FUNCTION_BLOCK SMC_Trafo_Tripod_Lin
Inverse transformation for tripod
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Input |
pi |
Position of the inner ring's center (x,y,z) |
||
|
dOuterRadius |
LREAL |
Radius of outer ring |
||
|
dInnerRadius |
LREAL |
Radius of inner ring |
||
|
dLength |
LREAL |
Length of linkage |
||
|
dDistance |
LREAL |
Distance between two cooperating linkages |
||
|
dRotationOffset |
LREAL |
0 |
Angle of axis A |
|
|
dAxisAngle |
LREAL |
Absolute angle between rails and z-axis |
||
|
dSingularityTolerance |
LREAL |
1 |
||
|
dOffsetA |
LREAL |
Offsets |
||
|
dOffsetB |
LREAL |
|||
|
dOffsetC |
LREAL |
|||
|
Output |
dLA |
LREAL |
Resulting drive positions |
|
|
dLB |
LREAL |
|||
|
dLC |
LREAL |
|||
|
bError |
BOOL |
Only TRUE, if there is no solution |
||
|
bSingularPosition |
BOOL |
At least one drive is near a singular position |
||
|
bNegativeDrivePosition |
BOOL |
At least one drive's position is calculated to be negative |
