Interfaces

I_KinematicAxisRef

Interface to access connection to ACS and MCS Axis Objects.

Property	Type	Access	Description
ACS	REFERENCE TO ARRAY[1..KINEMATIC_CONSTANTS.DEGREES_OF_FREEDOM_MAX] OF AXIS_REF	Ref
MCS	REFERENCE TO ARRAY[1..KINEMATIC_CONSTANTS.DEGREES_OF_FREEDOM_MAX] OF AXIS_REF	Ref
DegreesOfFreedomConfigured	E_KinematicDOF	R/W	Configure the Kinematic assigned, e.g. DOF=3= Delta Robot
AcsAxisCount	BOOL	R/W	Specifies the amount of ACX Axes on Kinematic.
AcsPositionAbsolute	BOOL	R/W	Interpretation of ACS Axes is absolute.

The Kinematic Group manages the basic function of the Kinematic Transformations Library. It builds and manipulates the Kinematic Object.

Property	Type	Access	Description
KinematicStatus	E_KinStatus	R	Get the current Kinematic Object Status
KinMetaInfo	U_KinMetaInfo	R/W	Get/Set the current Kinematic Object Configuration for Forward Transformation
OidKinTrafo	OTCID	R	Object Id of Kinematic Group

Method	Return Type	Description
BuildKinGroup	BOOL	Returns `TRUE` Command was accepted, Builds and configures the Kinematic Group
DissolveKinGroup	BOOL	Returns `TRUE` Command was accepted, Dissolves the built Kinematic Group
ResetKinGroup	BOOL	Returns `TRUE` Command was accepted, Resets the Kinematic Group
SetKinematicParameter	BOOL	Returns `TRUE` Command was accepted, Sets Parameter for Kinematic Object via OID and PID for Tool and Kinematic
PresetRotationExtRotationRange	BOOL	The function block FB_KinPresetRotation sets the rotational state. The rotational state is not persistent and must be reset after a TwinCAT restart or if a path is started after an ACS axis movement (direct mode)
ActivateExtRotationRange	BOOL	Returns `TRUE` Command was accepted. Extends the rotation of the Kinematic Object to full circle.
DeactivateExtRotationRange	BOOL	Returns `TRUE` Command was accepted. Resets rotation behavior back to default.

Interface implements basic robotic functions for the Kinematic Object.

Property	Type	Access	Description
ActPosition	ST_KinematicPosition	R	Returns current position of ACS and MCS Drives
Enabled	BOOL	R	Returns `True` if the Robotic System is enabled
InPosition	BOOL	R	Returns `True` if the Robotic System is at Target Position with all its Axis
Moving	BOOL	R	Returns `True` if one or more Axis is moving. Limits are set in the NC Axis Object
Override	LREAL	W	Set Override for Robotic System
TargetMotionParameter	ST_KinematicMotionParameter	R/W	Get/Set the motion Parameter of ACS and MCS Axis (Acceleration, Deceleration, Jerk, Position)

Method	Return Type	Description
Disable	BOOL	Returns `TRUE` Command was accepted, Disables the Robotic System MC_Power
Enable	BOOL	Returns `TRUE` Command was accepted, Enables the Robotic System ACS and MCS Axes MC_Power
JogCartesianAxis	BOOL	Returns `TRUE` Command was accepted, Jogs one Cartesian Axis
JogJoint	BOOL	Returns `TRUE` Command was accepted, Jogs one Joint Axis
Stop	BOOL	Returns `TRUE` Command was accepted, Stops all movement of the Robotic System

Interface Implements Coordinated Motion functions.

Property	Type	Access	Description
CmState	ST_KinematicComponentAmp_CmGroupState	R	Get current state of coordinated motion Group
CmIdentAxis1	IDENT_IN_GROUP_REF	W	Set allocation of Group axes to the depending cartesian Axis e.g. `MCS_X`
CmIdentAxis2	IDENT_IN_GROUP_REF	W	Set allocation of Group axes to the depending cartesian Axis e.g. `MCS_Y`
CmIdentAxis3	IDENT_IN_GROUP_REF	W	Set allocation of Group axes to the depending cartesian Axis e.g. `MCS_Z`
CmIdentAxis4	IDENT_IN_GROUP_REF	W	Set allocation of Group axes to the depending cartesian Axis e.g. `MCS_C1`
CmGroupRef	AXES_GROUP_REF	W	Access to Coordinated Motion Group Instance

Method	Return Type	Description
DisableCmGroup	BOOL	Returns `TRUE` Command was accepted, Disables the Kinematic Motion Group
EnableCmGroup	BOOL	Returns `TRUE` Command was accepted, Enables the Kinematic Motion Group
StartMovePath	BOOL	Returns `TRUE` Command was accepted, Starts the move of the prepared Path
UngroupCmGroup	BOOL	Returns `TRUE` Command was accepted, Dissolves the Motion Group
BuildCmGroup	Bool	Returns `TRUE` Command was accepted, Add all DOF Axis to the Motion Group
ClearPath	Bool	Returns `TRUE` Command was accepted, Clears CM Path to prepare for next motion path
TrackConveyorBelt	Bool	Returns `TRUE` Command was accepted, activates the tracking of a linear movement in space e.g. Conveyor
SetCoordinateTransform	Bool	Returns `TRUE` Command was accepted, add Coordinate Transformation to Cm Group

Interface to implement all Cam Table related functions.

Property	Type	Access	Description
CammingActive	BOOL	R	Connected Axes System is Cammed in to Cam Table

Method	Return Type	Description
CamClearPath	BOOL	Returns `TRUE` Command was accepted, Delete preset Cam Table Points
CamIn	BOOL	Returns `TRUE` Command was accepted, Cam In connected axes to cam table
CamOut	BOOL	Returns `TRUE` Command was accepted, Cam Out connected axes from cam table
CamStartMovePath	BOOL	Returns `TRUE` Command was accepted, Delete preset Cam Table Points
CamMasterZero	BOOL	Returns `TRUE` Command was accepted, With this Method the Cam Master can be set to 0.0 Position, needed when cyclic use of cam table