SMC_TRAFOF_GantryCutter3 (FB)

FUNCTION_BLOCK SMC_TRAFOF_GantryCutter3

Forward transformation for three-dimensional gantries with a cutter knife. The rotation axis is controlled in such a way that the knife is aligned along the path tangent.

Note

For detailed information on transformations see overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Initial	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
	DriveR	AXIS_REF_SM3		Reference to rotation axis
Input	dOffsetX	LREAL		Offset position for x-axis
	dOffsetY	LREAL		Offset position for y-axis
	dOffsetZ	LREAL		Offset position for z-axis
	dOffsetR	LREAL		Offset position for rotation axis
	iDirectionR	INT	1	Direction of rotation
	minX	LREAL		Minimum x-position limiting move range (for visualization purpose)
	maxX	LREAL		Maximum x-position limiting move range (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
	dr	LREAL		Rotation of resulting position in degrees
	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 x-offset (with value in [0,1]) (for visualization purpose)