MC_TransformPosition

• This function block calculates a coordinate transformation.
• A position specified in the origin coordinate system is returned in the target coordinate system.
• An origin mover template object refers to the origin coordinate system.
• A destination mover template object refers to the target coordinate system.
• Object ID 0, Oid = 0, refers to the absolute coordinate system.
• The origin mover template object can refer to the absolute coordinate system, and the destination mover template object can refer to the coordinate system of the Tool Center Point: thus, a calculation of the coordinate transformation from the coordinate system of the Tool Center Point to the absolute coordinate system is to be performed.
• The origin mover template object can refer to the coordinate system of the Tool Center Point, and the destination mover template object can refer to the absolute coordinate system: thus, a calculation of the coordinate transformation from the coordinate system of the Tool Center Point to the absolute coordinate system is to be performed.
• For information purposes only: without effect on the setpoints.

Inputs

VAR_INPUT
    Execute             : BOOL;
    OriginOid           : OTCID;
    DestinationOid      : OTCID;
    OriginPosition      : MC_LREAL;
END_VAR 

Outputs

VAR_OUTPUT
    Done                : BOOL;
    Busy                : BOOL;
    Error               : BOOL;
    ErrorId             : UDINT;
    DestinationPosition : MC_LREAL;
END_VAR 

Sample

VAR
    fbAbsoluteToTcp        : MC_TransformPosition;
    fbTcpToAbsolute        : MC_TransformPosition;
    inputPositionAbsolute  : LREAL;
    inputPositionTcp       : LREAL;
    outputPositionTcp      : LREAL;
    outputPositionAbsolute : LREAL;
    oidMoverTemplate       : OTCID;
END_VAR 

fbAbsoluteToTcp(
    Execute                := TRUE,
    OriginOid              := 0, //absolute
    DestinationOid         := oidMoverTemplate,
    OriginPosition         := inputPositionAbsolute,
    DestinationPosition    => outputPositionTcp
);

fbTcpToAbsolute(
    Execute                := TRUE,
    OriginOid              := oidMoverTemplate,
    DestinationOid         := 0, //absolute
    OriginPosition         := inputPositionTcp,
    DestinationPosition    => outputPositionAbsolute
);