FUNCTION_BLOCK SMC_TRAFO_Gantry3
Reverse transformation for three-dimensional portal systems.
Note
For detailed information on transformations see overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
pi |
Target position vector (x,y), output of the interpolator |
|
|
dOffsetX |
LREAL |
Additional offset for x-axis |
|
|
dOffsetY |
LREAL |
Additional offset for y-axis |
|
|
dOffsetZ |
LREAL |
Additional offset for z-axis |
|
|
Output |
dx |
LREAL |
Resulting position for x-axis |
|
dy |
LREAL |
Resulting position for y-axis |
|
|
dz |
LREAL |
Resulting position for z-axis |
