FUNCTION_BLOCK SMC_TRAFOV_Gantry2
Reverse transformation for two-dimensional portal systems taking into account the path velocity and path direction as control variables for the axis.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
pi |
Target position vector (x,y), ouput of interpolator. SMC_POSINFO |
|
|
dVel |
LREAL |
Path velocity, output of interpolator |
|
|
v |
SMC_VECTOR3D |
Tangent path vector, output of interpolator |
|
|
dOffsetX |
LREAL |
Additional offset of x-axis |
|
|
dOffsetY |
LREAL |
Additional offset of y-axis |
|
|
Output |
dx |
LREAL |
X-coordinate of resulting position |
|
dvx |
LREAL |
X-coordinate of resulting velocity |
|
|
dy |
LREAL |
Y-coordinate of resulting position |
|
|
dvy |
LREAL |
Y-Coordinate of resulting velocity |
