|
Inout
|
DriveA
|
AXIS_REF_SM3
|
|
Reference to axis A
|
|
DriveB
|
AXIS_REF_SM3
|
|
Reference to axis B
|
|
DriveC
|
AXIS_REF_SM3
|
|
Reference to axis C
|
|
Input
|
dOffsetA
|
LREAL
|
0
|
Additional offset for axis A in degree (equivalent to SMC_TRAFO_SCARA3 )
|
|
dOffsetB
|
LREAL
|
0
|
Additional offset for axis B in degree (equivalent to SMC_TRAFO_SCARA3 )
|
|
dOffsetC
|
LREAL
|
0
|
Additional offset for axis C in degree (equivalent to SMC_TRAFO_SCARA3 )
|
|
dArmLength1
|
LREAL
|
|
Length of robot arm 1 in t.u.
|
|
dArmLength2
|
LREAL
|
|
Length of robot arm 2 in t.u.
|
|
dArmLength3
|
LREAL
|
|
Length of robot arm 3 in t.u.
|
|
Output
|
bError
|
BOOL
|
|
TRUE, if position is invalid
|
|
dx
|
LREAL
|
|
X-Component of manipulator position in geo coordinates
|
|
dy
|
LREAL
|
|
Y-Component of manipulator position in geo coordinates
|
|
dAlpha
|
LREAL
|
|
Drive position without offset in degree (joint angle, for visualization)
|
|
dBeta
|
LREAL
|
|
Drive position without offset in degree (joint angle, for visualization)
|
|
dGamma
|
LREAL
|
|
Drive position without offset in degree (joint angle, for visualization)
|
|
dpx
|
LREAL
|
|
X-coordinate (in ]-1,1[) of normed position vector of first joint (for visualization purpose)
|
|
dpy
|
LREAL
|
|
Y-coordinate (in ]-1,1[) of normed position vector of first joint (for visualization purpose)
|
|
dppx
|
LREAL
|
|
X-coordinate (in ]-1,1[) of normed position vector of second joint (for visualization purpose)
|
|
dppy
|
LREAL
|
|
Y-coordinate (in ]-1,1[) of normed position vector of second joint (for visualization purpose)
|
|
dnx
|
LREAL
|
|
X-coordinate (in ]-1,1[) of normed position vector of manipulator (for visualization purpose)
|
|
dny
|
LREAL
|
|
Y-coordinate (in ]-1,1[) of normed position vector of manipulator (for visualization purpose)
|
|
dR1
|
LREAL
|
|
Relative arm length (for visualization purpose)
|
|
dR2
|
LREAL
|
|
Relative arm length (for visualization purpose)
|
|
dR3
|
LREAL
|
|
Relative arm length (for visualization purpose)
|