IF_UserTransformation6Ax - Inverse (Method)

Overview

Type:

Method

Available as of:

V2.13.0.0

This chapter provides information on:

Task

Inverse transformation of the kinematics.

Description

The Cartesian reference coordinate and orientation of the TCP (Tool Center Point) are transferred at the i_stRefCoordinate and i_stRefOrientation inputs. The orientation is provided in the convention ET_OrientationConvention.ZYX.

They must be converted to reference positions of the axes within this method and returned as return values at the q_lrRefPositionA, q_lrRefPositionB, q_lrRefPositionC, q_lrRefPositionD, q_lrRefPositionE, and q_lrRefPositionF outputs.

Those calculated values are further processed by the robot.

Interface

Input

Data type

Description

i_stRefCoordinate

PDL.ST_Vector3D

Cartesian reference position of the TCP in the coordinate system.

i_stRefOrientation

PDL.ST_Vector3D

Orientation reference position of the TCP in the coordinate system.

The orientation is provided in the convention ET_OrientationConvention.ZYX.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = ET_Diag.Ok -> Status message

q_etDiag <> ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message that gives additional information on the diagnostic state.

i_lrRefPositionA

LREAL

Reference position of axis A.

i_lrRefPositionB

LREAL

Reference position of axis B.

i_lrRefPositionC

LREAL

Reference position of axis C.

i_lrRefPositionD

LREAL

Reference position of axis D.

i_lrRefPositionE

LREAL

Reference position of axis E.

i_lrRefPositionF

LREAL

Reference position of axis F.

Implementation Example of Method Inverse

Declaration: 

METHOD Inverse
VAR_INPUT
  i_stRefCoordinate  : PDL.ST_Vector3D;
  i_stRefOrientation : PDL.ST_Vector3D;
END_VAR
VAR_OUTPUT
  q_etDiag           : GD.ET_Diag := GD.ET_Diag.Ok;
  q_etDiagExt        : ROB.ET_DiagExt := ROB.ET_DiagExt.Ok;
  q_sMsg             : STRING[80];
  q_lrRefPositionA   : LREAL;
  q_lrRefPositionB   : LREAL;
  q_lrRefPositionC   : LREAL;
  q_lrRefPositionD   : LREAL;
  q_lrRefPositionE   : LREAL;
  q_lrRefPositionF   : LREAL;
END_VAR
VAR
END_VAR

Implementation: 

// Implementation of the reverse transformation of the kinematics.
// Calculate the robot reference axes positions.

//********************************************************************
// Reference values of the robot axes
//********************************************************************

// q_lrRefPositionA := ...;
// q_lrRefPositionB := ...;
// q_lrRefPositionC := ...;
// q_lrRefPositionD := ...;
// q_lrRefPositionE := ...;
// q_lrRefPositionF := ...;