Plc Library

Function block	Description
Kinematic Transformation
FB_KinConfigGroup	Configures ACS and MCS axes according to the kinematic transformation group and enables cartesian mode or joint mode (ACS).
FB_KinResetGroup	Resets the kinematic transformation group.
F_KinGetChnOperationState	Reads the status of the kinematic transformation group cyclically.
F_KinGetAcsMcsAxisIds	Reads the active ACS and MCS axes of the kinematic group.
Transformation calculation
FB_KinCalcTrafo	Calculates the Kinematic Transformation without link to the axes.
FB_KinCalcMultiTrafo	Calculates the Kinematic Transformation for several positions.
Edit parameters and coordinate systems online
FB_KinLockTrafoParam	Locks the parameters of the kinematic transformation group, denies write access.
FB_KinUnlockTrafoParam	Unlocks the parameters of the kinematic transformation group, enables write access.
Extended rotation range
FB_KinExtendedRotationRange	Saves and restores the rotational state of the kinematic group.
FB_KinPresetRotation	Sets the rotational state.

Structures and enumerations

Name	Description
ST_KinAxes	Structure of the ACS and MCS axes, which form the kinematics
E_KinStatus	Status of the kinematic group (enum)

Development environment	Target system	PLC libraries to include
TwinCAT 3	PC or CX (x86, x64)	Tc2_NcKinematicTransformation

Function blocks for compatibility with existing programs

	Function blocks for compatibility The purpose of the function blocks listed is to ensure compatibility with existing projects. It is not advisable to use these function blocks for new projects. Instead, the equivalent function blocks shown in the table above should be used.

Function block	Description
FB_KinCheckActualStatus	Reads the status of the kinematic transformation group acyclically

Further Information