Introduction ProfileExtended - ThorstenBrach/SRCI GitHub Wiki

MC_MoveLinearRelativeFB

Move the TCP relative to the actual cartesian position (linear interpolation)

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MC_MoveDirectRelativeFB

Move Joints relative to relative cartesian position (Relative cartesian PTP) (Joint interpolated movement)

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MC_MoveAxesRelativeFB

Move all joints relative to actual joint position (Relative Joint PTP)

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MC_MoveLinearAbsoluteFB

Move the TCP to an absolute cartesian position (linear interpolation)

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MC_MoveCircularAbsoluteFB

Move the TCP to an absolute cartesian position (circular interpolation)

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MC_MoveCircularRelativeFB

Move the TCP relative to the actual cartesian position (circular interpolation)

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MC_MoveLinearOffsetFB

Move the TCP relative to a reference cartesian position (linear interpolation)

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MC_MoveDirectOffsetFB

Move the TCP relative to a reference cartesian position (PTP interpolation)

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MC_WaitTimeFB

Set wait command between motion commands

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MC_ReadDigitalInputsFB

Read digital input group of RC

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MC_ReadDigitalOutputsFB

Read digital output group of RC

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MC_WriteDigitalOutputsFB

Write digital output group of RC

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MC_ReadIntegersFB

Read integer values on RC

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MC_ReadRealsFB

Read real values on RC

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MC_WriteIntegersFB

Write integer values on RC

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MC_WriteRealsFB

Write real values on RC

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MC_MoveLinearCamFB

Set trigger in defined position of path (L = Linear Path) (cartesian) switch periphery.

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MC_MoveDirectCamFB

Set a trigger in a defined position of a path. (PTP)

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MC_MoveCircularCamFB

Set a trigger in a defined position of a circular path.

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MC_SetTriggerRegisterFB

Trigger "Actions" based on I/O related events (e.g. change of DI’s state)

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MC_SetTriggerLimitFB

Trigger "Actions" based on physical events (e.g. force limit reached)

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MC_SetTriggerUserFB

Trigger "Actions" based on physical events (e.g. force limit reached)

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MC_SetTriggerErrorFB

Trigger "Actions" based on incoming error event

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MC_ReactAtTriggerFB

ToDo

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MC_WaitForTriggerFB

"Action" that initiates specified events when triggered

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MC_ReadSystemVariableFB

Read specific parameter of the robot

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MC_WriteSystemVariableFB

Change value of specific vendor parameter

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MC_CalculateForwardKinematicFB

Calculate Forward Kinematic

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MC_CalculateInverseKinematicFB

Calculate Inverse Kinematic

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MC_CalculateCartesianPositionFB

Calculate cartesian position from existing cartesian position

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MC_CalculateToolFB

Calculate tool (TCP) with four-point method

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MC_CalculateFrameFB

Calculate frame with three-point method

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MC_ActivateNextCommandFB

Cancel currently active move command and continue with the next buffered command

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MC_ShiftPositionFB

Transform a defined position in space

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