SDK_Kinematics_Setup.mc File Reference

Functions for the kinematics setup. More...

#include <SysDef.mh>
#include "SDK_Kinematics_Setup.mh"

Go to the source code of this file.

Functions
long	sdkSetupDeltaKinematics (long axis_0, long axis_1, long axis_2, long prms_A, long prms_B, long prms_C, long prms_D, long prms_minMotAng, long prms_maxMotAng)
	Setup a Delta multi-axis kinematics model. More...
long	sdkSetupCartesian2dKinematics (long axis_0, long axis_1)
	Setup a 2-dimensional cartesian multi-axis kinematics model. More...
long	sdkSetupCartesian3dKinematics (long axis_0, long axis_1, long axis_2)
	Setup a 3-dimensional cartesian multi-axis kinematics model. More...
long	sdkSetupHBotCoreXYKinematics (long axis_0, long axis_1)
	Setup a HBot or CoreXY multi-axis kinematics model. More...
long	sdkSetupScara2dKinematics (long axis_0, long axis_1, long prms_A, long prms_B, long prms_orient)
	Setup a Scara 2d multi-axis kinematics model. More...
long	sdkSetupScara3dKinematics (long axis_0, long axis_1, long axis_2, long prms_A, long prms_B, long prms_orient)
	Setup a Scara 3d multi-axis kinematics model. More...
long	sdkSetupDualScara2dKinematics (long axis_0, long axis_1, long prms_A, long prms_B, long prms_C, long prms_D, long prms_distance)
	Setup a Dual Scara 2d multi-axis kinematics model. More...
long	sdkSetupDualScara3dKinematics (long axis_0, long axis_1, long axis_2, long prms_A, long prms_B, long prms_C, long prms_D, long prms_distance)
	Setup a Dual Scara 3d multi-axis kinematics model. More...
transform	sdkSetupWorkCoordKinematics (transform workToMachine, double originTranslate_X, double originTranslate_Y, double originTranslate_Z, double rotation_XY, double scale)
	Setup the working coordinates for a kinematics System. More...

Detailed Description

Functions for the kinematics setup.

Revision

246

Definition in file SDK_Kinematics_Setup.mc.

Function Documentation

sdkSetupCartesian2dKinematics()

long sdkSetupCartesian2dKinematics	(	long	axis_0,
		long	axis_1
	)

Setup a 2-dimensional cartesian multi-axis kinematics model.

This function sets up a 2-dimensional cartesian kinematic. More information can be found in the ApossIDE Help.

Parameters

axis_0	X Axis
axis_1	Y Axis

Returns

value: Kinematics handle used to reference this group of axes.
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 68 of file SDK_Kinematics_Setup.mc.

{
    long   axes[2], handle;
    double prms[1];
 
    axes[0] = axis_0;   // Define X axis
    axes[1] = axis_1;   // Define Y axis
 
    prms[0] = 2;        // Set 2-dimensional system
 
    handle = KinematicsSetup("Cartesian", axes, prms); // Get the kinematics handler
 
    return(handle);
}

sdkSetupCartesian3dKinematics()

long sdkSetupCartesian3dKinematics	(	long	axis_0,
		long	axis_1,
		long	axis_2
	)

Setup a 3-dimensional cartesian multi-axis kinematics model.

This function sets up a 3-dimensional cartesian kinematic. More information can be found in the ApossIDE Help.

Parameters

axis_0	X Axis
axis_1	Y Axis
axis_2	Z Axis

Returns

value: Kinematics handle used to reference this group of axes.
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 95 of file SDK_Kinematics_Setup.mc.

{
    long   axes[3], handle;
    double prms[1];
 
    axes[0] = axis_0;   // Define X axis
    axes[1] = axis_1;   // Define Y axis
    axes[2] = axis_2;   // Define Z axis
 
    prms[0] = 3;        // Set 3-dimensional system
 
    handle = KinematicsSetup("Cartesian", axes, prms); // Get the kinematics handler
 
    return(handle);
}

sdkSetupDeltaKinematics()

long sdkSetupDeltaKinematics	(	long	axis_0,
		long	axis_1,
		long	axis_2,
		long	prms_A,
		long	prms_B,
		long	prms_C,
		long	prms_D,
		long	prms_minMotAng,
		long	prms_maxMotAng
	)

Setup a Delta multi-axis kinematics model.

This function sets up a Delta kinematic. The parameters of the mechanics must be known and are transferred to the function. More information can be found in the ApossIDE Help.

Parameters

axis_0	Axis module number
axis_1	Axis module number
axis_2	Axis module number
prms_A	Definition of length A [mm*10](80.0 mm => 800)
prms_B	Definition of length B [mm*10](80.0 mm => 800)
prms_C	Definition of length C [mm*10](80.0 mm => 800)
prms_D	Definition of length D [mm*10](80.0 mm => 800)
prms_minMotAng	Minimum motor angle [°]
prms_maxMotAng	Maximum motor angle [°]

Returns

value: Kinematics handle used to reference this group of axes.
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 36 of file SDK_Kinematics_Setup.mc.

{
    long   axes[3], handle;
    double prms[6];
 
    axes[0] = axis_0;   // Define axis 0
    axes[1] = axis_1;   // Define axis 1
    axes[2] = axis_2;   // Define axis 2
 
    prms[0] = prms_A;   // Length A
    prms[1] = prms_B;   // Length B
    prms[2] = prms_C;   // Length C
    prms[3] = prms_D;   // Length D
 
    prms[4] = rad(prms_minMotAng);   // The arm must not move higher than "prms_minMotAng" (for safety).
    prms[5] = rad(prms_maxMotAng);   // The arm must not move lower than "prms_maxMotAng" (for safety).
 
    handle = KinematicsSetup("Delta", axes, prms); // Get the kinematics handler
 
    return(handle);
}

sdkSetupDualScara2dKinematics()

long sdkSetupDualScara2dKinematics	(	long	axis_0,
		long	axis_1,
		long	prms_A,
		long	prms_B,
		long	prms_C,
		long	prms_D,
		long	prms_distance
	)

Setup a Dual Scara 2d multi-axis kinematics model.

This function sets up a Dual Scara 2d kinematic. The parameters of the mechanics must be known and are transferred to the function. More information can be found in the ApossIDE Help.

Parameters

axis_0	Axis module number
axis_1	Axis module number
prms_A	The length of the left primary arm, in Machine Coordinate System units
prms_B	The length of the left secondary arm, in Machine Coordinate System units
prms_C	The length of the right primary arm, in Machine Coordinate System units
prms_D	The length of the right secondary arm, in Machine Coordinate System units
prms_distance	The separation distance between axis 1 and axis 2

Returns

value: Kinematics handle used to reference this group of axes.
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 218 of file SDK_Kinematics_Setup.mc.

{
    long   axes[2], handle;
    double prms[6];
 
    axes[0] = axis_0;   // Define axis 0
    axes[1] = axis_1;   // Define axis 1
 
    prms[0] = prms_A;       // Length A
    prms[1] = prms_B;       // Length B
    prms[2] = prms_C;       // Length C
    prms[3] = prms_D;       // Length D
    prms[4] = prms_distance;// Separation distance
    prms[5] = 2;            // Set 2-dimensional system
 
    handle = KinematicsSetup("DualScara", axes, prms); // Get the kinematics handler
 
    return(handle);
}

sdkSetupDualScara3dKinematics()

long sdkSetupDualScara3dKinematics	(	long	axis_0,
		long	axis_1,
		long	axis_2,
		long	prms_A,
		long	prms_B,
		long	prms_C,
		long	prms_D,
		long	prms_distance
	)

Setup a Dual Scara 3d multi-axis kinematics model.

This function sets up a Dual Scara 3d kinematic. The parameters of the mechanics must be known and are transferred to the function. More information can be found in the ApossIDE Help.

Parameters

axis_0	Axis module number
axis_1	Axis module number
axis_2	Axis module number
prms_A	The length of the left primary arm, in Machine Coordinate System units
prms_B	The length of the left secondary arm, in Machine Coordinate System units
prms_C	The length of the right primary arm, in Machine Coordinate System units
prms_D	The length of the right secondary arm, in Machine Coordinate System units
prms_distance	The separation distance between axis 1 and axis 2

Returns

value: Kinematics handle used to reference this group of axes.
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 255 of file SDK_Kinematics_Setup.mc.

{
    long   axes[3], handle;
    double prms[6];
 
    axes[0] = axis_0;   // Define axis 0
    axes[1] = axis_1;   // Define axis 1
    axes[2] = axis_2;   // Define axis 2
 
    prms[0] = prms_A;       // Length A
    prms[1] = prms_B;       // Length B
    prms[2] = prms_C;       // Length C
    prms[3] = prms_D;       // Length D
    prms[4] = prms_distance;// Separation distance
    prms[5] = 3;            // Set 3-dimensional system
 
    handle = KinematicsSetup("DualScara", axes, prms); // Get the kinematics handler
 
    return(handle);
}

sdkSetupHBotCoreXYKinematics()

long sdkSetupHBotCoreXYKinematics	(	long	axis_0,
		long	axis_1
	)

Setup a HBot or CoreXY multi-axis kinematics model.

This function sets up a HBot or CoreXY kinematic. More information can be found in the ApossIDE Help.

Parameters

axis_0	Axis module number
axis_1	Axis module number

Returns

value: Kinematics handle used to reference this group of axes.
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 122 of file SDK_Kinematics_Setup.mc.

{
    long   axes[2], handle;
    double prms[1];
 
    axes[0] = axis_0;   // Define axis 0
    axes[1] = axis_1;   // Define axis 1
    prms[0] = 0;        // Just to prevent a "Referenced but never assigned" warning.
 
    handle = KinematicsSetup("Hbot", axes, prms); // Get the kinematics handler
 
    return(handle);
}

sdkSetupScara2dKinematics()

long sdkSetupScara2dKinematics	(	long	axis_0,
		long	axis_1,
		long	prms_A,
		long	prms_B,
		long	prms_orient
	)

Setup a Scara 2d multi-axis kinematics model.

This function sets up a Scara 2d kinematic. The parameters of the mechanics must be known and are transferred to the function. More information can be found in the ApossIDE Help.

Parameters

axis_0	Axis module number
axis_1	Axis module number
prms_A	The length of the primary arm, in Machine Coordinate System units
prms_B	The length of the secondary arm, in Machine Coordinate System units
prms_orient	The orientation of the arms: 1 - Left arm oientation, -1 - Right arm orientation

Returns

value: Kinematics handle used to reference this group of axes.
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 150 of file SDK_Kinematics_Setup.mc.

{
    long   axes[2], handle;
    double prms[4];
 
    axes[0] = axis_0;   // Define axis 0
    axes[1] = axis_1;   // Define axis 1
 
    prms[0] = prms_A;       // Length A
    prms[1] = prms_B;       // Length B
    prms[2] = prms_orient;  // Orientation of the System "Left" / "Right"
    prms[3] = 2;            // Set 2-dimensional system
 
    handle = KinematicsSetup("Scara", axes, prms); // Get the kinematics handler
 
    return(handle);
}

sdkSetupScara3dKinematics()

long sdkSetupScara3dKinematics	(	long	axis_0,
		long	axis_1,
		long	axis_2,
		long	prms_A,
		long	prms_B,
		long	prms_orient
	)

Setup a Scara 3d multi-axis kinematics model.

This function sets up a Scara 3d kinematic. The parameters of the mechanics must be known and are transferred to the function. More information can be found in the ApossIDE Help.

Parameters

axis_0	Axis module number
axis_1	Axis module number
axis_2	Axis module number
prms_A	The length of the primary arm, in Machine Coordinate System units
prms_B	The length of the secondary arm, in Machine Coordinate System units
prms_orient	The orientation of the arms: 1 - Left arm oientation, -1 - Right arm orientation

Returns

value: Kinematics handle used to reference this group of axes.
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 183 of file SDK_Kinematics_Setup.mc.

{
    long   axes[3], handle;
    double prms[4];
 
    axes[0] = axis_0;   // Define axis 0
    axes[1] = axis_1;   // Define axis 1
    axes[2] = axis_2;   // Define axis 2
 
    prms[0] = prms_A;       // Length A
    prms[1] = prms_B;       // Length B
    prms[2] = prms_orient;  // Orientation of the System "Left" / "Right"
    prms[3] = 3;            // Set 3-dimensional system
 
    handle = KinematicsSetup("Scara", axes, prms); // Get the kinematics handler
 
    return(handle);
}

sdkSetupWorkCoordKinematics()

transform sdkSetupWorkCoordKinematics	(	transform	workToMachine,
		double	originTranslate_X,
		double	originTranslate_Y,
		double	originTranslate_Z,
		double	rotation_XY,
		double	scale
	)

Setup the working coordinates for a kinematics System.

Set up the Work-to-Machine transformation. This is the transformation from Work (i.e. paper) coordinates to Machine coordinates. There are three parts:

1. Scaling: For example. The Work coordinate system uses mm's and the Machine coordinate system uses micrometers. So one Work unit (i.e. 1 mm) will be 1000 Machine units (i.e. 1000 micrometers).
2. Rotation: We would like to define the orientation. For example. The Work coordinate system must be rotated CLOCKWISE by 90 degrees (i.e. -90 degrees counterclockwise) with respect to the Machine coordinate system.
3. Translation: The origin position of the coordinate system can be set in which there is a shift in relation to the machine coordinate system.

Parameters

workToMachine	In: Transform variable of the coordinate system
originTranslate_X	Translational movement of the coordinate system -> X [in mm depending on the scaling]
originTranslate_Y	Translational movement of the coordinate system -> Y [in mm depending on the scaling]
originTranslate_Z	Translational movement of the coordinate system -> Z [in mm depending on the scaling]
rotation_XY	Rotation around the XY plane [°]
scale	Scaling of the system [ ]

Returns

value Transform variable of the coordinate system

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 300 of file SDK_Kinematics_Setup.mc.

{
    TransIdent(workToMachine);
    TransScale(workToMachine, scale);
    TransRotateXY(workToMachine,rotation_XY*PI/180.0);
    TransTranslate(workToMachine, originTranslate_X, originTranslate_Y, originTranslate_Z);
 
    print("Working coordinates are changed");
    return(workToMachine);
}