FUNCTION_BLOCK SMC_TRAFO_Bipod_Arm
The transformation module is provided to execute backward transformation of a bipod arm.
Note
For detailed information on transformation modules see the survey on SoftMotion transformations.
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Input |
pi |
Target position vector (x,y), output of interpolator |
||
|
dArmLength1 |
LREAL |
Length of Arm1 connected to motor |
||
|
dArmLength2 |
LREAL |
Length of Arm2 from Arm1 to linked connection |
||
|
dDistance |
LREAL |
Horizontal distance of the two motors |
||
|
dOffsetA |
LREAL |
0 |
Additional offset of axis A in SoftMotion units |
|
|
dOffsetB |
LREAL |
0 |
Additional offset of axis B in SoftMotion units |
|
|
Output |
bError |
BOOL |
TRUE, if position is invalid. |
|
|
dA |
LREAL |
Target position of axis A in degree |
||
|
dB |
LREAL |
Target position of axis B in degree |
