FUNCTION_BLOCK SMC_TRAFO_Scara2
The transformation module is provided to execute backward transformations of 2-jointed Scara systems.
Note
For detailed information on transformation modules see the survey on SoftMotion 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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dOffsetA
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LREAL
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Additional offset for A-axis in degree
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dOffsetB
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LREAL
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Additional offset for B-axis in degree
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dArmLength1
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LREAL
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Length of first robot arm
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dArmLength2
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LREAL
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Length of second robot arm
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bElbowLow
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BOOL
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TRUE if elbow is low and FALSE, if elbow is high
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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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Drive position of axis A in degree
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dB
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LREAL
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Drive position of axis B in degree
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