FUNCTION_BLOCK SMC_TRAFO_Polar
Transformation for 2-dim. Scara system
Note
For detailed information on transformation modules see overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
pi |
Set position (x/y) |
|
|
dOffsetR |
LREAL |
Additional offset for distance axis R |
|
|
dOffsetPhi |
LREAL |
Additional offset of direction axis Phi in degree |
|
|
Output |
dR |
LREAL |
Position of distance axis R |
|
dPhi |
LREAL |
Position of direction axis Phi in degree |
