|
Input
|
pi
|
SMC_PosInfo
|
|
Target position vector (x,y), output of interpolator
|
|
dArmLength1
|
LREAL
|
|
Length of Arm1 connected to motor
|
|
dArmLength2
|
LREAL
|
|
Length of Arm2 from Arm1 to linked connection
|
|
dDistance
|
LREAL
|
|
Horizontal 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.
|
|
dA
|
LREAL
|
|
Target position of axis A in degree
|
|
dB
|
LREAL
|
|
Target position of axis B in degree
|