SMC_TRAFO_Scara2 (FB)¶

FUNCTION_BLOCK SMC_TRAFO_Scara2

The transformation module is provided to execute backward transformations of 2-jointed Scara systems.

Note

For detailed information on transformation modules see the survey on SoftMotion transformations.

InOut:

Scope	Name	Type	Comment
Input	`pi`	SMC_PosInfo	Target position vector (x,y). Output of Interpolator
	`dOffsetA`	`LREAL`	Additional offset for A-axis in degree
	`dOffsetB`	`LREAL`	Additional offset for B-axis in degree
	`dArmLength1`	`LREAL`	Length of first robot arm
	`dArmLength2`	`LREAL`	Length of second robot arm
	`bElbowLow`	`BOOL`	`TRUE` if elbow is low and `FALSE`, if elbow is high
Output	`bError`	`BOOL`	`TRUE` if position is invalid
	`dA`	`LREAL`	Drive position of axis A in degree
	`dB`	`LREAL`	Drive position of axis B in degree