MC_KIN_REF Structure

The MC_KIN_REF structure defines the robotic system transform type and its parameters.

The parameters are specific to each transform type.

General MC_KIN_REF Structure

Member

Data Type

Description

Related Function BlockClosed A function block groups an algorithm and a set of private data. It has inputs and outputs.

TransformType

UINT

A number that identifies the specific robotic system transform.

The #defines for the transform types are:

MC_SetKinTra

KinParameters [0 - 31]

LREAL
  • Array to define the robotic system and its kinematic transform.
    • A maximum of 32 parameters are allowed.
  • The parameter countClosed Internal count pulses, 1 pulse = 1/2^20turn. (0 to 32) and the definition of each parameter is determined by the specific TransformType.

MC_SetKinTra

Robotic Transform Parameters

MC_TRANSFORM_TYPE_GANTRY

Figure 1: MC_TRANSFORM_TYPE_GANTRY

Parameter Count

Parameter #

Description

Range

1

MC_GANTRY_KIN_PARAM_REVERSE_X

Reverse X-axis.
  • 0 = Do Not Reverse.
  • 1 = Reverse.

MC_TRANSFORM_TYPE_GANTRY_WITH_SKEW

Figure 2: MC_TRANSFORM_TYPE_GANTRY_WITH_SKEW

Parameter Count

Parameter #

Description

Range

3

MC_GANTRY_WITH_SKEW_KIN_PARAM_REVERSE_X

Reverse X-axis.

  • 0 = Do Not Reverse.
  • 1 = Reverse.

 

MC_GANTRY_WITH_SKEW_KIN_PARAM_SKEW_SCALE

Skew to linear unit ratio.

PositiveClosed Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. value.

 

MC_GANTRY_WITH_SKEW_KIN_PARAM_REVERSE_SKEW

Reverse Skew-axis.
  • 0 = Do Not Reverse.
  • 1 = Reverse.

MC_TRANSFORM_TYPE_HBOT

Figure 3: MC_TRANSFORM_TYPE_HBOT

Parameter Count

Parameter #

Description

Range

3

MC_HBOT_KIN_PARAM_LIN_TO_ROT_RATIO

Linear to rotational unit ratio.

Example: cm/degree.

Positive value.

 

MC_HBOT_KIN_PARAM_REVERSE_X

Reverse X-axis.
  • 0 = Do Not Reverse.
  • 1 = Reverse.

 

MC_HBOT_KIN_PARAM_REVERSE_Y

Reverse Y-axis.
  • 0 = Do Not Reverse.
  • 1 = Reverse.

MC_TRANSFORM_TYPE_TBOT

Figure 4: MC_TRANSFORM_TYPE_TBOT

Parameter Count

Parameter #

Description

Range

3

MC_TBOT_KIN_PARAM_LIN_TO_ROT_RATIO

Linear to rotational unit ratio.

Example: cm/degree.

Positive value.

 

MC_TBOT_KIN_PARAM_REVERSE_X

Reverse X-axis.
  • 0 = Do Not Reverse.
  • 1 = Reverse.

 

MC_TBOT_KIN_PARAM_REVERSE_Z

Reverse Y-axis.
  • 0 = Do Not Reverse.
  • 1 = Reverse.

MC_TRANSFORM_TYPE_DELTA (*Experimental*)

Figure 5: MC_TRANSFORM_TYPE_DELTA (*Experimental*)

Parameter Count

Parameter #

Description

Range

4

MC_DELTA_KIN_PARAM_RADIUS_BASE_LENGTH

RadiusBaseLength

Positive, non-zero value.

 

MC_DELTA_KIN_PARAM_RADIUS_END_LENGTH

RadiusEndLength

Positive, non-zero value.

 

MC_DELTA_KIN_PARAM_MOTORClosed An actuator focused to a movement, converting electrical energy in a force or torque._ARM_LENGTH

MotorArmLength

Positive, non-zero value.

 

MC_DELTA_KIN_PARAM_END_ARM_LENGTH

EndArmLength

Positive, non-zero value.

MC_TRANSFORM_TYPE_SCARA_ELBOW_POS (*Experimental*)

Figure 6: MC_TRANSFORM_TYPE_SCARA_ELBOW_POS no Wrist

Figure 7: MC_TRANSFORM_TYPE_SCARA_ELBOW_POS with Wrist

Parameter Count

Parameter #

Description

Range

2 or 3

The parameter count depends on the axis number of the AxisGroup.

  • 2 AxesGroup: 2 Parameters. (No Wrist)

  • 3 AxesGroup: 3 Parameters. (with Wrist)

MC_SCARA_KIN_PARAM_UPPER_ARM_LENGTH

RobotUpperArmLength

Positive, non-zero value.

 

MC_SCARA_KIN_PARAM_LOWER_ARM_LENGTH

RobotLowerArmLength

Positive, non-zero value.

 

MC_SCARA_KIN_PARAM_WRIST_LENGTH

RobotWristLength

Available for SCARA with wrist only.

Positive, non-zero value.

MC_TRANSFORM_TYPE_SCARA_ELBOW_NEG (*Experimental*)

Figure 8: MC_TRANSFORM_TYPE_SCARA_ELBOW_NEG no Wrist

Figure 9: MC_TRANSFORM_TYPE_SCARA_ELBOW_NEG with Wrist

Parameter Count

Parameter #

Description

Range

2 or 3

The parameter count depends on the axis number of the AxisGroup.

  • 2 AxesGroup: 2 Parameters. (No Wrist)

  • 3 AxesGroup: 3 Parameters. (with Wrist)

MC_SCARA_KIN_PARAM_UPPER_ARM_LENGTH

RobotUpperArmLength

Positive, non-zero value.

 

MC_SCARA_KIN_PARAM_LOWER_ARM_LENGTH

RobotLowerArmLength

Positive, non-zero value.

 

MC_SCARA_KIN_PARAM_WRIST_LENGTH

RobotWristLength

Available for SCARA with wrist only.

Positive, non-zero value.