SMC_TRAFOF_5Axes (FB)¶

FUNCTION_BLOCK SMC_TRAFOF_5Axes

The forward transformation function block computes the tool center point coordinates from the axis positions.

Note

For detailed information on transformations see Overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Comment
Inout	`DriveX`	`AXIS_REF_SM3`	Axis X
	`DriveY`	`AXIS_REF_SM3`	Axis Y
	`DriveZ`	`AXIS_REF_SM3`	Axis Z
	`DriveIncl`	`AXIS_REF_SM3`	Orientation inclination
	`DriveAzi`	`AXIS_REF_SM3`	Orientation azimuth
Input	`dOffsetX`	`LREAL`	Offset value X
	`dOffsetY`	`LREAL`	Offset value Y
	`dOffsetZ`	`LREAL`	Offset value Z
	`dOffsetIncl`	`LREAL`	Offset value inclination
	`dOffsetAzi`	`LREAL`	Offset value azimuth
	`dTool`	`LREAL`	Length of the tool
	`minX`	`LREAL`	Minimal display area of axis X for visualization
	`maxX`	`LREAL`	Maximal display area of axis X for visualization
	`minY`	`LREAL`	Minimal display area of axis Y or visualization
	`maxY`	`LREAL`	Maximal display area of axis Y for visualization
	`minZ`	`LREAL`	Minimal display areas of axis Z for visualization
	`maxZ`	`LREAL`	Maximal display area of axis Z for visualization
Output	`dx`	`LREAL`	Position of the tool correction point (TCP) in X
	`dy`	`LREAL`	Position of the tool correction point (TCP) in Y
	`dz`	`LREAL`	Position of the tool correction point (TCP) in Z
	`dAzimuth`	`LREAL`	Orientation or the tool in spherical coordinate azimuth
	`dInclination`	`LREAL`	Orientation or the tool in spherical coordinate inclination
	`da`	`LREAL`	Orientation of the tool in vector coordinate a
	`db`	`LREAL`	Orientation of the tool in vector coordinate b
	`dc`	`LREAL`	Orientation of the tool in vector coordinate c