|
Input
|
pi
|
SMC_PosInfo
|
|
Target position vector (x,y), output of interpolator
|
|
dArmLength1
|
LREAL
|
|
Length of arm1 connected to motor
|
|
dArmLength2
|
LREAL
|
|
Length of arm2 from arm to steward
|
|
dArm1Radius
|
LREAL
|
|
Radius of arm1 from the middle of the three motors
|
|
dStewartRadius
|
LREAL
|
0
|
Radius of the steward plate
|
|
dDistance
|
LREAL
|
|
Distance between two cooperating linkages
|
|
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
|
|
dMaxAngleBallJoint
|
LREAL
|
45
|
Maximum positive/negative angle for ball joints
|
|
Output
|
bError
|
BOOL
|
|
TRUE, if position is invalid
|
|
dA
|
LREAL
|
|
Drive position of axis A in degrees
|
|
dB
|
LREAL
|
|
Drive position of axis B in degrees
|
|
dC
|
LREAL
|
|
Drive position of axis C in degrees
|