For special applications, e.g. for compatibility requirements, a scaling of the integer
position and orientation data must be done. In addition, the angle output format can be
adjusted by configuration.
The position scaling can be changed individually for each coordinate axis via the x
s
, y
s
,
z
s
configuration parameters.
The resulting scaling is given by x
s
-1
m, y
s
-1
m, z
s
-1
m.
By default, x
s
, y
s
, z
s
are set to 10,000 to achieve a scaling of 0.1 mm.
To achieve a scaling of 1 mm per increment, x
s
, y
s
, z
s
must be set to the value 1,000.
Likewise, the orientation scaling can be changed via the phi
s
configuration parameter.
The default value (pi / 32,737) specifies the highest accuracy of the angle as a 16-bit
integer value. To output the angle directly in integer degrees, set phi
s
to the value
180 / pi, = 57.3.
The “angle format” configuration parameter can be used to switch between a signed
(-pi... + pi, -180°... + 180°) and an unsigned (0... 2pi, 0°... 360°) angle output format.
8.3.2
Transformation of the coordinate axes
To compensate for special assembly conditions, the GLS100 can be configured to apply
the following transformations to initial position and orientation data:
•
mirror x-axis: Inverts the sign of the x-coordinate value
•
mirror y-axis: Inverts the sign of the y-coordinate value
•
swap axes: Swaps x-and y-coordinate values
The above options do not affect the value of the orientation angle. To set the angle, the
configuration parameter phi
0
can be set as an offset value.
OPERATION
8
8026282/2021-05-26 | SICK
O P E R A T I N G I N S T R U C T I O N S | GLS100
39
Subject to change without notice
