FUNCTION_BLOCK SMC_TRAFO_GantryCutter2
Reverse transformation for two-dimensional gantry systems with one rotation axis being controlled in such a way that the knife will point along the path tangent.
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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v
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SMC_VECTOR3D
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Vector of current path tangent, 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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dOffsetR
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LREAL
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Additional offset for rotational axis
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iDirectionR
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INT
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1
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Direction of rotaion.
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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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dr
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LREAL
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Rotation of resulting position in degrees
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