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.
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InOut:
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Scope
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Name
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Type
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Initial
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Comment
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Input
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pi
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SMC_PosInfo
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Target position vector (x,y), output of interpolator
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dVel
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LREAL
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Path velocity, output of interpolator
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v
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SMC_VECTOR3D
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Tangent path vector, output of interpolator
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dOffsetX
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LREAL
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Additional offset for x-axis
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dOffsetY
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LREAL
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Additional offset for y-axis
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dOffsetZ
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LREAL
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Additional offset for z-axis
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dOffsetR
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LREAL
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Offset of rotation axis
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iDirectionR
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INT
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1
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Direction of rotation
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Output
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dx
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LREAL
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0
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Resulting position x
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dvx
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LREAL
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0
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Resulting velocity x
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dy
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LREAL
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0
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Resulting position y
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dvy
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LREAL
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0
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Resulting velocity y
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dz
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LREAL
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0
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Resulting position z
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dvz
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LREAL
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0
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Resulting velocity z
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dr
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LREAL
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0
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Rotation of resulting position in degrees
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