FUNCTION_BLOCK SMC_TRAFOF_Gantry3D
Forward transformation for three dimensional gantry systems. Each instance of SMC_TRAFOF_GANTRY3D can be connected to a visualization template named SMC_VISU_GANTRY3D_XY or SMC_VISU_GANTRY3D_YZ.
Note
For detailed information on transformations see overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
dOffsetX |
LREAL |
offset position |
|
dOffsetY |
LREAL |
offset position |
|
|
dOffsetZ |
LREAL |
offset position |
|
|
minX |
LREAL |
area |
|
|
maxX |
LREAL |
area |
|
|
minY |
LREAL |
area |
|
|
maxY |
LREAL |
area |
|
|
minZ |
LREAL |
area |
|
|
maxZ |
LREAL |
area |
|
|
Inout |
DriveX |
AXIS_REF_SM3 |
X-,Y-,Z-drive |
|
DriveY |
AXIS_REF_SM3 |
X-,Y-,Z-drive |
|
|
DriveZ |
AXIS_REF_SM3 |
X-,Y-,Z-drive |
|
|
Output |
dx |
LREAL |
position |
|
dy |
LREAL |
position |
|
|
dz |
LREAL |
position |
|
|
dnx |
LREAL |
normed position |
|
|
dny |
LREAL |
normed position |
|
|
dnz |
LREAL |
normed position |
|
|
dm |
LREAL |
