Using IF_AdditionalComponentsTransformation

Implementation of an Additional Component Transformation

Before an additional component transformation can be used, a function block that implements the direct and inverse transformation must be available.

Creating a Function Block

Step

Action

1

In the Devices tree or the POUs tree, select Add Object > POU > ... from the contextual menu.

Result: The Add Object > POU dialog box is displayed.

2

Enter a Name for your function block.

3

As Type, select Function Block.

4

Activate the check box Implement.

5

Click the browse button next to the input field to open the Input Assistant.

6

Select Categories > Interfaces > ROB > Robotic > Configuration > IF_AdditionalComponentsTransformation.

NOTE: You can also type the name of the interface directly into the input field.

7

Confirm with OK.

Result: The Add POU dialog box is displayed.

8

Click Add.

Result: The function block implementing the interface is added.

9

Click Add to create the function block.

Implementing the Method Direct

In the method Direct(...), copy the inputs for position and orientation to the outputs in the first lines: 
q_stPositionTCP := i_stPositionTCP; 
q_stOrientationTCP := i_stOrientationTCP;
The necessary code for the additional components must be added afterwards and overwrite the respective outputs.

Implementing the Method Inverse

In the method Inverse(...), copy the inputs for RefPosition and RefOrientation to the outputs in the first lines: 
q_stRefPositionTCP := i_stRefPositionTCP; 
q_stRefOrientationTCP := i_stRefOrientationTCP;
The necessary code for the additional components must be added afterwards and overwrite the respective outputs.

Configuration

After the successful configuration of the main transformation, the necessary additional drives can be added to the robot. The next step is the configuration of the additional components transformation where an instance of the transformation function block is handed over to the robotic configuration.

You must set the motion and emergency stop parameters after the configuration of the additional components, as any selected component such as All, AuxAxAll, AxisAll, CartesianAll and OrientationAll only targets the components that were configured up to the call of the respective method.

Direct Mapping and Transformed Components

If there are some components with a transformed mapping, and others with direct mapping, the direct mapping must be implemented in the transformation methods. Copy the respective inputs directly to the outputs.