FUNCTION_BLOCK SMC_TRAFO_Gantry2Tool1
Reverse transformations for gantry systems with tool offset. The tool is approximated by a line.
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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Comment
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Input
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pi
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SMC_PosInfo
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Target vector position (x,y), ouptput 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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dAlpha
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LREAL
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Angle indicating orientation of tool, can be calculated by use of SMC_CalcDirectionFromVector
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dToolA
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LREAL
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Tool size = distance( set position) - (machine position)
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Output
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dx
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LREAL
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Resulting position for X-axis
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dy
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LREAL
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Resulting position for Y-axis
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