SMC_TrafoF_4AxisPalletizer (FB)¶

FUNCTION_BLOCK SMC_TrafoF_4AxisPalletizer

Forward transformation for a 4-axis palletizer.

InOut:

Scope	Name	Type	Comment
Inout	`config`	SMC_TrafoConfig_4AxisPalletizer	The configuration settings of the palletizer
	`Drive1`	`Axis_Ref_SM3`	The drive of axis 0
	`Drive2`	`Axis_Ref_SM3`	The drive of axis 1
	`Drive3`	`Axis_Ref_SM3`	The drive of axis 2
	`Drive4`	`Axis_Ref_SM3`	The drive of axis 3
Output	`dX`	`LREAL`	The current x-position of the tool center point in world coordinates
	`dY`	`LREAL`	The current y-position of the tool center point in world coordinates
	`dZ`	`LREAL`	The current z-position of the tool center point in world coordinates
	`dC`	`LREAL`	The current roll angle of the tool in degrees
	`bElbowLow`	`BOOL`	`TRUE` the angle of axis 2 is in the range `]-180°,-90°[`
	`bElbowStraight`	`BOOL`	TRUE`, if the angle of axis 2 is equal to ``-90°
	`bBackwards`	`BOOL`	`FALSE`, if the palletizer faces towards the TCP, `TRUE`, if facing in opposite direction
	`bStraightUp`	`BOOL`	`TRUE` the two arms segments are both vertical (`dQ1=0°, dQ2=-90°`)
	`vK1Pos`	`SMC_Vector3D`	The current position of joint 1 in world coordinates
	`vK2Pos`	`SMC_Vector3D`	The current position of joint 2 in world coordinates
	`vK3Pos`	`SMC_Vector3D`	The current position of joint 3 in world coordinates
	`vKToolDir`	`SMC_Vector3D`	The current (unit) direction of the gripper (x-axis of K5) in world coordinates
	`dScale`	`LREAL`	A scaling factor: if the working space is scaled with this factor, it fits in to the cube `[0,1]^3`