|
Inout
|
DriveR
|
AXIS_REF_SM3
|
Reference to distance axis R
|
|
DrivePhi
|
AXIS_REF_SM3
|
Reference to direction axis Phi
|
|
Input
|
dOffsetR
|
LREAL
|
Additional offset for distance axis R in degree
|
|
dOffsetPhi
|
LREAL
|
Additional offset for direction axis Phi in degree
|
|
dmaxR
|
LREAL
|
Maximum value for distance axis R
|
|
Output
|
bError
|
BOOL
|
TRUE if values are invalid (DriveR.fActPosition < 0)
|
|
dx
|
LREAL
|
X-component of manipulator position in geo coordinates
|
|
dy
|
LREAL
|
Y-component of manipulator position in geo coordinates
|
|
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)
|
|
dnr
|
LREAL
|
Standardised distance [0..1] for visualization
|