SMC_InvCoordinateTransformation3D (FB) ¶ FUNCTION_BLOCK SMC_InvCoordinateTransformation3D This function block will calculate the coordinates of a point given in respect of the old coordinate system and transformed to the new coordinate system. For this purpose, the inverse coordinate transformation is defined by the translation of the origin and the new unit vectors (given in respect of the old coordinate system). (note: That this FB only works correct, if the vectors vX, vY and vZ are perpendicular to each other) For detailed information of transformation modules see the overview on kinematic transformations in the CNC online help. InOut: Scope Name Type Comment Input piIn SMC_PosInfo Point in old coordinates vX SMC_Vector3D Unit vector of new coordinate system vY SMC_Vector3D Unit vector of new coordinate system vZ SMC_Vector3D Unit vector of new coordinate system vTranslation SMC_Vector3D Translation vector for origin = origin of new coordinate system in old coordinates Output piOut SMC_PosInfo Point in new coordinates.
Mapping ¶ inputs ReadAndProcessSpecificInput (Method) outputs PrepareAndWriteSpecificOutput (Method)
inputs ¶ ReadAndProcessSpecificInput (Method)
SMC_TeachCoordinateSystem (FB) ¶ FUNCTION_BLOCK SMC_TeachCoordinateSystem This function block will help the user in calculating the vectors of a new coordinate system to be taught. As input data the origin of the new coordinate system and an arbitrary point each of the x- and y- axis are entered. The outputs of the module are the translation vector and the unit vectors of the new coordinate system. Additionally the quality of the input parameters is evaluated (angle between x- and y-axis should be 90°). For detailed information of transformation modules see the overview on kinematic transformations in the CNC online help. InOut: Scope Name Type Comment Input vOrigin SMC_Vector3D Origin of the new coordinate system vPointOnX SMC_Vector3D Position of point on the x-axis vPointOnY SMC_Vector3D Position of point on the y-axis Output vX SMC_Vector3d x-Coordinate of unit vector of new coordinate system vY SMC_Vector3d y-Coordinate of unit vector of new coordinate system vZ SMC_Vector3d z-Coordinate of unit vector of new coordinate system vTranslation SMC_Vector3d Translation vector for origin = origin of new coordinate system in old coordinates fQuality LREAL Quality of input data ranging from 0 ( vX , vY invalid) to 1( vX , vY orthogonal)
AXIS_REF_ETC_EL2521.ReadAndProcessSpecificInput (METH) ¶ METHOD ReadAndProcessSpecificInput : BOOL InOut: Scope Name Type Input pme POINTER TO SMC3_MappingEntry dwValue DWORD Return ReadAndProcessSpecificInput BOOL
outputs ¶ PrepareAndWriteSpecificOutput (Method)
AXIS_REF_ETC_EL2521.PrepareAndWriteSpecificOutput (METH) ¶ METHOD PrepareAndWriteSpecificOutput : BOOL InOut: Scope Name Type Input pme POINTER TO SMC3_MappingEntry pdwValue POINTER TO DWORD Return PrepareAndWriteSpecificOutput BOOL
SMC_UnitVectorToRPY (FB) ¶ FUNCTION_BLOCK SMC_UnitVectorToRPY This function block will calculate the RPY-angle (referring to the old coordinate system) from the unit vectors of the new coordinate system. For detailed information of transformation modules see the overview on kinematic transformations in the CNC online help. InOut: Scope Name Type Comment Input vX SMC_Vector3d x-coordinate of unit vector of new coordinate system (in respect of old coordinate system) vY SMC_Vector3d y-coordinate of unit vector of new coordinate system (in respect of old coordinate system) vZ SMC_Vector3d z-coordinate of unit vector of new coordinate system (in respect of old coordinate system) Output dA LREAL Roll angle in radian measure dB LREAL Pitch angle in radian measure dC LREAL Yaw angle in radian measure bError BOOL Signals, that an error has occurred within the function block nError WORD Error description: 1: No error ( bError = FALSE ) 2: Vectors do not have length 1 3: Vectors are not orthogonal 4: No right hand system
AXIS_REF_Delta_ASDA_B3_Configuration_Phase.prv_Abort (METH) ¶ METHOD prv_Abort : BOOL InOut: Scope Name Type Return prv_Abort BOOL
Expressions ¶ Functions SMC_NC_GArgument (Struct) SMC_NC_GArgumentValue (Union) SMC_NC_GFunction (Struct) SMC_NC_GFunctionTable (Struct) SMC_NC_IFunction (Interface) Call (Method) GetSignature (Method)