FUNCTION_BLOCK SMC_TRAFO_5Axes
Reverse transformation, computes the axis positions so that the tool center point (TCP) achieves the desired path position and orientation.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
pi |
Set position: Contains the path position in the variables dX, dY, dZ and the orientation of the tool in dB (Inclination) and dC (Azimuth). |
|
|
dOffsetX |
LREAL |
Offset values X |
|
|
dOffsetY |
LREAL |
Offset values Y |
|
|
dOffsetZ |
LREAL |
Offset values Z |
|
|
dOffsetIncl |
LREAL |
Offset values inclination |
|
|
dOffsetAzi |
LREAL |
Offset values azimuth |
|
|
dTool |
LREAL |
Length of the tool |
|
|
Output |
dx |
LREAL |
Set position of TCP for axis x |
|
dy |
LREAL |
Set position of TCP for axis y |
|
|
dz |
LREAL |
Set position of TCP for axis z |
|
|
dIncl |
LREAL |
Set position of TCP for inclination axis [degrees] |
|
|
dAzi |
LREAL |
Set position of TCP for azimuth axis [degrees] |
