VAL_DefineCartesianPos
FUNCTION VAL_DefineCartesianPos : T_CartesianPos
This function might be used to initialize a cartesian position.
It provides a way to have a more compact code. The following code below
myPoint := VAL_DefineCartesianPos(10,-13.125,115.10,45.5,25.3,-90.25,2,2,2);
is equivalent to
myPoint.X := 10;
myPoint.Y := -13.125;
myPoint.Z := 115.10;
myPoint.RX := 45.5;
myPoint.RY := 25.3;
myPoint.RZ := -90.25;
myPoint.CS := 2;
myPoint.CE := 2;
myPoint.CW := 2;
Syntax
Definition:
FUNCTION VAL_DefineCartesianPos : T_CartesianPos
VAR_INPUT
X : REAL := 0;
Y : REAL := 0;
Z : REAL := 0;
RX : REAL := 0;
RY : REAL := 0;
RZ : REAL := 0;
CS : UINT := 2;
CE : UINT := 2;
CW : UINT := 2;
END_VAR
Inputs
Name | Type | Description |
|---|---|---|
X | REAL | Value for X coordinate |
Y | REAL | Value for Y coordinate |
Z | REAL | Value for Z coordinate |
RX | REAL | Value for RX coordinate |
RY | REAL | Value for RY coordinate |
RZ | REAL | Value for RZ coordinate |
CS | UINT | Value for shoulder configuration (1=> sfree; 2=> ssame; 3=> righty; 4=> lefty) |
CE | UINT | Value for elbow configuration (1=> sfree; 2=> ssame; 3=> righty; 4=> lefty) |
CW | UINT | Value for wrist configuration (1=> sfree; 2=> ssame; 3=> righty; 4=> lefty) |
Return value