|
Inout
|
DriveA
|
AXIS_REF_SM3
|
|
Reference to axis A
|
|
DriveB
|
AXIS_REF_SM3
|
|
Reference to axis B
|
|
Input
|
dOffsetA
|
LREAL
|
0
|
Additional offset for A-axis in degree (equivalent to SMC_TRAFO_SCARA2 )
|
|
dOffsetB
|
LREAL
|
0
|
Additional offset for B-axis in degree (equivalent to SMC_TRAFO_SCARA2 )
|
|
dArmLength1
|
LREAL
|
|
Arm length of first arm in t.u.
|
|
dArmLength2
|
LREAL
|
|
Arm length of second arm in t.u.
|
|
Output
|
bError
|
BOOL
|
|
TRUE, if position is invalid
|
|
dx
|
LREAL
|
|
X-position of manipulator in geo coordinates
|
|
dy
|
LREAL
|
|
Y-position of manipulator in geo coordinates
|
|
dAlpha
|
LREAL
|
|
Drive position in degrees without offset (joint angle for visualization)
|
|
dBeta
|
LREAL
|
|
Drive position in degrees without offset (joint angle for visualization)
|
|
dpx
|
LREAL
|
|
X-coordinate (in ]-1,1[) of normed position vector of first joint (for visualization purpose)
|
|
dpy
|
LREAL
|
|
Y-coordinate (in ]-1,1[) of normed position vector of first joint (for visualization purpose)
|
|
dnx
|
LREAL
|
|
X-coordinate (in ]-1,1[) of normed position vector of manipulator (for visualization purpose)
|
|
dny
|
LREAL
|
|
Y-coordinate (in ]-1,1[) of normed position vector of manipulator (for visualization purpose)
|
|
dR1
|
LREAL
|
|
Relative arm length (for visualization purpose)
|
|
dR2
|
LREAL
|
|
Relative arm length (for visualization purpose)
|