FUNCTION_BLOCK Kin_CAxis IMPLEMENTS ISMToolKinematics2,
ISMKinematicWithInfo2 , ISMKinematicAxisSettings, ISMKinematicWithConfigurations3, ISMKinematicWithInitialization
Transformation FB for a C-axis. The TCP will only be turned around the Z axis. It will not be shifted as in Kin_CAxis_Tool.
The single axes values have the following interpretation:
|
a0 |
angle [deg] of the yaw/C axis |
The working space for this transformation are all orientations except for those that are rotated around the X or Y axis by 180°. These are exactly the orientations where to z-axis of the tool points in the opposite direction of the z-axis of the base coordinate system.
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
dOffsetC |
LREAL |
Additional offset of axis C. This offset is subtracted before the forward transformation and added after the inverse transformation. |
