FUNCTION_BLOCK SMC_TRAFO_Tripod
The transformation module is provided to execute backward transformation of a tripod.
Note
For detailed information on transformation modules see the survey on SoftMotion tansformations.
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Input |
pi |
Target position vector (x,y) of centre of the inner ring. Output of interpolator. |
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|
dInnerRadius |
LREAL |
Radius of inner ring |
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|
dOuterRadius |
LREAL |
Radius of outer ring |
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|
dLength |
LREAL |
Length of linkage |
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|
dDistance |
LREAL |
Distance between two cooperating linkages |
||
|
dRotationOffset |
LREAL |
0 |
Mathematically oriented angle between axis A and origin (0,0) in degrees |
|
|
dOffsetA |
LREAL |
0 |
Additional offset of axis A in SoftMotion units |
|
|
dOffsetB |
LREAL |
0 |
Additional offset of axis B in SoftMotion units |
|
|
dOffsetC |
LREAL |
0 |
Additional offset of axis C in SoftMotion units |
|
|
Output |
bError |
BOOL |
TRUE, if position is invalid |
|
|
dA |
LREAL |
Position of axis A in degree |
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|
dB |
LREAL |
Position of axis B in degree |
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|
dC |
LREAL |
Position of axis C in degree |
