SMC_ArticulatedRobot_6DOF_J1_State (ENUM) ¶ TYPE SMC_ArticulatedRobot_6DOF_J1_State : The possible configuration states of joint 1 of the 6DOF robot arm. InOut: Name Comment SMC_AR_ELBOWUP The “elbow” is pointing upwards SMC_AR_ELBOWDOWN The “elbow” is pointing downwards SMC_AR_ELBOWSTRAIGHT The arm is fully stretched (singular case)
SMC_ArticulatedRobot_6DOF_J4_State (ENUM) ¶ TYPE SMC_ArticulatedRobot_6DOF_J4_State : The possible configuration states of joint 4 of the 6DOF robot arm. InOut: Name Comment SMC_AR_HANDDOWN The hand is pointing “down”, i.e. q4 > 0 SMC_AR_HANDUP The hand is pointing “up”, i.e. q4 < 0 SMC_AR_HANDSTRAIGHT The hand is straight (q4 ~ 0), singular case
SMC_TrafoConfig_4AxisPalletizer (STRUCT) ¶ TYPE SMC_TrafoConfig_4AxisPalletizer : STRUCT These parameters describe a 4-axis palletizer robot as used by the transformations SMC_Trafo_4AxisPalletizer and SMC_TrafoF_4AxisPalletizer. InOut: Name Type Comment d1 LREAL Denavit-Hartenberg Parameter d1 [u] a1 LREAL Denavit-Hartenberg Parameter a1 [u] a2 LREAL Denavit-Hartenberg Parameter a2 [u] a3 LREAL Denavit-Hartenberg Parameter a3 [u] a4 LREAL Denavit-Hartenberg Parameter a4 [u[ d5 LREAL Denavit-Hartenberg Parameter d5 [u]
SMC_TrafoConfig_ArticulatedRobot_6DOF (STRUCT) ¶ TYPE SMC_TrafoConfig_ArticulatedRobot_6DOF : STRUCT These parameters describe an articulated 6DOF robot as supported by the kinematik transformations SMC_Trafo_ArticulatedRobot_6DOF and SMC_TrafoF_ArticulatedRobot_6DOF . InOut: Name Type Comment d1 LREAL Denavit-Hartenberg Parameter d1 [u] a1 LREAL Denavit-Hartenberg Parameter a1 [u] a2 LREAL Denavit-Hartenberg Parameter a2 [u] d3 LREAL Denavit-Hartenberg Parameter d3 [u] a3 LREAL Denavit-Hartenberg Parameter a3 [u] d4 LREAL Denavit-Hartenberg Parameter d4 [u] d6 LREAL Denavit-Hartenberg Parameter d6 [u] q3_min_deg LREAL The minimum possible angle of joint 3 in degrees q3_max_deg LREAL The maximum possible angle of joint 3 in degrees q5_min_deg LREAL The minimum possible angle of joint 5 in degrees q5_max_deg LREAL The maximum possible angle of joint 5 in degrees
SoftMotion Transformations ¶ Gantry systems SMC_TRAFOF_5Axes (FunctionBlock) SMC_TRAFOF_Gantry2 (FunctionBlock) SMC_TRAFOF_Gantry2Tool1 (FunctionBlock) SMC_TRAFOF_Gantry2Tool2 (FunctionBlock) SMC_TRAFOF_Gantry3 (FunctionBlock) SMC_TRAFOF_Gantry3D (FunctionBlock) SMC_TRAFOF_GantryCutter2 (FunctionBlock) SMC_TRAFOF_GantryCutter3 (FunctionBlock) SMC_TRAFOF_GantryH2 (FunctionBlock) SMC_TRAFOF_GantryT2 (FunctionBlock) SMC_TRAFOF_GantryT2_O (FunctionBlock) SMC_TRAFOV_Gantry2 (FunctionBlock) SMC_TRAFOV_Gantry3 (FunctionBlock) SMC_TRAFOV_GantryCutter2 (FunctionBlock) SMC_TRAFOV_GantryCutter3 (FunctionBlock) SMC_TRAFOV_GantryH2 (FunctionBlock) SMC_TRAFOV_GantryT2 (FunctionBlock) SMC_TRAFOV_GantryT2_O (FunctionBlock) SMC_TRAFO_5Axes (FunctionBlock) SMC_TRAFO_Gantry2 (FunctionBlock) SMC_TRAFO_Gantry2Tool1 (FunctionBlock) SMC_TRAFO_Gantry2Tool2 (FunctionBlock) SMC_TRAFO_Gantry3 (FunctionBlock) SMC_TRAFO_GantryCutter2 (FunctionBlock) SMC_TRAFO_GantryCutter3 (FunctionBlock) SMC_TRAFO_GantryH2 (FunctionBlock) SMC_TRAFO_GantryT2 (FunctionBlock) SMC_TRAFO_GantryT2_O (FunctionBlock) Parallel Systems Bipod_Arm SMC_TRAFOF_Bipod_Arm (FunctionBlock) SMC_TRAFO_Bipod_Arm (FunctionBlock) Tripod SMC_TRAFOF_Tripod (FunctionBlock) SMC_TRAFO_Tripod (FunctionBlock) Tripod_Arm SMC_TRAFOF_Tripod_Arm (FunctionBlock) SMC_TRAFO_Tripod_Arm (FunctionBlock) Tripod_Lin SMC_TrafoF_Tripod_Lin (FunctionBlock) SMC_Trafo_Tripod_Lin (FunctionBlock) Robot Kinematiks SMC_TrafoF_4AxisPalletizer (FunctionBlock) SMC_TrafoF_ArticulatedRobot_6DOF (FunctionBlock) SMC_Trafo_4AxisPalletizer (FunctionBlock) SMC_Trafo_ArticulatedRobot_6DOF (FunctionBlock) Scara System SMC_TRAFOF_Polar (FunctionBlock) SMC_TRAFOF_Scara2 (FunctionBlock) SMC_TRAFOF_Scara3 (FunctionBlock) SMC_TRAFO_Polar (FunctionBlock) SMC_TRAFO_Scara2 (FunctionBlock) SMC_TRAFO_Scara3 (FunctionBlock) additional FBs SMC_CalcDirectionFromVector (FunctionBlock)
Gantry systems ¶ SMC_TRAFOF_5Axes (FunctionBlock) SMC_TRAFOF_Gantry2 (FunctionBlock) SMC_TRAFOF_Gantry2Tool1 (FunctionBlock) SMC_TRAFOF_Gantry2Tool2 (FunctionBlock) SMC_TRAFOF_Gantry3 (FunctionBlock) SMC_TRAFOF_Gantry3D (FunctionBlock) SMC_TRAFOF_GantryCutter2 (FunctionBlock) SMC_TRAFOF_GantryCutter3 (FunctionBlock) SMC_TRAFOF_GantryH2 (FunctionBlock) SMC_TRAFOF_GantryT2 (FunctionBlock) SMC_TRAFOF_GantryT2_O (FunctionBlock) SMC_TRAFOV_Gantry2 (FunctionBlock) SMC_TRAFOV_Gantry3 (FunctionBlock) SMC_TRAFOV_GantryCutter2 (FunctionBlock) SMC_TRAFOV_GantryCutter3 (FunctionBlock) SMC_TRAFOV_GantryH2 (FunctionBlock) SMC_TRAFOV_GantryT2 (FunctionBlock) SMC_TRAFOV_GantryT2_O (FunctionBlock) SMC_TRAFO_5Axes (FunctionBlock) SMC_TRAFO_Gantry2 (FunctionBlock) SMC_TRAFO_Gantry2Tool1 (FunctionBlock) SMC_TRAFO_Gantry2Tool2 (FunctionBlock) SMC_TRAFO_Gantry3 (FunctionBlock) SMC_TRAFO_GantryCutter2 (FunctionBlock) SMC_TRAFO_GantryCutter3 (FunctionBlock) SMC_TRAFO_GantryH2 (FunctionBlock) SMC_TRAFO_GantryT2 (FunctionBlock) SMC_TRAFO_GantryT2_O (FunctionBlock)
Parallel Systems ¶ Bipod_Arm SMC_TRAFOF_Bipod_Arm (FunctionBlock) SMC_TRAFO_Bipod_Arm (FunctionBlock) Tripod SMC_TRAFOF_Tripod (FunctionBlock) SMC_TRAFO_Tripod (FunctionBlock) Tripod_Arm SMC_TRAFOF_Tripod_Arm (FunctionBlock) SMC_TRAFO_Tripod_Arm (FunctionBlock) Tripod_Lin SMC_TrafoF_Tripod_Lin (FunctionBlock) SMC_Trafo_Tripod_Lin (FunctionBlock)
Robot Kinematiks ¶ SMC_TrafoF_4AxisPalletizer (FunctionBlock) SMC_TrafoF_ArticulatedRobot_6DOF (FunctionBlock) SMC_Trafo_4AxisPalletizer (FunctionBlock) SMC_Trafo_ArticulatedRobot_6DOF (FunctionBlock)
Scara System ¶ SMC_TRAFOF_Polar (FunctionBlock) SMC_TRAFOF_Scara2 (FunctionBlock) SMC_TRAFOF_Scara3 (FunctionBlock) SMC_TRAFO_Polar (FunctionBlock) SMC_TRAFO_Scara2 (FunctionBlock) SMC_TRAFO_Scara3 (FunctionBlock)
additional FBs ¶ SMC_CalcDirectionFromVector (FunctionBlock)
