ROT_Z (188)
ROT_Z (188)
ID 188
|
Application: |
PLC |
SIM |
Group: MOTION
Short description:
Function that rotates a point on the Z 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_Z function rotates a point on the Z axis in the Cartesian coordinate system. The rotation matrix and point coordinates are obtained by multiplying the input matrix by the rotation matrix Rz. 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) -sin(alfa) 0 0 ]
Rz = [ sin(alfa) cos(alfa) 0 0 ]
[ 0 0 1 0 ]
[ 0 0 0 1 ]
output matrix:
[ R11 R12 R13 x]
Wyj = [ R21 R22 R23 y]
[ R31 R32 R33 z]
[ 0 0 0 1]
More theorethical information: Robotyka.com
R registers and M markers used: none