VAL_GetForwardTransformation
FUNCTION_BLOCK VAL_GetForwardTransformation
This functions blocks converts a joint position into a cartesian position.
Syntax
Definition:
FUNCTION_BLOCK VAL_GetForwardTransformation
VAR_INPUT
Execute : BOOL := FALSE;
JointPosition : T_JointPos;
ToolNumber : UINT := 0;
CoordSystem : UINT := 0;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
CartesianPos : T_CartesianPos;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
Execute |
BOOL |
Rising edge triggers function execution |
|
JointPosition |
Position of each axis. | |
|
ToolNumber |
UINT |
Number of the Tool Center Point for which the cartesian position shall be returned. The Tool Center Point is located in a plc dedicated database on robot side |
|
CoordSystem |
UINT |
Number of the user frame in which the cartesian position is returned. The user frame is stored in a plc dedicated database located on robot side. |
Outputs
|
Name |
Type |
Description |
|---|---|---|
|
Busy |
BOOL |
Set when function block is executing. Reset when Done or Error is set |
|
Done |
BOOL |
This output is set when function block has terminated with success |
|
Error |
BOOL |
This output is set when function block has terminated with error |
|
ErrorID |
UDINT |
Error code |
|
CartesianPos |
Coordinates of the computed position |