FUNCTION_BLOCK SMC_TRAFO_Polar
Transformation for 2-dim. Scara system
Note
For detailed information on transformation modules see overview to SM_Trafo_POUs.
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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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Set position (x/y)
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dOffsetR
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LREAL
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Additional offset for distance axis R
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dOffsetPhi
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LREAL
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Additional offset of direction axis Phi in degree
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Output
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dR
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LREAL
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Position of distance axis R
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dPhi
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LREAL
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Position of direction axis Phi in degree
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