SDK_Kinematics_Setup.mc

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#pragma once
 
#include <SysDef.mh>
#include "SDK_Kinematics_Setup.mh"
 
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)
{
    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);
}
long sdkSetupCartesian2dKinematics(long axis_0, long axis_1)
{
    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);
}
 
long sdkSetupCartesian3dKinematics(long axis_0, long axis_1, long axis_2)
{
    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);
}
 
long sdkSetupHBotCoreXYKinematics(long axis_0, long axis_1)
{
    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);
}
 
long sdkSetupScara2dKinematics(long axis_0, long axis_1, long prms_A, long prms_B, long prms_orient)
{
    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);
}
 
long sdkSetupScara3dKinematics(long axis_0, long axis_1, long axis_2, long prms_A, long prms_B, long prms_orient)
{
    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);
}
 
long sdkSetupDualScara2dKinematics(long axis_0, long axis_1, long prms_A, long prms_B, long prms_C, long prms_D, long prms_distance)
{
    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);
}
 
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)
{
    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);
}
 
transform sdkSetupWorkCoordKinematics(transform workToMachine, double originTranslate_X, double originTranslate_Y, double originTranslate_Z, double rotation_XY,double scale)
{
    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);
}