MC_SetKinTra

 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 Coordinate System 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 A 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.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axes group that receives the axis trajectory 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	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 the table in PLCopen Function Block ErrorIDs.

Remarks

• See Function Blocks - General Rules for more information 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 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 6-128: 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_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);