SMC_TRAFOF_Scara2 (FB)¶

FUNCTION_BLOCK SMC_TRAFOF_Scara2

Forward transformation for 2-dim. Scara system.

Note

For detailed information on transformation modules see overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Initial	Comment
Inout	`DriveA`	`AXIS_REF_SM3`		Reference to axis A
Inout	`DriveB`	`AXIS_REF_SM3`		Reference to axis B
Input	`dOffsetA`	`LREAL`	0	Additional offset for A-axis in degree (equivalent to SMC_TRAFO_SCARA2 )
	`dOffsetB`	`LREAL`	0	Additional offset for B-axis in degree (equivalent to SMC_TRAFO_SCARA2 )
	`dArmLength1`	`LREAL`		Arm length of first arm in t.u.
	`dArmLength2`	`LREAL`		Arm length of second arm in t.u.
Output	`bError`	`BOOL`		`TRUE`, if position is invalid
	`dx`	`LREAL`		X-position of manipulator in geo coordinates
	`dy`	`LREAL`		Y-position of manipulator in geo coordinates
	`dAlpha`	`LREAL`		Drive position in degrees without offset (joint angle for visualization)
	`dBeta`	`LREAL`		Drive position in degrees without offset (joint angle for visualization)
	`dpx`	`LREAL`		X-coordinate (in `]-1,1[`) of normed position vector of first joint (for visualization purpose)
	`dpy`	`LREAL`		Y-coordinate (in `]-1,1[`) of normed position vector of first joint (for visualization purpose)
	`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)
	`dR1`	`LREAL`		Relative arm length (for visualization purpose)
	`dR2`	`LREAL`		Relative arm length (for visualization purpose)