SMC_TRAFOF_Gantry3 (FB)

FUNCTION_BLOCK SMC_TRAFOF_Gantry3

Forward transformation of three dimensional gantry systems. Each instance of SMC_TRAFOF_GANTRY3 can be connected to a visualization template named SMC_VISU_Gantry3

Note

For detailed information on transformations see Overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Comment
Inout	DriveX	AXIS_REF_SM3	Reference to x-axis
	DriveY	AXIS_REF_SM3	Reference to y-axis
	DriveZ	AXIS_REF_SM3	Reference to z-axis
Input	dOffsetX	LREAL	Offset position for x-axis. Equivalent to SMC_TRAFO_Gantry3
	dOffsetY	LREAL	Offset position for y-axis. Equivalent to SMC_TRAFO_Gantry3
	dOffsetZ	LREAL	Offset position for z-axis. Equivalent to SMC_TRAFO_Gantry3
	minX	LREAL	Minimum x position limiting move range (for visualization purpose)
	maxX	LREAL	(for visualization purpose)
	minY	LREAL	Minimum y position limiting move range (for visualization purpose)
	maxY	LREAL	Maximum y position limiting move range (for visualization purpose)
Output	dx	LREAL	X-position
	dy	LREAL	Y-position
	dz	LREAL	Z-position
	dnx	LREAL	Normed x-position (with value in [0,1]) (for visualization purpose)
	dny	LREAL	Normed y-position (with value in [0,1]) (for visualization purpose)
	ratio	LREAL	Ratio x-interval / y-interval
	dnOffsetX	LREAL	Normed x-offset (with value in [0,1]) (for visualization purpose)
	dnOffsetY	LREAL	Normed y-offset (with value in [0,1]) (for visualization purpose)