FUNCTION_BLOCK SMC_TRAFOF_5Axes
The forward transformation function block computes the tool center point coordinates from the axis positions.
Note
For detailed information on transformations see Overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Inout |
DriveX |
AXIS_REF_SM3 |
Axis X |
|
DriveY |
AXIS_REF_SM3 |
Axis Y |
|
|
DriveZ |
AXIS_REF_SM3 |
Axis Z |
|
|
DriveIncl |
AXIS_REF_SM3 |
Orientation inclination |
|
|
DriveAzi |
AXIS_REF_SM3 |
Orientation azimuth |
|
|
Input |
dOffsetX |
LREAL |
Offset value X |
|
dOffsetY |
LREAL |
Offset value Y |
|
|
dOffsetZ |
LREAL |
Offset value Z |
|
|
dOffsetIncl |
LREAL |
Offset value inclination |
|
|
dOffsetAzi |
LREAL |
Offset value azimuth |
|
|
dTool |
LREAL |
Length of the tool |
|
|
minX |
LREAL |
Minimal display area of axis X for visualization |
|
|
maxX |
LREAL |
Maximal display area of axis X for visualization |
|
|
minY |
LREAL |
Minimal display area of axis Y or visualization |
|
|
maxY |
LREAL |
Maximal display area of axis Y for visualization |
|
|
minZ |
LREAL |
Minimal display areas of axis Z for visualization |
|
|
maxZ |
LREAL |
Maximal display area of axis Z for visualization |
|
|
Output |
dx |
LREAL |
Position of the tool correction point (TCP) in X |
|
dy |
LREAL |
Position of the tool correction point (TCP) in Y |
|
|
dz |
LREAL |
Position of the tool correction point (TCP) in Z |
|
|
dAzimuth |
LREAL |
Orientation or the tool in spherical coordinate azimuth |
|
|
dInclination |
LREAL |
Orientation or the tool in spherical coordinate inclination |
|
|
da |
LREAL |
Orientation of the tool in vector coordinate a |
|
|
db |
LREAL |
Orientation of the tool in vector coordinate b |
|
|
dc |
LREAL |
Orientation of the tool in vector coordinate c |
