FUNCTION_BLOCK Kin_CAxis_Tool IMPLEMENTS ISMToolKinematics2,
Transformation for a C-axis tool with fixed tool offset. The origin of the TCP coordinate system is shifted by the given offset from the origin of the flange coordinate system. For a0 = 0°, the orientation of the TCP coordinate system equals the orientation of the flange coordinate system.
The single axes values have the following interpretation:
|
a0 |
angle [deg] of the yaw/C axis |
The working space for this transformation are all orientations except for those that are rotated around the X or Y axis by 180°. These are exactly the orientations where to z-axis of the tool points in the opposite direction of the z-axis of the base coordinate system.
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
dToolX |
LREAL |
offset in X direction caused by the tool |
|
dToolY |
LREAL |
offset in Y direction caused by the tool |
|
|
dToolZ |
LREAL |
offset in Z direction caused by the tool |
|
|
dOffsetC |
LREAL |
Additional offset of axis C. This offset is subtracted before the forward transformation and added after the inverse transformation. |
