FUNCTION_BLOCK SMC_TRAFOF_Bipod_Arm
The transformation module is provided to execute forward transformations of a bipod arm.
Note
For detailed information on transformation modules see the survey on SoftMotion transformations.
|
InOut:
|
|
Scope
|
Name
|
Type
|
Initial
|
Comment
|
|
Input
|
dArmLength1
|
LREAL
|
|
Length of Arm1 connected to motor
|
|
dArmLength2
|
LREAL
|
|
Length of Arm2 from Arm1 to linked connection
|
|
dDistance
|
LREAL
|
|
Distance of the two motors
|
|
dOffsetA
|
LREAL
|
0
|
Additional offset of axis A in SoftMotion units
|
|
dOffsetB
|
LREAL
|
0
|
Additional offset of axis B in SoftMotion units
|
|
Output
|
bError
|
BOOL
|
|
TRUE, if position is invalid
|
|
dx
|
LREAL
|
|
X-position of manipulator
|
|
dy
|
LREAL
|
|
Y-position of manipulator
|
|
Inout
|
DriveA
|
AXIS_REF_SM3
|
|
Reference to axis A
|
|
DriveB
|
AXIS_REF_SM3
|
|
Reference to axis B
|
|