Y_Math_Toolbox FB
| Function block | Description |
|---|---|
| ATAN2 |
Function that calculates the arc tangent from given X and Y values in a user specified format.
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| Y_MA_Calc3DCenter |
This function block works by finding the 3D center of a circle given 3 points in space.
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| Y_MA_CalcCenter |
Calculate the center of an arc given the coordinates of the vector at the beginning of the arc and I,J, & K which offsets from the starting point.
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| Y_MA_CalcCircleCenter |
Given two points on a circle, radius, direction , and path, this FB calculates the center of the circle.
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| Y_MA_CalcEndAngle |
Calculates the end angle of an arc based on the center of the arc and the end point of the arc. Angle is in degrees.
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| Y_MA_CalcFrameOffset | Function block that calculates the origin of a frame that is at a specified offset from another frame in cartesian space. |
| Y_MA_CalcRadius |
Function that calculates the radius of an arc given the vector from the center to a point on the arc.
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| Y_MA_CalcStartAngle |
Calculates the start angle of an arc based on the center of the arc and the start point of the arc. Angle is in degrees.
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| Y_MA_ConstructFrameMatrix |
Function block to convert a cartesian position orientation vector (X, Y, Z, Rx, Ry, Rz) and converts it to a position orientation 4 x 4 matrix that can be readily used for transformation calculations.
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| Y_MA_CrossProduct | Function block to calculate the cross product of two vectors with i, j, k bearings. |
| Y_MA_DecompFrameMatrix |
Decompose a 4 x 4 position and orientation matrix into a position vector representing X, Y, Z, Rx, Ry, Rz
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| 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
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| Y_MA_InvertFrameMatrix | Frame inversion of a 4 x 4 position and orientation matrix that can be used for coordinate system transforms in robotics. |
| Y_MA_Multiply4x4 | Function block that can multiple two 4 x 4 matrices. |
| POLAR_TO_RECT | Function block to convert polar representation to rectangular coordinates. |
| REM |
Modulus function for LREAL values. Most position variables in Yaskawa controllers are represented in user units of type LREAL. There is the need to perform modular operations on some of these positional values. The
REM
function satisfies this need.
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| RECT_TO_POLAR |
Function block that converts cartesian XY coordinates into polar coordinates.
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| Y_MA_Inverse3x3 |
Function block that calculates the inverse of a 3x3 matrix
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| Y_MA_Multiply3x3 |
Function block that multiplies two 3x3 matrices and stores the result in a 3x3 matrix.
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