SMC_TrafoF_4AxisPalletizer (FB)
FUNCTION_BLOCK SMC_TrafoF_4AxisPalletizer
Forward transformation for a 4-axis palletizer.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Inout |
config |
The configuration settings of the palletizer |
|
|
Drive1 |
Axis_Ref_SM3 |
The drive of axis 0 |
|
|
Drive2 |
Axis_Ref_SM3 |
The drive of axis 1 |
|
|
Drive3 |
Axis_Ref_SM3 |
The drive of axis 2 |
|
|
Drive4 |
Axis_Ref_SM3 |
The drive of axis 3 |
|
|
Output |
dX |
LREAL |
The current x-position of the tool center point in world coordinates |
|
dY |
LREAL |
The current y-position of the tool center point in world coordinates |
|
|
dZ |
LREAL |
The current z-position of the tool center point in world coordinates |
|
|
dC |
LREAL |
The current roll angle of the tool in degrees |
|
|
bElbowLow |
BOOL |
TRUE the angle of axis 2 is in the range ]-180°,-90°[ |
|
|
bElbowStraight |
BOOL |
TRUE`, if the angle of axis 2 is equal to ``-90° |
|
|
bBackwards |
BOOL |
FALSE, if the palletizer faces towards the TCP, TRUE, if facing in opposite direction |
|
|
bStraightUp |
BOOL |
TRUE the two arms segments are both vertical (dQ1=0°, dQ2=-90°) |
|
|
vK1Pos |
SMC_Vector3D |
The current position of joint 1 in world coordinates |
|
|
vK2Pos |
SMC_Vector3D |
The current position of joint 2 in world coordinates |
|
|
vK3Pos |
SMC_Vector3D |
The current position of joint 3 in world coordinates |
|
|
vKToolDir |
SMC_Vector3D |
The current (unit) direction of the gripper (x-axis of K5) in world coordinates |
|
|
dScale |
LREAL |
A scaling factor: if the working space is scaled with this factor, it fits in to the cube [0,1]^3 |
