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.

General MC_KIN_REF Structure

Member

Data Type

Description

Related Function Block

TransformType

UINT

A number that identifies the specific robotic system transform.

The #defines for the transform types are:

MC_SetKinTra

KinParameters [0 - 31]

LREAL
  • Array to define the robotic system and its kinematic transform.
    • A maximum of 32 parameters are allowed.
  • The parameter count (0 to 32) and the definition of each parameter is determined by the specific TransformType.

MC_SetKinTra

Robotic Transform Parameters

  • These parameters must be specified for all ACS axes in the AxisGroup.
  • There are two parameters for each ACS axis.

MC_TRANSFORM_TYPE_GANTRY

Figure 1: MC_TRANSFORM_TYPE_GANTRY

Parameter Count

Parameter #

Description

Range

1

MC_GANTRY_KIN_PARAM_REVERSE_X

Reverse X-axis.
  • 0 = Do Not Reverse.
  • 1 = Reverse.

MC_TRANSFORM_TYPE_GANTRY_WITH_SKEW

Figure 2: MC_TRANSFORM_TYPE_GANTRY_WITH_SKEW

Parameter Count

Parameter #

Description

Range

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

Figure 3: MC_TRANSFORM_TYPE_HBOT

Parameter Count

Parameter #

Description

Range

3

MC_HBOT_KIN_PARAM_LIN_TO_ROT_RATIO

Linear to rotational unit ratio.

Example: 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

Figure 4: MC_TRANSFORM_TYPE_TBOT

Parameter Count

Parameter #

Description

Range

3

MC_TBOT_KIN_PARAM_LIN_TO_ROT_RATIO

Linear to rotational unit ratio.

Example: 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*)

Figure 5: MC_TRANSFORM_TYPE_DELTA (*Experimental*)

Parameter Count

Parameter #

Description

Range

4

MC_DELTA_KIN_PARAM_RADIUS_BASE_LENGTH

RadiusBaseLength

Positive, non-zero value.

 

MC_DELTA_KIN_PARAM_RADIUS_END_LENGTH

RadiusEndLength

Positive, non-zero value.

 

MC_DELTA_KIN_PARAM_MOTOR_ARM_LENGTH

MotorArmLength

Positive, non-zero value.

 

MC_DELTA_KIN_PARAM_END_ARM_LENGTH

EndArmLength

Positive, non-zero value.

MC_TRANSFORM_TYPE_SCARA_ELBOW_POS (*Experimental*)

Figure 6: MC_TRANSFORM_TYPE_SCARA_ELBOW_POS no Wrist

Figure 7: MC_TRANSFORM_TYPE_SCARA_ELBOW_POS with Wrist

Parameter Count

Parameter #

Description

Range

2 or 3

The parameter count depends on the 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

Positive, non-zero value.

 

MC_SCARA_KIN_PARAM_WRIST_LENGTH

RobotWristLength

Available for SCARA with wrist only.

Positive, non-zero value.

MC_TRANSFORM_TYPE_SCARA_ELBOW_NEG (*Experimental*)

Figure 8: MC_TRANSFORM_TYPE_SCARA_ELBOW_NEG no Wrist

Figure 9: MC_TRANSFORM_TYPE_SCARA_ELBOW_NEG with Wrist

Parameter Count

Parameter #

Description

Range

2 or 3

The parameter count depends on the 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

Positive, non-zero value.

 

MC_SCARA_KIN_PARAM_WRIST_LENGTH

RobotWristLength

Available for SCARA with wrist only.

Positive, non-zero value.