FUNCTION_BLOCK SMC_TRAFO_Scara2
The transformation module is provided to execute backward transformations of 2-jointed Scara systems.
Note
For detailed information on transformation modules see the survey on SoftMotion transformations.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
pi |
Target position vector (x,y). Output of Interpolator |
|
|
dOffsetA |
LREAL |
Additional offset for A-axis in degree |
|
|
dOffsetB |
LREAL |
Additional offset for B-axis in degree |
|
|
dArmLength1 |
LREAL |
Length of first robot arm |
|
|
dArmLength2 |
LREAL |
Length of second robot arm |
|
|
bElbowLow |
BOOL |
TRUE if elbow is low and FALSE, if elbow is high |
|
|
Output |
bError |
BOOL |
TRUE if position is invalid |
|
dA |
LREAL |
Drive position of axis A in degree |
|
|
dB |
LREAL |
Drive position of axis B in degree |
