MCP_SetKinTransform_Arm – Kinematic transformation robot ARM

Block SymbolLicensing group: COORDINATED MOTION

Function Description
The function block description is not yet available. Below you can find partial description of the inputs, outputs and parameters of the block. Complete documentation will be available in future revisions.

This block does not propagates the signal quality. More information can be found in the 1.4 section.

Input

uAxesGroup	Axes group reference	Reference
Execute	The block is activated on rising edge	Bool

Parameter

arot	Angle for one revolute (ACS) $⊙$ 6.28318531	Double(F64)
mrot	Angle for one revolute (MCS) $⊙$ 6.28318531	Double(F64)
irt	Rotation format $⊙$ 1	Long (I32)
	1 .... ZYX angles 2 .... Quaternion
a1	$⊙$ 400.0	Double (F64)
a2	$⊙$ 300.0	Double (F64)
a3		Double (F64)
d1		Double (F64)
d23		Double (F64)
d4	$⊙$ 200.0	Double (F64)
d6	$⊙$ 100.0	Double (F64)
xe		Double (F64)
ye		Double (F64)
ze		Double (F64)
gamaE		Double (F64)
betaE		Double (F64)
alphaE		Double (F64)

Output

yAxesGroup	Axes group reference	Reference
Done	Algorithm finished	Bool
Busy	Algorithm not finished yet	Bool
Error	Error occurred	Bool
ErrorID	Result of last operation	Error
	i .... REXYGEN error code

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