FB_KinCalcTrafo

The function block FB_KinCalcTrafo is used to calculate the forward or backward transformation, even if no kinematic group has been created with FB_KinConfigGroup.

Inputs

VAR_INPUT
    bExecute              : BOOL;
    bForward              : BOOL;
    oidTrafo              : UDINT;
END_VAR

Name	Type	Description
bExecute	BOOL	The command is triggered by a rising edge at this input.
bForward	BOOL	Determines whether the forward or backward transformation is calculated.
oidTrafo	UDINT	Object ID of the kinematic transformation object. See sample below.

Inputs/outputs

VAR_IN_OUT
    stAxesPosIn           : ARRAY[1..8] OF LREAL;
    stAxesPosOut          : ARRAY[1..8] OF LREAL;
    uMetaInfoIn           : U_KinMetaInfo;
    uMetaInfoOut          : U_KinMetaInfo;
END_VAR

Name	Type	Description
stAxesPosIn	ARRAY[1..8] OF LREAL	Array containing the input positions of the transformation. For the calculation of a forward transformation they represent the joint positions. For the calculation of a backward transformation they represent the Cartesian axis positions.
stAxesPosOut	ARRAY[1..8] OF LREAL	Array containing the result positions of the transformation. For the calculation of a forward transformation they represent the Cartesian axis positions. For the calculation of a backward transformation they represent the joint positions.
uMetaInfoIn	U_KinMetaInfo	In cases where different robot configurations lead to a solution, the preferred solution can be selected (see sample). For kinematics in which this parameter is not required, a dummy variable can be assigned to this input.
uMetaInfoOut	U_KinMetaInfo	If different solutions are possible for a transformation, the solution that was found is specified. For kinematics in which this parameter is not required, a dummy variable can be assigned to this input.

Outputs

VAR_OUTPUT
    bBusy                 : BOOL;
    bDone                 : BOOL;
    bError                : BOOL;
    nErrorId              : UDINT;
END_VAR

Name	Type	Description
bBusy	BOOL	The output becomes TRUE when the command is started with bExecute and remains TRUE as long as the function block executes the command. While bBusy is TRUE, no new command is accepted at the inputs. If bBusy becomes FALSE again, the function block is ready for a new command. At the same time one of the outputs bDone or bError is set.
bDone	BOOL	The output becomes TRUE when the command was executed successfully.
bError	BOOL	The output bError is set to TRUE, if an error occurred during the command execution.
nErrorId	UDINT	Contains the command-specific error code of the most recently executed command. Details of the error code can be found in the ADS error documentation or in the NC error documentation (error codes from 0x4000).

Sample

The object ID of the transformation is shown in the transformation object under the kinematic channel.

SCARA transformation - sample object ID

VAR
    fbKinCalcTrafo     : FB_KinCalcTrafo;
    stAxesPosIn        : ARRAY[1..8] OF LREAL;
    stAxesPosOut       : ARRAY[1..8] OF LREAL;
    bUserExecute       : BOOL;
    bUserCalcFwdTrafo  : BOOL;
    uScaraMetaInfoIn : U_KinMetaInfo;
    uScaraMetaInfoOut : U_KinMetaInfo;
END_VAR

uScaraMetaInfoIn.eScara := E_KinMetaInfoScara.scaraLeftArm;

fbKinCalcTrafo(
    bExecute := bUserExecute, 
    bForward := bUserCalcFwdTrafo, 
    oidTrafo := 16#01010070, 
    stAxesPosIn := stAxesPosIn, 
    stAxesPosOut := stAxesPosOut, 
    uMetaInfoIn:= uScaraMetaInfoIn , 
    uMetaInfoOut:= uScaraMetaInfoOut, 
    bBusy=> , 
    bDone=> , 
    bError=> , 
    nErrorId=> );