SMC_TRAFO_Polar (FB)ΒΆ

FUNCTION_BLOCK SMC_TRAFO_Polar

Transformation for 2-dim. Scara system

Note

For detailed information on transformation modules see overview to SM_Trafo_POUs.

InOut:

Scope

Name

Type

Comment

Input

pi

SMC_PosInfo

Set position (x/y)

dOffsetR

LREAL

Additional offset for distance axis R

dOffsetPhi

LREAL

Additional offset of direction axis Phi in degree

Output

dR

LREAL

Position of distance axis R

dPhi

LREAL

Position of direction axis Phi in degree