SMC_TRAFOV_Gantry2 (FB)

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	SMC_PosInfo	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