MC_SetKinTra

 Function Block - Sets the kinematic transform between the Machine Coordinate System and the Axes Coordinate System.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising 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	FALSE, TRUE	N/A	If TRUE, the command completed successfully.
Error	BOOL	FALSE, TRUE	N/A	If TRUE, an error has occurred.
ErrorID	INT	Enumerated	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Remarks

• See Function Blocks - General Rules 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 1: 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);