IF_CollisionHandlerSCARA4Ax - EvaluateDirectKinematics (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface

Task

Evaluates the solution of the direct kinematics.

Description

Starting from the joint positions, this method evaluates the solution of the direct kinematics, returning the Cartesian position of the intermediate points in the kinematic structure.

The following graphic shows the elements of i_alrJointPositions:

Interface

Access: PUBLIC

Input	Data type	Description
i_alrJointPositions	ARRAY [1...Gc_udiSCARA4AxNumberOfJoints] OF LREAL	Joint positions of aSCARA4Ax robot.

Output	Data type	Description
q_xError	BOOL	The output is set to TRUE if an error has been detected during the execution.
q_etResult	ET_Result	POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message.
q_sResultMsg	STRING(80)	Event-triggered message that gives additional information on the diagnostic state.
q_stResultLocal	ST_SCARA4AxKinematicsResult	Result of the kinematics, referred to the local coordinate system of the robot. This result can be provided as input of UpdateFromKinematicsResult.
q_stResultGlobal	ST_SCARA4AxKinematicsResult	Result of the kinematics, referred to a global coordinate system. This is evaluated based on the configured values of base position and orientation.