FUNCTION_BLOCK SMC_TRAFOF_Bipod_Arm
The transformation module is provided to execute forward transformations of a bipod arm.
Note
For detailed information on transformation modules see the survey on SoftMotion transformations.
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Input |
dArmLength1 |
LREAL |
Length of Arm1 connected to motor |
|
|
dArmLength2 |
LREAL |
Length of Arm2 from Arm1 to linked connection |
||
|
dDistance |
LREAL |
Distance of the two motors |
||
|
dOffsetA |
LREAL |
0 |
Additional offset of axis A in SoftMotion units |
|
|
dOffsetB |
LREAL |
0 |
Additional offset of axis B in SoftMotion units |
|
|
Output |
bError |
BOOL |
TRUE, if position is invalid |
|
|
dx |
LREAL |
X-position of manipulator |
||
|
dy |
LREAL |
Y-position of manipulator |
||
|
Inout |
DriveA |
AXIS_REF_SM3 |
Reference to axis A |
|
|
DriveB |
AXIS_REF_SM3 |
Reference to axis B |
