FUNCTION_BLOCK SMC_TRAFOV_Gantry3
Reverse transformation for three-dimensional portal systems. It takes 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), output of interpolator. |
|
|
dVel |
LREAL |
Velocity |
|
|
v |
SMC_VECTOR3D |
Vector of the current tangent, output of interpolator |
|
|
dOffsetX |
LREAL |
Additional offset for the x-axis |
|
|
dOffsetY |
LREAL |
Additional offset for the y-axis |
|
|
dOffsetZ |
LREAL |
Additional offset for the z-axis |
|
|
Output |
dx |
LREAL |
Resulting target position for the x-axis |
|
dvx |
LREAL |
Resulting target velocity for the x-axis |
|
|
dy |
LREAL |
Resulting target position for the y-axis |
|
|
dvy |
LREAL |
Resulting target velocity for the y-axis |
|
|
dz |
LREAL |
Resulting target position for the z-axis |
|
|
dvz |
LREAL |
Resulting target velocity for the z-axis. |
