MC_SetKinTra

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Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Sets the kinematic transform between the Machine The complete assembly of all connected parts or devices, of which at least one is movable. Coordinate System The reference system in which a coordinate or path is described. and the Axes Coordinate System.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., request to load the kinematic transform.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axes group that receives the axis trajectory Time dependent description of the path the TCP of an axes group moves along. Additional to the geometrical description of the space curve, time dependent state variables like velocity, acceleration, jerk, forces etc. are specified. values from the kinematic transform.
KinTransform	MC_KIN_REF	No range	N/A	No default	Kinematic robotic transform defined by the MC_KIN_REF Structure.

Outputs

Output	Data Type	Description
Done	BOOL	If TRUE, the command completed successfully.
Error	BOOL	If TRUE, an error has occurred.
ErrorID	INT	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Output

Data Type

Range

Unit

Description

Done

BOOL

If TRUE, the command completed successfully.

Error

BOOL

If TRUE, an error has occurred.

ErrorID

INT

Indicates the error if Error output is TRUE.

See PLCopen Function Block ErrorIDs.

Remarks

See Function Blocks - General Rules about how inputs and outputs work.
It is useful for robotics, allowing the application to command motion in Cartesian coordinates for the robotic system.
After MC_SetKinTra(...) is called, the controller automatically calculates the inverse kinematics for the robot axes, converting the robot path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along. motion into the individual robot joint axis trajectories.
Several transform types are available for common robotic systems and are configurable with the MC_KIN_REF Structure.
The parameters in the MC_KIN_REF structure define the specific robot geometry.
See MC_KIN_REF Structure for a description of the structure.

Figure 1: MC_SetKinTra

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

// MC_SetKinTra ST Example

// DeltaBotTransform is of type MC_KIN_REF

DeltaBotTransform.TransformType := MC_TRANSFORM_TYPE_DELTA;
DeltaBotTransform.KinParameters[MC_DELTA_KIN_PARAM_RADIUS_BASE_LENGTH] := 10.0;
DeltaBotTransform.KinParameters[MC_DELTA_KIN_PARAM_RADIUS_END_LENGTH]  := 2.0;
DeltaBotTransform.KinParameters[MC_DELTA_KIN_PARAM_MOTOR An actuator focused to a movement, converting electrical energy in a force or torque._ARM_LENGTH]   := 5.0;
DeltaBotTransform.KinParameters[MC_DELTA_KIN_PARAM_END_ARM_LENGTH]     := 25.0;

Inst_MC_SetKinTra(True, DeltaBotAxesGrp, DeltaBotTransform);

// ...

Inst_MC_MoveLinAbs(True, DeltaBotAxesGrp, PositionList, DeltaBotVel, DeltaBotAcc, DeltaBotDec, LREAL#0.0, MC_COORDINATE_SYSTEM_MCS, MC_BUFFER_MODE_ABORTING, MC_TRANSITION_MODE_NONE, EmptyTransitionParams);