MC_SetKinTransform

Function block MC_SetKinTransform
Sets a kinematic transformation between the ACS and MCS based on the predefined kinematic model.
VAR_IN_OUT
B GroupIn AXES_GROUP_REF Reference to a group of axes. References are zero based. You can have up to 32 groups.
VAR_INPUT
B Execute BOOL Sets the kinematic model transformation on rising edge.
E KinTransform MC_KIN_REF Reference to a kinematic model. Vendor specific data type.
E ExecutionMode MC_ExecutionMode Describes when the command is executed and the new transformation becomes valid.
VAR_OUTPUT
B Done BOOL Transformation is set successfully.
E Busy BOOL The function block is not finished.
B Error BOOL Signals that an error has occurred within the function block.
E ErrorID MC_Error Error identification.
  • A kinematic transformation is a representation of the machine construction. For kinematically simple machine constructions, like a three axes Cartesian robot, a kinematic transformation may not be necessary.
  • The input KinTransform refers to a kinematic model including the parameters. The details of the kinematic model and of the parameters are outside the scope of PLCopen.
  • The function block (FB) always acts on a predefined axis group. Since a kinematic transformation always has to fit to an appropriate axis group, a call to this FB will lead to an error unless an appropriate axis group is defined.
  • KINGSTAR supports
    • McKinType.kinNone. Activating this transformation makes axes reference in ACS again.
    • McKinType.kinCartesian3D1, can be used to configure a cartesian robot. When this type is selected, KinParameters must be an array that contains three elements (X, Y, Z translation).

 

  MC_SetKinTransform  
AXES_GROUP_REF   GroupIn   Group   AXES_GROUP_REF
BOOL   Execute   Done   BOOL
MC_KIN_REF   KinTransform   Busy   BOOL
MC_ExecutionMode   ExecutionMode   Error   BOOL
        ErrorID   MC_Error