SMC_TRAFOF_Gantry2Tool2 (FB)¶

FUNCTION_BLOCK SMC_TRAFOF_Gantry2Tool2

Forward transformation for two-dimensional gantries (X/Y) with tool offset, i.e. with the tool axis differing from the z-axis. The tool is approximated by a rectangular triangle.

Note

For detailed information on transformations see Overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Comment
Inout	`DriveX`	`AXIS_REF_SM3`	Reference to x-axis
Inout	`DriveY`	`AXIS_REF_SM3`	Reference to y-axis
Input	`dOffsetX`	`LREAL`	Offset x-position. Equivalent to SMC_TRAFO_Gantry2
	`dOffsetY`	`LREAL`	Offset y-position. Equivalent to SMC_TRAFO_Gantry2
	`dAlpha`	`LREAL`	Angle indicating orientation of tool, can be calculated by use of SMC_CalcDirectionFromVector
	`dToolA`	`LREAL`	Size of `dToolA` (see scheme)
	`dToolB`	`LREAL`	Size of `dToolB` (see scheme)
	`minX`	`LREAL`	Lower bound of move range in x-direction (for visualization purpose)
	`maxX`	`LREAL`	Upper bound of move range in x-direction (for visualization purpose)
	`minY`	`LREAL`	Lower bound of move range in y-direction (for visualization purpose).
	`maxY`	`LREAL`	Upper bound of move range in y-direction (for visualization purpose)
Output	`dx`	`LREAL`	X-Position
	`dy`	`LREAL`	Y-Position
	`dnx`	`LREAL`	Normed x-position (with value in [0,1])
	`dny`	`LREAL`	Normed y-position (with value in [0,1])
	`dntx`	`LREAL`	Normed x-position of triangle edge in tool
	`dnty`	`LREAL`	Normed y-position of triangle edge in tool
	`dnl1`	`LREAL`	Normed length of `dToolA`
	`dnl2`	`LREAL`	Normed length of `dToolB`.
	`ratio`	`LREAL`	Ratio x-interval / y-interval
	`dnOffsetX`	`LREAL`	X-offset for visualization
	`dnOffsetY`	`LREAL`	Y-offset for visualization