FUNCTION_BLOCK SMC_TRAFOF_Scara2
Forward transformation for 2-dim. Scara system.
Note
For detailed information on transformation modules see overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Inout |
DriveA |
AXIS_REF_SM3 |
Reference to axis A |
|
|
DriveB |
AXIS_REF_SM3 |
Reference to axis B |
||
|
Input |
dOffsetA |
LREAL |
0 |
Additional offset for A-axis in degree (equivalent to SMC_TRAFO_SCARA2 ) |
|
dOffsetB |
LREAL |
0 |
Additional offset for B-axis in degree (equivalent to SMC_TRAFO_SCARA2 ) |
|
|
dArmLength1 |
LREAL |
Arm length of first arm in t.u. |
||
|
dArmLength2 |
LREAL |
Arm length of second arm in t.u. |
||
|
Output |
bError |
BOOL |
TRUE, if position is invalid |
|
|
dx |
LREAL |
X-position of manipulator in geo coordinates |
||
|
dy |
LREAL |
Y-position of manipulator in geo coordinates |
||
|
dAlpha |
LREAL |
Drive position in degrees without offset (joint angle for visualization) |
||
|
dBeta |
LREAL |
Drive position in degrees without offset (joint angle for visualization) |
||
|
dpx |
LREAL |
X-coordinate (in ]-1,1[) of normed position vector of first joint (for visualization purpose) |
||
|
dpy |
LREAL |
Y-coordinate (in ]-1,1[) of normed position vector of first joint (for visualization purpose) |
||
|
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) |
||
|
dR1 |
LREAL |
Relative arm length (for visualization purpose) |
||
|
dR2 |
LREAL |
Relative arm length (for visualization purpose) |
