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Input
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pi
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SMC_PosInfo
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Position of the inner ring’s center (x,y,z)
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dOuterRadius
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LREAL
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Radius of outer ring
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dInnerRadius
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LREAL
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Radius of inner ring
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dLength
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LREAL
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Length of linkage
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dDistance
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LREAL
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Distance between two cooperating linkages
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dRotationOffset
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LREAL
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0
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Angle of axis A
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dAxisAngle
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LREAL
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Absolute angle between rails and z-axis
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dSingularityTolerance
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LREAL
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1
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dOffsetA
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LREAL
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Offset that is subtracted from the resulting position of drive A.
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dOffsetB
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LREAL
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Offset that is subtracted from the resulting position of drive B.
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dOffsetC
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LREAL
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Offset that is subtracted from the resulting position of drive C.
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Output
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dLA
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LREAL
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Resulting position of drive A. The 0 position is at the point where the axis, along which the drive moves, intersects the plane where the dOuterRadius is measured. Can be adjusted by dOffsetA.
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dLB
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LREAL
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Resulting position of drive B. The 0 position is at the point where the axis, along which the drive moves, intersects the plane where the dOuterRadius is measured. Can be adjusted by dOffsetB.
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dLC
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LREAL
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Resulting position of drive C. The 0 position is at the point where the axis, along which the drive moves, intersects the plane where the dOuterRadius is measured. Can be adjusted by dOffsetC.
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bError
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BOOL
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Only TRUE, if there is no solution
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bSingularPosition
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BOOL
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At least one drive is near a singular position
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bNegativeDrivePosition
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BOOL
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At least one drive’s position is calculated to be negative
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