SMC_TRAFO_Scara3 (FB)¶

FUNCTION_BLOCK SMC_TRAFO_Scara3

The transformation module is provided to execute backward transformations of 3-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
	`dDirection`	`LREAL`	Direction angle of last joint in degree (0=west, 90=north)
	`dOffsetA`	`LREAL`	Additional offset for axis A in degree
	`dOffsetB`	`LREAL`	Additional offset for axis B in degree
	`dOffsetC`	`LREAL`	Additional offset for axis C in degree
	`dArmLength1`	`LREAL`	Length of robot arm 1
	`dArmLength2`	`LREAL`	Length of robot arm 2
	`dArmLength3`	`LREAL`	Length of robot arm 3
	`bElbowLow`	`BOOL`	`TRUE` if elbow is low (`FALSE`, if elbow is high)
Output	`bError`	`BOOL`	`TRUE` if position is invalid
	`dA`	`LREAL`	Position of axis A in degree
	`dB`	`LREAL`	Position of axis B in degree
	`dC`	`LREAL`	Position of axis C in degree