T-Gantry with Stationary Axes

This kinematic system is similar to H-gantry systems. The drives here are also mounted stationary and the tool holder is moved by means of a belt.

The transformations that are executed by the SMC_TRAFO_GantryT2 and SMC_TRAFOF_GantryT2 POUs are designed for the following drive constellations:

Note that special homing is necessary for this transformation.

If you execute a movement in the X direction, then you have to move the A and B drives at the same velocity. If you execute strictly a Y movement, then the drives have to rotate in opposite directions. If the drive finds the homing position, then the X and Y values calculated from the forward transformation POU are used as the offset (dOffsetX and dOffsetY).

The SMC_TRAFO_GantryT2_O and SMC_TRAFOF_GantryT2_O function blocks execute the same calculation with the following constellation: