FUNCTION_BLOCK SMC_TRAFO_Gantry2Tool1
Reverse transformations for gantry systems with tool offset. The tool is approximated by a line.
Note
For detailed information on transformations see overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
pi |
Target vector position (x,y), ouptput of interpolator |
|
|
dOffsetX |
LREAL |
Additional offset for X-axis |
|
|
dOffsetY |
LREAL |
Additional offset for Y-axis |
|
|
dAlpha |
LREAL |
Angle indicating orientation of tool, can be calculated by use of SMC_CalcDirectionFromVector |
|
|
dToolA |
LREAL |
Tool size = distance( set position) - (machine position) |
|
|
Output |
dx |
LREAL |
Resulting position for X-axis |
|
dy |
LREAL |
Resulting position for Y-axis |
