LSIS XGT Series User Manual

Chapter 6 Motion Function Blocks
6-152
6.7 Coordinate System Operation Function Block
6.7.1 Machine information setting(MC_SetKinTransform)
Motion Function Block
MC_SetKinTransform
DoneExecute
AxesGroup AxesGroup
BOOL
BOOL
UINT UINT
UINT KinType
UINT KinExtParam
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
Active BOOL
ARRAY[0..11] OF LREAL[ ] KinParam
LREAL ToolOffsetX
LREAL ToolOffsetY
UINT ToolOffsetZ
Input-Output
UINT
AxesGroup
Set the axes group to set the machine information.(1 ~ 16 : Group 1 ~ Group 16)
Input
BOOL
Execute
Give the machine information setting command on the axis in the rising Edge.
UINT
KinType
Set the machine type.(0:XYZ, 1:Delta3)
UINT
KinExtParam
Unused
LREAL[]
KinParam
Set the machine information.
LREAL
ToolOffsetX
Set the X axis offset of at the end of the machine.
LREAL
ToolOffsetY
Set the Y axis offset of at the end of the machine.
LREAL
ToolOffsetZ
Set the Z axis offset of at the end of the machine.
Output
BOOL
Done
Indicate the machine information setting is successfully completed.
BOOL
Busy
Indicate that the execution of motion function block is not completed.
BOOL
Active
Indicate that machine information setting of the current axis is running.
BOOL
CommandAborted
Indicate that the current motion function block is interrupted while it is running.
BOOL
Error
Indicate whether an error occurs or not.
WORD
ErrorID
Output the number of error occurred while motion function block is running.

LSIS XGT Series Specifications

General

Brand	LSIS
Model	XGT Series
Category	Controller
Language	English