SMC_TRAFOV_GantryCutter2 (FB)¶

FUNCTION_BLOCK SMC_TRAFOV_GantryCutter2

Reverse transformation for two-dimensional gantry systems, taking into account the path velocity and path direction as control variables for the axis.

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.
	`dVel`	`LREAL`		Path velocity, 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`		Offset of rotation axis.
	`iDirectionR`	`INT`	1	Direction of rotation
Output	`dx`	`LREAL`	0	Resulting position x
	`dvx`	`LREAL`	0	Resulting velocity x
	`dy`	`LREAL`	0	Resulting position y
	`dvy`	`LREAL`	0	Resulting velocity y
	`dr`	`LREAL`	0	Rotation of resulting position in degrees