FUNCTION_BLOCK SMC_TRAFOF_Gantry3
Forward transformation of three dimensional gantry systems. Each instance of SMC_TRAFOF_GANTRY3 can be connected to a visualization template named SMC_VISU_Gantry3
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 |
|
|
DriveZ |
AXIS_REF_SM3 |
Reference to z-axis |
|
|
Input |
dOffsetX |
LREAL |
Offset position for x-axis. Equivalent to SMC_TRAFO_Gantry3 |
|
dOffsetY |
LREAL |
Offset position for y-axis. Equivalent to SMC_TRAFO_Gantry3 |
|
|
dOffsetZ |
LREAL |
Offset position for z-axis. Equivalent to SMC_TRAFO_Gantry3 |
|
|
minX |
LREAL |
Minimum x position limiting move range (for visualization purpose) |
|
|
maxX |
LREAL |
(for visualization purpose) |
|
|
minY |
LREAL |
Minimum y position limiting move range (for visualization purpose) |
|
|
maxY |
LREAL |
Maximum y position limiting move range (for visualization purpose) |
|
|
Output |
dx |
LREAL |
X-position |
|
dy |
LREAL |
Y-position |
|
|
dz |
LREAL |
Z-position |
|
|
dnx |
LREAL |
Normed x-position (with value in [0,1]) (for visualization purpose) |
|
|
dny |
LREAL |
Normed y-position (with value in [0,1]) (for visualization purpose) |
|
|
ratio |
LREAL |
Ratio x-interval / y-interval |
|
|
dnOffsetX |
LREAL |
Normed x-offset (with value in [0,1]) (for visualization purpose) |
|
|
dnOffsetY |
LREAL |
Normed y-offset (with value in [0,1]) (for visualization purpose) |
