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Gantry System with Axes of Orientation

A "gantry cutter" is a gantry system with a rotary axis that is equipped with a cutting tool.

The configuration of a gantry system with a rotary axis is similar to that of a simple gantry system. However, these systems also have a rotary axis where the vertical cutting unit is attached.

_sm_img_trafo_pou_gantry_cutter.png

When you use a gantry system with a rotary axis, you have to use the SMC_TRAFO<n>_GantryCutter<n> POUs instead of SMC_TRAFO<n>_Gantry<n>. Then the rotary axis is controlled in such as way that it is oriented along the current path tangent.

The gantry cutter POUs have the following additional inputs:

  • DriveR: Rotary axis that has to be used with a period of 360°

  • dOffsetR: Offset of the rotary axis

  • iDirectionR: Direction of rotation

For more information, see:

The POUs for inverse transformation also have to include the vector of the current path tangent (v) that is an output of the interpolator.

For more information, see: SMC_TRAFOV_GantryCutter2 (FB) and SMC_TRAFOV_GantryCutter3 (FB)

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