Using IF_UserRobotFeedbackKinematic

In addition to the IF_UserTransformation3Ax interface, implement the IF_UserRobotFeedbackKinematic interface for the user-defined transformation function block.

The IF_UserRobotFeedbackKinematic interface enables the function block to forward the reference position of the robot joints. This information is provided at the robot feedback interface IF_RobotFeedback.ifKinematic.ralrRefPositionJoints.

Define the methods Direct and Inverse with the interface IF_UserTransformation3Ax.

Define the property ralrRefPositonJoint with the interface IF_UserRobotFeedbackKinematic.

Add a local variable with name lrRefPositionJoint of type ARRAY [ET_RobotComponent.AxisA .. ET_RobotComponent.AxisAll+Gc_udiMaxNumberOfAxes] OF LREAL to the function block.

In the get-accessor, add the code ralrRefPositionJoint REF= THIS^.alrRefPositionJoint.

Add the code to calculate the values for the RefPositionJoint feedback to the Direct and Inverse methods so that the feedback is available in the enabled and disabled cases of the robot.