FUNCTION_BLOCK Kin_Bipod_Rotary IMPLEMENTS ISMPositionKinematics_Offset,
ISMPositionKinematicsInternal, ISMKinematicWithInfo2, ISMKinematicAxisSettings
Transformation FB for bipod kinematics.
(see Kin_Tripod_Rotary)
The single axes values have the following interpretation:
|
a0 |
position of the left axis (negative x value) of the machine |
|
a1 |
position of the 2nd axis (positive x value) of the machine |
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
dArmLength1 |
LREAL |
Length of Arm1 connected to the motor |
|
dArmLength2 |
LREAL |
Length of Arm2 [from arm1 to linked connection] |
|
|
dDistance |
LREAL |
horizontal distance of the two motors |
