TRANS_XYZ (185)
TRANS_XYZ (185)
ID 185
|
Application: |
PLC |
SIM |
Group: MOTION
Short description:
Function that performs a point shift in the Cartesian coordinate system
Inputs (15):
|
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 shifting point |
| 11 | R | no | Py | Y coordinate of the shifting point |
| 12 | R | no | Pz | Z coordinate of the shifting point |
| 13 | R | no | Vx | X coordinate of the end of the translation vector |
| 14 | R | no | Vy | Y coordinate of the end of the translation vector |
| 15 | R | no | Vz | Z coordinate of the end of the translation vector |
Outputs (12):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
R |
no |
R11 | [1,1] element of the transformation matrix after shifting |
| 2 | R | no | R12 | [1,2] element of the transformation matrix after shifting |
| 3 | R | no | R13 | [1,3] element of the transformation matrix after shifting |
| 4 | R | no | R21 | [2,1] element of the transformation matrix after shifting |
| 5 | R | no | R22 | [2,2] element of the transformation matrix after shifting |
| 6 | R | no | R23 | [2,3] element of the transformation matrix after shifting |
| 7 | R | no | R31 | [3,1] element of the transformation matrix after shifting |
| 8 | R | no | R32 | [3,2] element of the transformation matrix after shifting |
| 9 | R | no | R33 | [3,3] element of the transformation matrix after shifting |
| 10 | R | no | x | X coordinate of the point P after shifting |
| 11 | R | no | y | Y coordinate of the point P after shifting |
| 12 | R | no | z | Z coordinate of the point P after shifting |
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 TRANS_XYZ function performs a point shift in the Cartesian coordinate system. The rotation matrix and point coordinates are obtained by multiplying the input matrix by the V translation matrix. In the settings, select the coordinate system by which the shift should be performed. The unchecked local option means the shift according to the global coordinate system, i.e. the robot base or the system set in the MATRIX_START block (see MATRIX_START (195)). Selecting this option causes the shift according to the local coordinate system, i.e. 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]
translation matrix:
[ 1 0 0 Vx]
V = [ 0 1 0 Vy]
[ 0 0 1 Vz]
[ 0 0 0 1]
output matrix:
[ R11 R12 R13 x]
Wyj = [ R21 R22 R23 y]
[ R31 R32 R33 z]
[ 0 0 0 1]
R registers and M markers used: none