FUNCTION_BLOCK SMC_TRAFOF_GantryCutter3
Forward transformation for three-dimensional gantries with a cutter knife. The rotation axis is controlled in such a way that the knife is aligned along the path tangent.
Note
For detailed information on transformations see overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Initial |
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 |
||
|
DriveR |
AXIS_REF_SM3 |
Reference to rotation axis |
||
|
Input |
dOffsetX |
LREAL |
Offset position for x-axis |
|
|
dOffsetY |
LREAL |
Offset position for y-axis |
||
|
dOffsetZ |
LREAL |
Offset position for z-axis |
||
|
dOffsetR |
LREAL |
Offset position for rotation axis |
||
|
iDirectionR |
INT |
1 |
Direction of rotation |
|
|
minX |
LREAL |
Minimum x-position limiting move range (for visualization purpose) |
||
|
maxX |
LREAL |
Maximum x-position limiting move range (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 |
||
|
dr |
LREAL |
Rotation of resulting position in degrees |
||
|
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 x-offset (with value in [0,1]) (for visualization purpose) |
