SMC_TRAFOF_Scara3 (FB)¶

FUNCTION_BLOCK SMC_TRAFOF_Scara3

The transformation module is provided to execute forward transformations of 3-jointed Scara systems

InOut:

Scope	Name	Type	Initial	Comment
Inout	DriveA	AXIS_REF_SM3		Reference to axis A
	DriveB	AXIS_REF_SM3		Reference to axis B
	DriveC	AXIS_REF_SM3		Reference to axis C
Input	dOffsetA	LREAL	0	Additional offset for axis A in degree (equivalent to SMC_TRAFO_SCARA3 )
	dOffsetB	LREAL	0	Additional offset for axis B in degree (equivalent to SMC_TRAFO_SCARA3 )
	dOffsetC	LREAL	0	Additional offset for axis C in degree (equivalent to SMC_TRAFO_SCARA3 )
	dArmLength1	LREAL		Length of robot arm 1 in t.u.
	dArmLength2	LREAL		Length of robot arm 2 in t.u.
	dArmLength3	LREAL		Length of robot arm 3 in t.u.
Output	bError	BOOL		TRUE, if position is invalid
	dx	LREAL		X-Component of manipulator position in geo coordinates
	dy	LREAL		Y-Component of manipulator position in geo coordinates
	dAlpha	LREAL		Drive position without offset in degree (joint angle, for visualization)
	dBeta	LREAL		Drive position without offset in degree (joint angle, for visualization)
	dGamma	LREAL		Drive position without offset in degree (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)
	dppx	LREAL		X-coordinate (in ]-1,1[) of normed position vector of second joint (for visualization purpose)
	dppy	LREAL		Y-coordinate (in ]-1,1[) of normed position vector of second 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)
	dR3	LREAL		Relative arm length (for visualization purpose)