SMC_TRAFOF_Polar (FB)¶

FUNCTION_BLOCK SMC_TRAFOF_Polar

Forward transformation for 2-dim. Scara system

Note

For detailed information on transformation modules see overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Comment
Inout	`DriveR`	`AXIS_REF_SM3`	Reference to distance axis R
Inout	`DrivePhi`	`AXIS_REF_SM3`	Reference to direction axis Phi
Input	`dOffsetR`	`LREAL`	Additional offset for distance axis R in degree
	`dOffsetPhi`	`LREAL`	Additional offset for direction axis Phi in degree
	`dmaxR`	`LREAL`	Maximum value for distance axis R
Output	`bError`	`BOOL`	`TRUE` if values are invalid (`DriveR.fActPosition < 0`)
	`dx`	`LREAL`	X-component of manipulator position in geo coordinates
	`dy`	`LREAL`	Y-component of manipulator position in geo coordinates
	`dnx`	`LREAL`	X-coordinate (in `]-1,1[`) of normed position vector of manipulator (for visualization purpose)
	`dny`	`LREAL`	Y-coordinate (in `]-1,1[`) of normed position vector of manipulator (for visualization purpose)
	`dnr`	`LREAL`	Standardised distance `[0..1]` for visualization