SMC_Trafo_4AxisPalletizer (FB)
FUNCTION_BLOCK SMC_Trafo_4AxisPalletizer
Inverse transformation for a 4-axis palletizer.
Assumptions:
All a_i in the config are non-negative, a_2 and a_3 are not less than g_fSMC_CNC_EPS
The valid range for axis 0 (dQ0) is contained in ]-180°, 180°[
The valid range for axis 1 (dQ1) is contained in [-90°, 90°]
The valid range for axis 2 (dQ2) is contained in ]-180°, 90°[
The valid range for axis 3 (dQ3) is not constrained and may be greater than 360°
InOut:
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Scope |
Name |
Type |
Initial |
Comment |
|
Inout |
config |
The configuration settings of the palletizer |
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|
Input |
pi |
The current position and orientation in world coordinates: dX, dY, dZ, and C |
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bElbowLow |
BOOL |
FALSE |
Whether axis 2 is in the range ]-180°, -90°[ (TRUE) or [-90°,90°] (FALSE) |
|
|
bBackwards |
BOOL |
FALSE |
Whether axis 0 is set so that the palletizer faces the target (FALSE) or that it faces the opposite direction (TRUE) |
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Output |
dQ0 |
LREAL |
The value of axis 0 in degrees |
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dQ1 |
LREAL |
The value of axis 1 in degrees |
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dQ2 |
LREAL |
The value of axis 2 in degrees |
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|
dQ3 |
LREAL |
The value of axis 3 in degrees |
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bError |
BOOL |
Whether an error occured during the computation |
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|
result |
The detailed result of the computation |
