Function block: SEW_MK_Robotics.SEW_RobUserCs.CoordSysMeasurement
Input variables
Input variable | Type | Meaning |
|---|---|---|
alrPosition_1 | ARRAY [1..6] OF LREAL | First measuring point, only array elements 1..3 used |
alrPosition_2 | ARRAY [1..6] OF LREAL | Second measuring point, only array elements 1..3 used |
alrPosition_3 | ARRAY [1..6] OF LREAL | Third measuring point, only array elements 1..3 used |
eCoordSysMeasurementType | SEW_MK_Robotics. | Selection of the measurement method: P1_Origin_P2_OnXAxis_Xpositive_P3_InXYplane_Ypositive P1_OnXAxis_P2_OnXAxis_XGreaterThanP1_P3_OnYAxis_Ypositive |
alrAdditionalTransform | ARRAY [1..6] OF LREAL | The transformation calculated by means of the three points alrPosition_1/2/3 is additionally transformed with the alrAdditionalTransform and then output in alrTransformVector as well as alrTransformFrame; |
Output variables
Output variable | Type | Meaning |
|---|---|---|
alrTransformVector | ARRAY [1..6] OF LREAL | Resulting transformation as a vector, |
alrTransformFrame | ARRAY [1..4,1..4] OF LREAL | Resulting transformation as matrix |
Methods
Method | Return value | Meaning |
|---|---|---|
ComputeTransform | BOOL | If the execution is successful, the TRUE value is returned and the resulting transformation is output in the alrTransformVector as well as alrTransformFrame output variables |
