MCP_SetKinTransform_UR – Kinematic transformation for UR robot

Block SymbolLicensing group: COORDINATED MOTION
PIC

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

l1

Double (F64)

l2

Double (F64)

l3

Double (F64)

l4

 400.0

Double (F64)

l5

 400.0

Double (F64)

l6

 400.0

Double (F64)

l7

 400.0

Double (F64)

l8

 400.0

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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