SMC_CalcDirectionFromVector (FB)
FUNCTION_BLOCK SMC_CalcDirectionFromVector
By use of this function the orientation (dAlpha) of the tool can be calculated.
Note
For detailed information on transformation function blocks see the survey on SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Input |
v |
SMC_VECTOR3D |
Tangent vector v. In general, v will be identical to the output vecActTangent of the interpolator. |
|
|
eDir |
SMC_tangential |
Input eDir specifies, whether the direction has to be calculated parallel to a path tangent (SMC_tangential), or oppositely (SMC_opp_tangential) or orthogonally to the path (SMC_orthogonal_r (right to the path tangent) resp. SMC_orthogonal_l (left to the path tangent)). |
||
|
Output |
dDir |
LREAL |
The angle dDir is measured in degrees. It will remain constant during standstill of the interpolator, i.e. when v is the zero vector. eDir is mostly either used as set value at SMC_ControlAxisByPos for a directional axis or as input dAlpha for the transformation. |
