Y_MA_FrameTypeTransform
Function block to convert three points OO, XX, XY representing an origin (OO), a point in the +X direction (XX), and a point in the XY plane perpendicular to the X axis from XX (XY) to a cartesian frame in X, Y, Z, Rx, Ry, Rz
Parameters:
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | FrameCoordinates | VECTOR | Cartesian coordinates of the frame defined by OO, XX and XY |
|
| VAR_INPUT | ||||
| B | Execute | BOOL | Upon the rising edge of the Execute input, all other inputs are read and the function block becomes operational. If an input needs to be modified, the value will have to be changed and the Execute input will have to be re-triggered. | |
| B | OO | MC_CARTESIAN_REF | Origin | |
| B | XX | MC_CARTESIAN_REF | Point along the positive X axis | |
| B | YY | MC_CARTESIAN_REF | Point along a line perpendicular to the X axis in the positive Y direction | |
| VAR_OUTPUT | ||||
| B | Done | BOOL | The Done output is set to TRUE when the commanded action has completed successfully. If another function block takes control before the action is completed, the Done output will never become TRUE. This output is reset when Execute becomes FALSE. | |
| E | Singularity | BOOL | TRUE when calculating Euler angles where Ry = +/- pi/2 |
|
| B | Error | BOOL | The Error output is set to TRUE if an error has occurred during the operation of the function block. The output is cleared when the Execute or Enable input becomes FALSE. | |
| B | ErrorID | UINT | The ErrorID output provides the identifier of the error when there is an active error in the function block execution. The output is cleared when the Execute or Enable input becomes FALSE. | |
Error Description:
Refer to the Function Block ErrorID List list.