FUNCTION_BLOCK SMC_TRAFOF_Scara3
The transformation module is provided to execute forward transformations of 3-jointed Scara systems
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 |
||
|
DriveC |
AXIS_REF_SM3 |
Reference to axis C |
||
|
Input |
dOffsetA |
LREAL |
0 |
Additional offset for axis A in degree (equivalent to SMC_TRAFO_SCARA3 ) |
|
dOffsetB |
LREAL |
0 |
Additional offset for axis B in degree (equivalent to SMC_TRAFO_SCARA3 ) |
|
|
dOffsetC |
LREAL |
0 |
Additional offset for axis C in degree (equivalent to SMC_TRAFO_SCARA3 ) |
|
|
dArmLength1 |
LREAL |
Length of robot arm 1 in t.u. |
||
|
dArmLength2 |
LREAL |
Length of robot arm 2 in t.u. |
||
|
dArmLength3 |
LREAL |
Length of robot arm 3 in t.u. |
||
|
Output |
bError |
BOOL |
TRUE, if position is invalid |
|
|
dx |
LREAL |
X-Component of manipulator position in geo coordinates |
||
|
dy |
LREAL |
Y-Component of manipulator position in geo coordinates |
||
|
dAlpha |
LREAL |
Drive position without offset in degree (joint angle, for visualization) |
||
|
dBeta |
LREAL |
Drive position without offset in degree (joint angle, for visualization) |
||
|
dGamma |
LREAL |
Drive position without offset in degree (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) |
||
|
dppx |
LREAL |
X-coordinate (in ]-1,1[) of normed position vector of second joint (for visualization purpose) |
||
|
dppy |
LREAL |
Y-coordinate (in ]-1,1[) of normed position vector of second 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) |
||
|
dR3 |
LREAL |
Relative arm length (for visualization purpose) |
