FUNCTION_BLOCK SMC_TRAFOV_GantryH2
Reverse transformation fortwo-dimensional H-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 |
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 |
|
|
Output |
da |
LREAL |
Resulting position of axis a |
|
dva |
LREAL |
Resulting velocity of axis a |
|
|
db |
LREAL |
Resulting position of axis b |
|
|
dvb |
LREAL |
Resulting velocity of axis b |
