SMC_TRAFO_5Axes (FB)¶

FUNCTION_BLOCK SMC_TRAFO_5Axes

Reverse transformation, computes the axis positions so that the tool center point (TCP) achieves the desired path position and orientation.

InOut:

Scope	Name	Type	Comment
Input	pi	SMC_PosInfo	Set position: Contains the path position in the variables dX, dY, dZ and the orientation of the tool in dB (Inclination) and dC (Azimuth).
	dOffsetX	LREAL	Offset values X
	dOffsetY	LREAL	Offset values Y
	dOffsetZ	LREAL	Offset values Z
	dOffsetIncl	LREAL	Offset values inclination
	dOffsetAzi	LREAL	Offset values azimuth
	dTool	LREAL	Length of the tool
Output	dx	LREAL	Set position of TCP for axis x
	dy	LREAL	Set position of TCP for axis y
	dz	LREAL	Set position of TCP for axis z
	dIncl	LREAL	Set position of TCP for inclination axis [degrees]
	dAzi	LREAL	Set position of TCP for azimuth axis [degrees]