FUNCTION_BLOCK SMC_TRAFO_Tripod_Arm
The transformation module is provided to execute forward transformations of a tripod 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 arm to steward |
||
|
dArm1Radius |
LREAL |
Radius of arm1 from the middle of the three motors |
||
|
dStewartRadius |
LREAL |
0 |
Radius of the steward plate |
|
|
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 |
|
|
dMaxAngleBallJoint |
LREAL |
45 |
Maximum positive/negative angle for ball joints |
|
|
Output |
bError |
BOOL |
TRUE, if position is invalid |
|
|
dA |
LREAL |
Drive position of axis A in degrees |
||
|
dB |
LREAL |
Drive position of axis B in degrees |
||
|
dC |
LREAL |
Drive position of axis C in degrees |
