FUNCTION_BLOCK SMC_TRAFOV_GantryH2
Reverse transformation fortwo-dimensional H-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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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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Output
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da
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LREAL
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Resulting position of axis a
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dva
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LREAL
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Resulting velocity of axis a
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db
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LREAL
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Resulting position of axis b
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dvb
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LREAL
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Resulting velocity of axis b
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