functioncheckLimits
Return 'true' if all Delta Robot angles are within the valid ranges specified, return 'false' otherwise
Extends from DeltaRobot.Icons.Function (Icon for functions).
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Position[3] | p | Coordinates of the platform frame resolved in base frame | |
| SI.Distance | L | Length of the upper arms | |
| SI.Distance | l | Length of the parallelograms (long side) | |
| SI.Diameter | Db | Base diameter | |
| SI.Diameter | Dp | Platform diameter | |
| SI.Angle | beta_base | Angle from the x-axis of the base frame to the direction where the joint #1 is located | |
| SI.Angle | maxTheta | from_deg(85) | Max actuator angle |
| SI.Angle | minTheta | from_deg(-85) | Min actuator angle |
| SI.Angle | maxElbowAngle | from_deg(160) | Max internal angle between the upper arm and the parallelogram (180° means allignment) |
| SI.Angle | minElbowAngle | from_deg(20) | Min internal angle between the upper arm and the parallelogram (0° means overlap) |
| SI.Angle | maxParallelogramAngle | from_deg(30) | Max parallelogram direction angle (0° means rectangular shape) |
| SI.Angle | minParallelogramAngle | from_deg(-30) | Min parallelogram direction angle (0° means rectangular shape) |
| SI.Angle | maxPlatformAngle | from_deg(180) | Max angle between parallelogram and platform (180° means allignment) |
| SI.Angle | minPlatformAngle | from_deg(80) | Min angle between parallelogram and platform (0° means overlap) |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Boolean | correct | '=true' if all angles are within their respective valid ranges, '=false' otherwise |