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

Axis Mapping

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)