SetKinTransform

Sets a kinematic transformation between the ACS and MCS based on the predefined kinematic model.

Syntax

KsCommandStatus SetKinTransform(
     int Index,
     McKinRef KinTransform,
     McExecutionMode ExecutionMode
);

Parameters

Index [in]: the index of an axis group. Indexes are zero based. Aliases affect this parameter. You can have up to 32 groups.

KinTransform [in]: the index of a kinematic model. Vendor-specific data type. See the McKinRef structure.

ExecutionMode [in]: describes when the command is executed and the new transformation becomes valid. See the McExecutionMode type.

Remarks

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.
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).

Return value

Returns the KsCommandStatus structure.

Example

N/A

Requirements