, B) |
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
dToolLength |
LREAL |
Offset of the tool measured along the z-axis of the flange coordinate system. Note: negative values are allowed and sensible, in the case that the z-axis of the flange coordinate system points in the opposite direction of the tool. |
