SMC_TRAFO_Gantry3 (FB)¶

FUNCTION_BLOCK SMC_TRAFO_Gantry3

Reverse transformation for three-dimensional portal systems.

Note

For detailed information on transformations see overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Comment
Input	`pi`	SMC_PosInfo	Target position vector (x,y), output of the interpolator
	`dOffsetX`	`LREAL`	Additional offset for x-axis
	`dOffsetY`	`LREAL`	Additional offset for y-axis
	`dOffsetZ`	`LREAL`	Additional offset for z-axis
Output	`dx`	`LREAL`	Resulting position for x-axis
	`dy`	`LREAL`	Resulting position for y-axis
	`dz`	`LREAL`	Resulting position for z-axis