FUNCTION_BLOCK SMC_TRAFOF_GantryH2
Forward transformation for H-gantry systems with stationary drives.
Note
For detailed information on transformations see overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Inout |
DriveA |
AXIS_REF_SM3 |
Reference to axis A |
|
DriveB |
AXIS_REF_SM3 |
Reference to axis B |
|
|
Input |
dOffsetX |
LREAL |
Offset for x-axis |
|
dOffsetY |
LREAL |
Offset for y-axis |
|
|
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 in geo coordinates |
|
dy |
LREAL |
Y-position in geo coordinates |
|
|
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 of x-interval to y-interval (for visualization purpose) |
|
|
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) |
