IF_UserTransformation3Ax - Inverse (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface

Task

Inverse transformation of the kinematics.

Description

The Cartesian reference coordinates of the TCP are transferred at the i_stRefCoordinate input.

They must be converted to reference positions of the axes within this method and returned as return values at the q_lrRefPositionA, q_lrRefPositionB, and q_lrRefPositionC outputs.

Those calculated values are further processed by the robot.

Interface

Input	Data type	Description
i_stRefCoordinate	PDL.ST_Vector3D	Cartesian reference position of the TCP in the coordinate system.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives additional information on the diagnostic state.
i_lrPositionA	LREAL	Reference position of axis A.
i_lrPositionB	LREAL	Reference position of axis B.
i_lrPositionC	LREAL	Reference position of axis C.