FUNCTION_BLOCK SMC_TRAFO_Scara3
The transformation module is provided to execute backward transformations of 3-jointed Scara systems.
Note
For detailed information on transformation modules see the survey on SoftMotion transformations.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
pi |
Target position vector (x,y). Output of Interpolator |
|
|
dDirection |
LREAL |
Direction angle of last joint in degree (0=west, 90=north) |
|
|
dOffsetA |
LREAL |
Additional offset for axis A in degree |
|
|
dOffsetB |
LREAL |
Additional offset for axis B in degree |
|
|
dOffsetC |
LREAL |
Additional offset for axis C in degree |
|
|
dArmLength1 |
LREAL |
Length of robot arm 1 |
|
|
dArmLength2 |
LREAL |
Length of robot arm 2 |
|
|
dArmLength3 |
LREAL |
Length of robot arm 3 |
|
|
bElbowLow |
BOOL |
TRUE if elbow is low (FALSE, if elbow is high) |
|
|
Output |
bError |
BOOL |
TRUE if position is invalid |
|
dA |
LREAL |
Position of axis A in degree |
|
|
dB |
LREAL |
Position of axis B in degree |
|
|
dC |
LREAL |
Position of axis C in degree |
