|
Input
|
pi
|
SMC_PosInfo
|
Target position vector (x,y). Output of Interpolator
|
|
dDirection
|
LREAL
|
Direction angle of last joint in degree (0=west, 90=north)
|
|
dOffsetA
|
LREAL
|
Additional offset for axis A in degree
|
|
dOffsetB
|
LREAL
|
Additional offset for axis B in degree
|
|
dOffsetC
|
LREAL
|
Additional offset for axis C in degree
|
|
dArmLength1
|
LREAL
|
Length of robot arm 1
|
|
dArmLength2
|
LREAL
|
Length of robot arm 2
|
|
dArmLength3
|
LREAL
|
Length of robot arm 3
|
|
bElbowLow
|
BOOL
|
TRUE if elbow is low (FALSE, if elbow is high)
|
|
Output
|
bError
|
BOOL
|
TRUE if position is invalid
|
|
dA
|
LREAL
|
Position of axis A in degree
|
|
dB
|
LREAL
|
Position of axis B in degree
|
|
dC
|
LREAL
|
Position of axis C in degree
|