MC_SetKinTra

Description

This function block sets the kinematic transform between the Machine Coordinate System and the Axes Coordinate System. 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 will automatically calculate the inverse kinematics for the robot axes, converting the robot path 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.

Description of the structure may be found in MC_KIN_REF Structure.

Figure 7-162: MC_SetKinTra

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

Execute	Description	On the rising edgeA rising edge is the transition of a digital signal from low to high. It is also called positive edge, request to load the kinematic transform.
	Data type	BOOL
	Range	0, 1
	Unit	n/a
	Default	n/a
AxesGroup	Description	The axis group that will receive the axis trajectory values from the kinematic transform.
	Data type	AXIS_GROUP_REF
	Range	n/a
	Unit	n/a
	Default	n/a
KinTransform	Description	Kinematic robotic transform defined by the MC_KIN_REF Structure
	Data type	MC_KIN_REF
	Range	n/a
	Unit	n/a
	Default	n/a

Output

Done	Description	If True, then the command completed successfully.
	Data type	BOOL
Error	Description	If True, an error has occurred.
	Data type	BOOL
ErrorID	Description	Indicates the error if Error output is set to TRUE. See table in PLCopen Function BlockA function block groups an algorithm and a set of private data. It has inputs and outputs. ErrorID Output
	Data type	INT

Example

Structured Text

// 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_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);

Function Block Diagram

Ladder Diagram

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