FUNCTION_BLOCK SMC_CalcDirectionFromVector
By use of this function the orientation (dAlpha) of the tool can be calculated.
Note
For detailed information on transformation function blocks see the survey on SM_Trafo_POUs.
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InOut:
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Scope
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Name
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Type
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Initial
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Comment
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Input
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v
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SMC_VECTOR3D
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Tangent vector v. In general, v will be identical to the output vecActTangent of the interpolator.
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eDir
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SMC_VECTORDIR
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SMC_tangential
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Input eDir specifies, whether the direction has to be calculated parallel to a path tangent (SMC_tangential), or oppositely (SMC_opp_tangential) or orthogonally to the path (SMC_orthogonal_r (right to the path tangent) resp. SMC_orthogonal_l (left to the path tangent)).
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Output
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dDir
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LREAL
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The angle dDir is measured in degrees. It will remain constant during standstill of the interpolator, i.e. when v is the zero vector. eDir is mostly either used as set value at SMC_ControlAxisByPos for a directional axis or as input dAlpha for the transformation.
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