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