INTERFACE MC_KIN_REF_SM3 EXTENDS __SYSTEM.IQueryInterface
Represents a kinematic transformation that can transform from position/orientation of the TCP to axis positions and vice versa.
Note
When implementing a new transformation, it is recommended to also implement the following interfaces:
ISMKinematicAxisSettings If the range of the axes is relevant for the transformation.
ISMKinematicWithConfigurations If the kinematics has multiple configurations or modes, such as the "elbowRight" mode of the scara transformations.
ISMKinematicWithInitialization If the kinematics has to be initialized before using it.
ISMPositionKinematics2 If the kinematics can be combined with different tool kinematics
ISMPositionKinematics_Offset2 If the kinematics supports an additional offset relative to the flange coordinate system as input to CartesianToAxes. (Required for axis orientation interpolation and cartesian jogging with axis orientation jogging.)
ISMToolKinematics2 If it is a tool kinematics that can be combined with different position kinematics.
If, instead of ISMPositionKinematics2 / ISMToolKinematics2, only ISMPositionKinematics / ISMToolKinematics are implemented, "impossible" orientations may not be handled correctly.
Attention: Once connected to an axis group, the inputs of the function block implementing MC_KIN_REF_SM3 are not supposed to change! It is strongly recommended to use a second instance or to encode parametrization in the configuration.
