FUNCTION_BLOCK SMC_TRAFOF_Tripod
The transformation module is provided to execute forward transformations of a tripod.
Note
For detailed information on transformation modules see the survey on SoftMotion transformations.
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 |
dInnerRadius |
LREAL |
Radius of inner ring |
|
|
dOuterRadius |
LREAL |
Radius of outer ring |
||
|
dLength |
LREAL |
Length of linkage/strut |
||
|
dDistance |
LREAL |
Distance between two cooperating linkages at outer and inner ring |
||
|
dRotationOffset |
LREAL |
0 |
Mathematically oriented angle between axis A and origin (0,0) in degrees |
|
|
dOffsetA |
LREAL |
0 |
Additional offset of axis A in SoftMotion units |
|
|
dOffsetB |
LREAL |
0 |
Additional offset of axis B in SoftMotion units |
|
|
dOffsetC |
LREAL |
0 |
Additional offset of axis C in SoftMotion units |
|
|
Output |
bError |
BOOL |
TRUE, if position is invalid |
|
|
dx |
LREAL |
X-position of centre of inner ring |
||
|
dy |
LREAL |
Y-position of centre of inner ring |
||
|
dz |
LREAL |
Z-position of centre of inner ring |
||
|
dnx |
LREAL |
X-coordinate of normed position of manipulator (for visualization purpose) |
||
|
dny |
LREAL |
Y-coordinate of normed position of manipulator (for visualization purpose) |
||
|
dRatioInnerOuter |
LREAL |
Ratio of the radius of the inner ring to that of the outer ring (for visualization purpose) |
||
|
adnxi |
ARRAY [0..5] OF LREAL |
X-coordinates of normed start position of bar (for visualization purpose) |
||
|
adnyi |
ARRAY [0..5] OF LREAL |
Y-coordinates of normed start position of bar (for visualization purpose) |
||
|
adnxo |
ARRAY [0..5] OF LREAL |
X-coordinates of normed end position of bar (for visualization purpose) |
||
|
adnyo |
ARRAY [0..5] OF LREAL |
Y-coordinates of normed end position of bar (for visualization purpose) |
