FUNCTION_BLOCK SMC_TRAFOF_Polar
Forward transformation for 2-dim. Scara system
Note
For detailed information on transformation modules see overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Inout |
DriveR |
AXIS_REF_SM3 |
Reference to distance axis R |
|
DrivePhi |
AXIS_REF_SM3 |
Reference to direction axis Phi |
|
|
Input |
dOffsetR |
LREAL |
Additional offset for distance axis R in degree |
|
dOffsetPhi |
LREAL |
Additional offset for direction axis Phi in degree |
|
|
dmaxR |
LREAL |
Maximum value for distance axis R |
|
|
Output |
bError |
BOOL |
TRUE if values are invalid (DriveR.fActPosition < 0) |
|
dx |
LREAL |
X-component of manipulator position in geo coordinates |
|
|
dy |
LREAL |
Y-component of manipulator position in geo coordinates |
|
|
dnx |
LREAL |
X-coordinate (in ]-1,1[) of normed position vector of manipulator (for visualization purpose) |
|
|
dny |
LREAL |
Y-coordinate (in ]-1,1[) of normed position vector of manipulator (for visualization purpose) |
|
|
dnr |
LREAL |
Standardised distance [0..1] for visualization |
