FUNCTION_BLOCK SMC_TRAFOF_Bipod_Arm
The transformation computes the forward transformation of a bipod with two rotary axes. See SMC_TRAFO_Bipod_Arm for a description.
Note
For more information on the supported transformations, see the chapter on CNC transformations.
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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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dArmLength1
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LREAL
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Length of Arm1 connected to motor
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dArmLength2
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LREAL
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Length of Arm2 from Arm1 to linked connection
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dDistance
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LREAL
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Distance of the two motors
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dOffsetA
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LREAL
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0
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Additional offset of axis A in SoftMotion units
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dOffsetB
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LREAL
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0
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Additional offset of axis B in SoftMotion units
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Output
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bError
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BOOL
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TRUE, if position is invalid
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dx
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LREAL
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X-position of manipulator
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dy
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LREAL
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Y-position of manipulator
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Inout
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DriveA
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AXIS_REF_SM3
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Reference to axis A
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DriveB
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AXIS_REF_SM3
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Reference to axis B
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