FUNCTION_BLOCK SMC_TRAFOV_GantryT2_O
Reverse transformation for T-gantry systems with stationary drives, taking into account the path velocity and path direction as control variables for the axis.
Note
For more information see SMC_TRAFOF_GantryT2_O.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
pi |
Set position (x,y) |
|
|
dVel |
LREAL |
Velocity |
|
|
v |
SMC_VECTOR3D |
Tangential vector |
|
|
dOffsetX |
LREAL |
Additional offsets |
|
|
dOffsetY |
LREAL |
Additional offsets |
|
|
Output |
da |
LREAL |
Resulting position/velocity for drive a |
|
dva |
LREAL |
Resulting position/velocity for drive a |
|
|
db |
LREAL |
Resulting position/velocity for drive b |
|
|
dvb |
LREAL |
Resulting position/velocity for drive b |
