FUNCTION_BLOCK SMC_TRAFOF_Gantry3D
Forward transformation for three dimensional gantry systems. Each instance of SMC_TRAFOF_GANTRY3D can be connected to a visualization template named SMC_VISU_GANTRY3D_XY or SMC_VISU_GANTRY3D_YZ.
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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dOffsetX
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LREAL
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offset position
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dOffsetY
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LREAL
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offset position
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dOffsetZ
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LREAL
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offset position
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minX
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LREAL
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area
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maxX
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LREAL
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area
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minY
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LREAL
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area
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maxY
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LREAL
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area
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minZ
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LREAL
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area
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maxZ
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LREAL
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area
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Inout
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DriveX
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AXIS_REF_SM3
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X-,Y-,Z-drive
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DriveY
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AXIS_REF_SM3
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X-,Y-,Z-drive
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DriveZ
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AXIS_REF_SM3
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X-,Y-,Z-drive
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Output
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dx
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LREAL
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position
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dy
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LREAL
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position
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dz
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LREAL
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position
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dnx
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LREAL
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normed position
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dny
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LREAL
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normed position
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dnz
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LREAL
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normed position
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dm
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LREAL
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