FUNCTION_BLOCK Kin_Scara3_Z_Config
This FB contains the data that defines the configuration of SM3_Trafo_Scara3_Z.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
xElbowRight |
BOOL |
TRUE: looking from joint 0 to joint 2, the elbow (joint 1) is on the right side. The angle of joint 1 is between 0° and 180°. FALSE: looking from joint 0 to joint 2, the elbow (joint 1) is on the left side. The angle of joint 1 is between -180° and 0°. |
|
nPeriodA1 |
DINT |
see nPeriodA2 |
|
|
nPeriodA2 |
DINT |
see nPeriodA3 |
|
|
nPeriodA3 |
DINT |
Determines the period used for orientation axis A3. If the range of A3 is greater than 360°, the period to choose can be set here. If the value is zero, then the period is determined automatically, based on the last position. A positive value i > 0 means the range [360°*(i-1)-180° .. 360°*i-180°[ is used. A negative value i < 0 means the range [360°*i-180° .. 360°*(i+1)-180°[ is used. Note if nPeriodA3 <> 0 and the chosen period is not feasible due to the axis limits, an error is created during transformation (CartesianToAxes). |
|
|
Output |
Config |
The configuration data |
