FUNCTION_BLOCK SMC_TRAFO_GantryCutter2
Reverse transformation for two-dimensional gantry systems with one rotation axis being controlled in such a way that the knife will point along the path tangent.
Note
For detailed information on transformations see overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Input |
pi |
Target position vector (x,y), outpur of interpolator |
||
|
v |
SMC_VECTOR3D |
Vector ofactual path tangent, output of interpolator |
||
|
dOffsetX |
LREAL |
Additional offset for x-axis |
||
|
dOffsetY |
LREAL |
Additional offset for y-axis |
||
|
dOffsetR |
LREAL |
Additional offset for rotational axis |
||
|
iDirectionR |
INT |
1 |
Direction of rotaion. |
|
|
Output |
dx |
LREAL |
0 |
Resulting position for x-axis |
|
dy |
LREAL |
0 |
Resulting position for y-axis. |
|
|
dr |
LREAL |
0 |
Rotation of resulting position in degrees |
