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ROT_Y (187)

ID 187

Application:

PLC

SIM

Group: MOTION

Short description:

Function that rotates a point on the Y axis in the Cartesian coordinate system.

Inputs (13):

no.	type	impulse	mark	notes
1	R	no	PR11	[1,1] element of the transformation matrix
2	R	no	PR12	[1,2] element of the transformation matrix
3	R	no	PR13	[1,3] element of the transformation matrix
4	R	no	PR21	[2,1] element of the transformation matrix
5	R	no	PR22	[2,2] element of the transformation matrix
6	R	no	PR23	[2,3] element of the transformation matrix
7	R	no	PR31	[3,1] element of the transformation matrix
8	R	no	PR32	[3,2] element of the transformation matrix
9	R	no	PR33	[3,3] element of the transformation matrix
10	R	no	Px	X coordinate of the point in the rotating coordinate system
11	R	no	Py	Y coordinate of the point in the rotating coordinate system
12	R	no	Pz	Z coordinate of the point in the rotating coordinate system
13	R	no	alfa	Rotation angle [rad]

Outputs (12):

no.	type	impulse	mark	notes
1	R	no	R11	[1,1] element of the transformation matrix after rotating
2	R	no	R12	[1,2] element of the transformation matrix after rotating
3	R	no	R13	[1,3] element of the transformation matrix after rotating
4	R	no	R21	[2,1] element of the transformation matrix after rotating
5	R	no	R22	[2,2] element of the transformation matrix after rotating
6	R	no	R23	[2,3] element of the transformation matrix after rotating
7	R	no	R31	[3,1] element of the transformation matrix after rotating
8	R	no	R32	[3,2] element of the transformation matrix after rotating
9	R	no	R33	[3,3] element of the transformation matrix after rotating
10	R	no	x	X coordinate of the point P after rotating
11	R	no	y	Y coordinate of the point P after rotating
12	R	no	z	Z coordinate of the point P after rotating

Settings:

no.	type	mark	notes
1	B	local	Selection of coordinates according to which the rotation is to be performed (0 - global, 1 - local)

Operation:

The ROT_Y function rotates a point on the Y axis in the Cartesian coordinate system. The rotation matrix and point coordinates are obtained by multiplying the input matrix by the rotation matrix Ry. In the settings, select the coordinate system according to which the rotation should be performed. Unchecked option local means rotation according to the global coordinate system, i.e. the base of the robot or the system set in the MATRIX_START block (see MATRIX_START (195)). Selecting this option rotates according to the local coordinate system, that is, the last coordinate system in the sequence.

input matrix:
            [ PR11    PR12    PR13   Px]
   Wej = [ PR21    PR22    PR23   Py]
        [ PR31    PR32    PR33   Pz]
              [ 0     0          0          1]
rotation matrix:
            [ cos(alfa)   0    sin(alfa)   0 ]
   Ry = [ 0 1         0 0 ]
        [-sin(alfa)   0    cos(alfa)   0 ]
      [      0 0         0 1 ]
output matrix:
        [ R11    R12    R13   x]
   Wyj = [ R21    R22    R23   y]
        [ R31    R32    R33   z]
              [ 0         0         0     1]

Więcej informacji teoretycznych: Robotyka.com

Używane rejestry R i znaczniki M: brak