StaubliScara_Config (FB)

FUNCTION_BLOCK StaubliScara_Config

InOut:

Scope

Name

Type

Comment

Input

elbowRight

BOOL
TRUE: The angle of the second joint is greater than 0° and lesser than 180°
FALSE: The angle of the second joint is lesser than 0° and greater than -180°

kinTransform

TRAFO.MC_KIN_REF_SM3

The kinematic transformation of the Stäubli Scara robot

Output

Config

TRAFO.ConfigData

The configuration data

Error

BOOL

Returns TRUE if kinTransform is invalid