Input DescriptionΒΆ
Note
The inputs marked with a triangle 
are of the class VAR_IN_OUT (input and output variable). These inputs must be connected to a variable.
Enable
Data type: BOOL
Activates the Funcion.
TeachPoint1_MCS
Data type: ARRAY[1..3] OF LREAL
Teach point for x, y, z values in MCS. Refers to the same point as TeachPoint1_PCS in PCS coordinates.
TeachPoint2_MCS
Data type: ARRAY[1..3] OF LREAL
Teach point for x, y, z values in MCS. Refers to the same point as TeachPoint2_PCS in PCS coordinates.
TeachPoint3_MCS
Data type: ARRAY[1..3] OF LREAL
Teach point for x, y, z values in MCS. Refers to the same point as TeachPoint3_PCS in PCS coordinates.
TeachPoint4_MCS
Data type: ARRAY[1..3] OF LREAL
Teach point for x, y, z values in MCS. Refers to the same point as TeachPoint4_PCS in PCS coordinates.
TeachPoint1_PCS
Data type: ARRAY[1..3] OF LREAL
Teach point for x, y, z values in PCS.
TeachPoint2_PCS
Data type: ARRAY[1..3] OF LREAL
Teach point for x, y, z values in PCS.
TeachPoint3_PCS
Data type: ARRAY[1..3] OF LREAL
Teach point for x, y, z values in PCS.
TeachPoint4_PCS
Data type: ARRAY[1..3] OF LREAL
Teach point for x, y, z values in PCS.
INVERSE_MATRIX
Data type: MATRIX_4_3
Result of the Function, a matrix with 4 lines and 3 columns, to be used for transform PCS to MCS coordinates.
FORWARD_MATRIX
Data type: MATRIX_4_3
Result of the Function, a matrix with 4 lines and 3 columns, to be used for transform MCS to PCS coordinates.