FUNCTION_BLOCK SMC_TrafoF_Tripod_Lin
Forward transformation for tripod
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Inout |
DriveA |
AXIS_REF_SM3 |
||
|
DriveB |
AXIS_REF_SM3 |
|||
|
DriveC |
AXIS_REF_SM3 |
|||
|
Input |
dOuterRadius |
LREAL |
Radius of outer ring |
|
|
dInnerRadius |
LREAL |
Radius of inner ring |
||
|
dLength |
LREAL |
Length of linkage |
||
|
dDistance |
LREAL |
Distance between two cooperating linkages |
||
|
dRotationOffset |
LREAL |
0 |
Angle between x-axis and first rail |
|
|
dAxisAngle |
LREAL |
Absolute angle between rails and z-axis |
||
|
dOffsetA |
LREAL |
Offsets |
||
|
dOffsetB |
LREAL |
|||
|
dOffsetC |
LREAL |
|||
|
Output |
pi |
Position of the inner ring's center (x,y,z) |
||
|
bError |
BOOL |
