|
Inout
|
config
|
SMC_TrafoConfig_4AxisPalletizer
|
The configuration settings of the palletizer
|
|
Drive1
|
Axis_Ref_SM3
|
The drive of axis 0
|
|
Drive2
|
Axis_Ref_SM3
|
The drive of axis 1
|
|
Drive3
|
Axis_Ref_SM3
|
The drive of axis 2
|
|
Drive4
|
Axis_Ref_SM3
|
The drive of axis 3
|
|
Output
|
dX
|
LREAL
|
The current x-position of the tool center point in world coordinates
|
|
dY
|
LREAL
|
The current y-position of the tool center point in world coordinates
|
|
dZ
|
LREAL
|
The current z-position of the tool center point in world coordinates
|
|
dC
|
LREAL
|
The current roll angle of the tool in degrees
|
|
bElbowLow
|
BOOL
|
TRUE the angle of axis 2 is in the range ]-180°,-90°[
|
|
bElbowStraight
|
BOOL
|
TRUE`, if the angle of axis 2 is equal to ``-90°
|
|
bBackwards
|
BOOL
|
FALSE, if the palletizer faces towards the TCP, TRUE, if facing in opposite direction
|
|
bStraightUp
|
BOOL
|
TRUE the two arms segments are both vertical (dQ1=0°, dQ2=-90°)
|
|
vK1Pos
|
SMC_Vector3D
|
The current position of joint 1 in world coordinates
|
|
vK2Pos
|
SMC_Vector3D
|
The current position of joint 2 in world coordinates
|
|
vK3Pos
|
SMC_Vector3D
|
The current position of joint 3 in world coordinates
|
|
vKToolDir
|
SMC_Vector3D
|
The current (unit) direction of the gripper (x-axis of K5) in world coordinates
|
|
dScale
|
LREAL
|
A scaling factor: if the working space is scaled with this factor, it fits in to the cube [0,1]^3
|