L_MC4P_CallTrafo

With this FB the transformation of the axis group can be called up.

With xEnable := TRUE the call of the transformation begins.

The function block does not influence the current interpolation.

The block may only be used in the motion task. A call from a lower priority or free-running task is not permitted.

Name Datentyp	Info/possible settings
AxesGroup AXES_GROUP_KIN	Axis group reference
xEnable BOOL	TRUE	The execution of the FB is active.
eCoordSystemIn L_MC4P_CoordSystem	Coordinate system at the input
eCoordSystemOut L_MC4P_CoordSystem	Coordinate system at the output
aiConfig ARRAY[1..6] OF INT	Specification of the target configuration for kinematics with ambiguous backward transfomation (e.g. Scara ) Meaning of the target configuration is kinematics specific. Default is only necessary with eCoordSystemOut = ACS -1 or 1: Use configuration from FB interface. 0: Use current configuration from the axis group.
aIrPosIn ARRAY[1..6] OF LREAL	Coordinates in the eCoordSystemIn
xVel BOOL	TRUE	Speeds are calculated.
aIrVelIn ARRAY[1..6] OF LREAL	Speeds in the eCoordSystemIn
xAcc BOOL	TRUE	Accelerations are calculated.
aIrAccIn ARRAY[1..6] OF LREAL	Accelerations in the eCoordSystemIn

Name Datentyp	Value/meaning
xBusy BOOL	TRUE	Processing is running.
xError BOOL	TRUE	An error has occurred. For details see eErrorID .
eErrorID L_IE1P_Error	If xError =Â TRUE: Error number for the error that has occurred.
xGimbalLock BOOL	Coordinates are in the GimbalLock
aIrPosOut ARRAY[1..6] OF LREAL	Coordinates are in the eCoordSystemOut
aIrVelOut ARRAY[1..6] OF LREAL	Speeds in the eCoordSystemOut
aIrAccOut ARRAY[1..6] OF LREAL	Accelerations in the eCoordSystemOut