SMC_TRAFO_GantryCutter2 (FB)¶

FUNCTION_BLOCK SMC_TRAFO_GantryCutter2

Reverse transformation for two-dimensional gantry systems with one rotation axis being controlled in such a way that the knife will point along the path tangent.

Note

For detailed information on transformations see overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Initial	Comment
Input	`pi`	SMC_PosInfo		Target position vector (x,y), output of interpolator
	`v`	`SMC_VECTOR3D`		Vector of current path tangent, output of interpolator
	`dOffsetX`	`LREAL`		Additional offset for x-axis
	`dOffsetY`	`LREAL`		Additional offset for y-axis
	`dOffsetR`	`LREAL`		Additional offset for rotational axis
	`iDirectionR`	`INT`	1	Direction of rotaion.
Output	`dx`	`LREAL`		Resulting position for x-axis
	`dy`	`LREAL`		Resulting position for y-axis.
	`dr`	`LREAL`		Rotation of resulting position in degrees