Plc Library
|
Function block |
Description |
|---|---|
|
Kinematic Tranformation | |
|
Configures ACS and MCS axes to the kinematic transformation group and activates Cartesian or joint mode | |
|
Resets the kinematic transformation group | |
|
Reads the status of the kinematic transformation group acyclically | |
|
Reads the status of the kinematic transformation group cyclically | |
|
Reads the active ACS and MCS axes of the kinematics group | |
|
Transformation calculation | |
|
Calculates the kinematic transformation without connection to axes | |
|
FB_CalcMultiTrafo |
Calculates the kinematic transformation for multiple poses |
|
Editing Parameters and Coordinate Systems online | |
|
Locks the kinematic transformation group parameters, disables write access | |
|
Unlocks the kinematic transformation group parameters, enables write access | |
Structures and Enums
|
Name |
Description |
|---|---|
|
Structure of ACS and MCS axes, which constitute a kinematics | |
|
Status of the kinematic group (Enum) |
|
Development Environment |
Target System |
PLC libraries to include |
|---|---|---|
|
TwinCAT v2.11.2000 |
PC(i386) |
TcNcKinematicTransformation.lib |