FUNCTION_BLOCK SMC_TRAFOV_GantryCutter3
Rreverse transformation for three-dimensional gantry systems, taking into account the path velocity and path direction as control variables for the axis.
Note
For detailed information on transformations see Overview to SM_Trafo_POUs.
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Input |
pi |
Target position vector (x,y), output of interpolator |
||
|
dVel |
LREAL |
Path velocity, output of interpolator |
||
|
v |
SMC_VECTOR3D |
Tangent path vector, output of interpolator |
||
|
dOffsetX |
LREAL |
Additional offset for x-axis |
||
|
dOffsetY |
LREAL |
Additional offset for y-axis |
||
|
dOffsetZ |
LREAL |
Additional offset for z-axis |
||
|
dOffsetR |
LREAL |
Offset of rotation axis |
||
|
iDirectionR |
INT |
1 |
Direction of rotation |
|
|
Output |
dx |
LREAL |
0 |
Resulting position x |
|
dvx |
LREAL |
0 |
Resulting velocity x |
|
|
dy |
LREAL |
0 |
Resulting position y |
|
|
dvy |
LREAL |
0 |
Resulting velocity y |
|
|
dz |
LREAL |
0 |
Resulting position z |
|
|
dvz |
LREAL |
0 |
Resulting velocity z |
|
|
dr |
LREAL |
0 |
Rotation of resulting position in degrees |
