FUNCTION_BLOCK SMC_TRAFO_Bipod_Arm
The transformation computes the inverse transformation of a bipod with two rotary axes.
The origin of the coordinate system is at the center of the tool plate if both axes are in zero position (horizontal). The direction of positive rotation is shown for the first axis A and the second axis B.
In the above diagram, both axes are in position 0°.
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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Comment
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Input
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pi
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SMC_PosInfo
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Target position vector (x,y), output of interpolator
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dArmLength1
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LREAL
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Length of first link (motor to “elbow”), must be positive.
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dArmLength2
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LREAL
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Length of second link (“elbow” to platform), must be positive. If dArmLength2 < dArmLength1 + dDistance/2, an error is returned, no solution is possible.
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dDistance
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LREAL
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Horizontal distance of the two motors, must be non-negative.
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dOffsetA
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LREAL
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Additional offset of axis A in angular degrees
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dOffsetB
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LREAL
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Additional offset of axis B in angular degrees
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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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dA
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LREAL
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Target position of axis A in degree
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dB
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LREAL
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Target position of axis B in degree
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