FUNCTION_BLOCK SMC_TRAFOF_Gantry2Tool2
Forward transformation for two-dimensional gantries (X/Y) with tool offset, i.e. with the tool axis differing from the z-axis. The tool is approximated by a rectangular triangle.
Note
For detailed information on transformations see Overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Inout |
DriveX |
AXIS_REF_SM3 |
Reference to x-axis |
|
DriveY |
AXIS_REF_SM3 |
Reference to y-axis |
|
|
Input |
dOffsetX |
LREAL |
Offset x-position. Equivalent to SMC_TRAFO_Gantry2 |
|
dOffsetY |
LREAL |
Offset y-position. Equivalent to SMC_TRAFO_Gantry2 |
|
|
dAlpha |
LREAL |
Angle indicating orientation of tool, can be calculated by use of SMC_CalcDirectionFromVector |
|
|
dToolA |
LREAL |
Size of dToolA (see scheme) |
|
|
dToolB |
LREAL |
Size of dToolB (see scheme) |
|
|
minX |
LREAL |
Lower bound of move range in x-direction (for visualization purpose) |
|
|
maxX |
LREAL |
Upper bound of move range in x-direction (for visualization purpose) |
|
|
minY |
LREAL |
Lower bound of move range in y-direction (for visualization purpose). |
|
|
maxY |
LREAL |
Upper bound of move range in y-direction (for visualization purpose) |
|
|
Output |
dx |
LREAL |
X-Position |
|
dy |
LREAL |
Y-Position |
|
|
dnx |
LREAL |
Normed x-position (with value in [0,1]) |
|
|
dny |
LREAL |
Normed y-position (with value in [0,1]) |
|
|
dntx |
LREAL |
Normed x-position of triangle edge in tool |
|
|
dnty |
LREAL |
Normed y-position of triangle edge in tool |
|
|
dnl1 |
LREAL |
Normed length of dToolA |
|
|
dnl2 |
LREAL |
Normed length of dToolB. |
|
|
ratio |
LREAL |
Ratio x-interval / y-interval |
|
|
dnOffsetX |
LREAL |
X-offset for visualization |
|
|
dnOffsetY |
LREAL |
Y-offset for visualization |
