|
Inout
|
DriveA
|
AXIS_REF_SM3
|
|
Reference to axis A
|
|
DriveB
|
AXIS_REF_SM3
|
|
Reference to axis B
|
|
DriveC
|
AXIS_REF_SM3
|
|
Reference to axis C
|
|
Input
|
dInnerRadius
|
LREAL
|
|
Radius of inner ring
|
|
dOuterRadius
|
LREAL
|
|
Radius of outer ring
|
|
dLength
|
LREAL
|
|
Length of linkage/strut
|
|
dDistance
|
LREAL
|
|
Distance between two cooperating linkages at outer and inner ring
|
|
dRotationOffset
|
LREAL
|
0
|
Mathematically oriented angle between axis A and origin (0,0) in degrees
|
|
dOffsetA
|
LREAL
|
0
|
Additional offset of axis A in SoftMotion units
|
|
dOffsetB
|
LREAL
|
0
|
Additional offset of axis B in SoftMotion units
|
|
dOffsetC
|
LREAL
|
0
|
Additional offset of axis C in SoftMotion units
|
|
Output
|
bError
|
BOOL
|
|
TRUE, if position is invalid
|
|
dx
|
LREAL
|
|
X-position of centre of inner ring
|
|
dy
|
LREAL
|
|
Y-position of centre of inner ring
|
|
dz
|
LREAL
|
|
Z-position of centre of inner ring
|
|
dnx
|
LREAL
|
|
X-coordinate of normed position of manipulator (for visualization purpose)
|
|
dny
|
LREAL
|
|
Y-coordinate of normed position of manipulator (for visualization purpose)
|
|
dRatioInnerOuter
|
LREAL
|
|
Ratio of the radius of the inner ring to that of the outer ring (for visualization purpose)
|
|
adnxi
|
ARRAY [0..5] OF LREAL
|
|
X-coordinates of normed start position of bar (for visualization purpose)
|
|
adnyi
|
ARRAY [0..5] OF LREAL
|
|
Y-coordinates of normed start position of bar (for visualization purpose)
|
|
adnxo
|
ARRAY [0..5] OF LREAL
|
|
X-coordinates of normed end position of bar (for visualization purpose)
|
|
adnyo
|
ARRAY [0..5] OF LREAL
|
|
Y-coordinates of normed end position of bar (for visualization purpose)
|