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. The general MC_KIN_REF structure is described below, with further parameter specific descriptions for each robotic transform type.

Member	Type	Description	Related Function Blocks
TransformType	UINT	A number that identifies the specific robotic system transform. The #defines for the transform types (MC_TRANSFORM_TYPE_GANTRY, MC_TRANSFORM_TYPE_DELTA, etc.) are listed below.	MC_SetKinTra
KinParameters[0 - 31]	LREAL	An array of up to 32 parameters to define the robotic system and its kinematic transform. The parameter count (0 to 32) and the definition of each parameter is determined by the specific TransformType	MC_SetKinTra

These parameters must be specified for all ACS axes in the AxisGroup, and there are two parameters for each ACS axis.

TransformType	Parameter Count	Parameter #	Description	Range
MC_TRANSFORM_TYPE_GANTRY	1	MC_GANTRY_KIN_PARAM_REVERSE_X	Reverse X-axis	0 = do not reverse 1 = reverse
MC_TRANSFORM_TYPE_GANTRY_WITH_SKEW	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	Positive value
		MC_GANTRY_WITH_SKEW_KIN_PARAM_REVERSE_SKEW	Reverse Skew-axis	0 = do not reverse 1 = reverse
MC_TRANSFORM_TYPE_HBOT	3	MC_HBOT_KIN_PARAM_LIN_TO_ROT_RATIO	Linear to rotational unit ratio (ex: 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	3	MC_TBOT_KIN_PARAM_LIN_TO_ROT_RATIO	Linear to Rotational unit ratio (ex: 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 *	4	MC_DELTA_KIN_PARAM_RADIUS_BASE_LENGTH	RadiusBaseLength	Positive, non-zero value
		MC_DELTA_KIN_PARAM_RADIUS_END_LENGTH	RadiusEndLength
		MC_DELTA_KIN_PARAM_MOTOR_ARM_LENGTH	MotorArmLength
		MC_DELTA_KIN_PARAM_END_ARM_LENGTH	EndArmLength
MC_TRANSFORM_TYPE_SCARA_ELBOW_POS * Experimental *	2 or 3 The parameter count is depend on 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
		MC_SCARA_KIN_PARAM_WRIST_LENGTH	RobotWristLength (Available for SCARA with wrist only)
MC_TRANSFORM_TYPE_SCARA_ELBOW_NEG * Experimental *	2 or 3 The parameter count is depend on 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
		MC_SCARA_KIN_PARAM_WRIST_LENGTH	RobotWristLength (Available for SCARA with wrist only)